/**
* process the pending datagrams present in socket and ready & parse them
*/
void wavrUdpNetwork::processPendingDatagrams(void) {
while(pUdpReceiver->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(pUdpReceiver->pendingDatagramSize());
QHostAddress address;
pUdpReceiver->readDatagram(datagram.data(), datagram.size(), &address);
QString szAddress = address.toString();
parseDatagram(&szAddress, datagram);
}
}
void AutoDiscovery::readPendingDatagrams()
{
while(hasPendingDatagrams())
{
QByteArray datagram;
datagram.resize(pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
parseDatagram(datagram, sender);
}
}
void USART1_IRQHandler(void)
{
int i=0;
int status=SUCCESS;
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //interrupt called in when you receive a char on usart1
{
GPIO_WriteBit(GPIOA,GPIO_Pin_12,Bit_SET); //pause the RF trasmission
USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);//disable the RXNE interrupts
for (i=0;i<32;i++){
GPIO_WriteBit(GPIOA,GPIO_Pin_12,Bit_SET); //pause the RF trasmission
status=UsartGetTimed(USART1, &Receivedpackage.bytes[i]); //Receive the char in the buffer
GPIO_WriteBit(GPIOA,GPIO_Pin_12,Bit_RESET); //Restart the RF trasmission
if (status==ERROR) break; //if the tramission Timed out than break
}
if (status==SUCCESS){ //if you received 32 chars
if(checkDatagram(&Receivedpackage)) //and the datagram is correct parse it
status=parseDatagram(&Receivedpackage);
else status=ERROR;
}
USART_ClearFlag(USART1, USART_IT_RXNE);
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
GPIO_WriteBit(GPIOA,GPIO_Pin_12,Bit_RESET); //Restart the RF trasmission
if (status==SUCCESS) //if everything is correct than send ACK
sendAck();
else //If not send NACK
sendNack();
}
/*if(USART_GetITStatus(USART1, USART_IT_TXE) != RESET)
{
/* Write one byte to the transmit data register //
USART_SendData(USART1, TxBuffer[TxCount++]);
if(TxCount == NbrOfDataToTransfer)
{
// Disable the USART1 Transmit interrupt
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
} */
}
void UdpReceiver::readPendingDatagrams()
{
//while data is available
while (socket->hasPendingDatagrams())
{
QByteArray datagram;
datagram.resize(socket->pendingDatagramSize());
QHostAddress sender = RECEIVING_IP;
quint16 senderPort = RECEIVING_PORT;
socket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
//Read Packet Header
std::string packetHeader(datagram.constData(), 6);
if(packetHeader.compare("EARNLS")==0)
{
emit ackRunLaser();
}
else if(packetHeader.compare("EASTLS")==0)
{
emit ackStopLaser();
}
else if(packetHeader.compare("EASFFS")==0)
{
emit ackFullScanMode();
}
else if(packetHeader.compare("EASBES")==0)
{
emit ackBoundedElevation();
}
else if(packetHeader.compare("EASRES")==0)
{
emit ackRegionScan();
}
else if(packetHeader.compare("EACHLP")==0)
{
emit ackLaserSensorPosition();
}
else
{
parseDatagram(datagram);
}
}
}
float receive(){
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Red, TEXT("Threado Starto"));
UE_LOG(YourLog, Log, TEXT("Threado Starto"));
//while (true){
// if (killThread) return 0;
//killThread = true;
//}
//while (true){ GEngine->AddOnScreenDebugMessage(2, 5.f, FColor::Red, TEXT("tick")); }
SOCKET sd;
unsigned short int port = 5555;
struct sockaddr_in server, client;
WSADATA wsaData;
/* Open windows connection */
if (WSAStartup(0x0101, &wsaData) != 0)//variable w is a structure of WSADATA form.
{
GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Blue, TEXT("Could not open Windows connection"));
fprintf(stderr, "Could not open Windows connection.\n");
UE_LOG(YourLog, Fatal, TEXT("Could not open Windows connection.\n"));
return 1;
}
/* Open a datagram socket */
sd = socket(AF_INET, SOCK_DGRAM, 0);
if (sd == INVALID_SOCKET)
{
GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Blue, TEXT("Could not create socket"));
fprintf(stderr, "Could not create socket.\n");
UE_LOG(YourLog, Fatal, TEXT("Could not create socket.\n"));
WSACleanup();
return 2;
}
//non blocking stuff I think
u_long iMode = 1;
ioctlsocket(sd, FIONBIO, &iMode);
/* Clear out server struct */
memset((void *)&server, '\0', sizeof(struct sockaddr_in));
/* Set family and port */
server.sin_family = AF_INET;
server.sin_port = htons(port);
/* Set address automatically if desired */
/* automatically get host name of this computer */
//int errorCode;
char host_name[256];
gethostname(host_name, sizeof(host_name));
hostent *hp = gethostbyname(host_name);
/* Check for NULL pointer */
if (hp != NULL)
{
/* Assign the address */
unsigned int a, b, c, d;
server.sin_addr.S_un.S_un_b.s_b1 = a = hp->h_addr_list[0][0];
server.sin_addr.S_un.S_un_b.s_b2 = b = hp->h_addr_list[0][1];
server.sin_addr.S_un.S_un_b.s_b3 = c = hp->h_addr_list[0][2];
server.sin_addr.S_un.S_un_b.s_b4 = d = hp->h_addr_list[0][3];
FString Fs = FString(ANSI_TO_TCHAR(host_name));
GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Red, Fs);
std::cout << "Hostname: " << host_name << " " << ((int)hp->h_addr_list[0][0] & 0x256) << "." << (unsigned int)hp->h_addr_list[0][1] << "." << (unsigned int)hp->h_addr_list[0][2] << "." << (unsigned int)hp->h_addr_list[0][3] << std::endl;
GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Red, Fs);
UE_LOG(YourLog, Warning, TEXT("found address: %d.%d.%d.%d"), a, b, c, d);
}
/* hardcoded address as backup */
else
{
fprintf(stderr, "Failed to discover hostname. Defaulted to 192.168.1.107. \n");
UE_LOG(YourLog, Log, TEXT("Failed to discover hostname. Defaulted to 192.168.1.104. \n"));
server.sin_addr.S_un.S_un_b.s_b1 = (unsigned char)192;
server.sin_addr.S_un.S_un_b.s_b2 = (unsigned char)168;
server.sin_addr.S_un.S_un_b.s_b3 = (unsigned char)1;
server.sin_addr.S_un.S_un_b.s_b4 = (unsigned char)104;
}
//doesn't crash when stalled here, bind seems to be the tricky part
UE_LOG(YourLog, Log, TEXT("about to bind"));
/* Bind address to socket */
if (bind(sd, (struct sockaddr *)&server,
sizeof(struct sockaddr_in)) == -1)
{
int errnum = -1;
errnum = WSAGetLastError();
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Blue, TEXT("Could not bind address to socket"));
fprintf(stderr, "Could not bind address to socket.\n");
//UE_LOG(YourLog, Warning, TEXT("tryibng to print message"));
//UE_LOG(YourLog, Warning, TEXT("Could not bind address to socket due to %d.\n"), errnum);//Seems like Fatal logging triggers a breakpoint
UE_LOG(YourLog, Fatal, TEXT("Could not bind address to socket due to %d.\n"), errnum);//Fatal rather than warning maybe
closesocket(sd);
WSACleanup();
return errnum;
}
int client_length = (int)sizeof(struct sockaddr_in);
int bytes_received;
/*while (true){
Sleep(50);
if (killThread == true) {
//closeConnection(sd);
fprintf(stderr, "KillThread: ending server for FreePIE.\n");
UE_LOG(YourLog, Warning, TEXT("KillThread: ending server for FreePIE.\n"));
closesocket(sd);
WSACleanup();
return 0; }
}*/
//FString path = FPaths::GameDir() + "/DataLog/log.txt";
time_t timeStamp = time(0);
char* timeString = std::ctime(&timeStamp);
struct tm * timeinfo;
timeinfo = localtime(&timeStamp);
char buffer[80];
//strftime(buffer, 200, "%S-%M-%H_%a-%b-%G", timeinfo);
strftime(buffer, 200, "%S-%M-%H_%d-%b-%Y", timeinfo);
//FString path = FPaths::GameDir() + "/DataLog/" + buffer + ".csv";
userID = FString::FromInt(time(0));
FString path = FPaths::GameDir() + "/DataLog/" + userID + "A" +".csv";
DataLogFile.open(*path, std::ios::out);
DataLogFile << "acceleration:x,y,z,Orientation:yaw,pitch,roll,PredGravityX,PredGravityY,PredGravityZ\n";
while (true){
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("reading"));
//UE_LOG(YourLog, Warning, TEXT("KillThread is %d"), killThread);
if (killThread == true) {
fprintf(stderr, "KillThread: ending server for FreePIE.\n");
DataLogFile.close();
if (!recording) std::remove(TCHAR_TO_ANSI(*path));//if recording was never started delete record file
//UE_LOG(YourLog, Warning, TEXT("KillThread: ending server for FreePIE.\n"));//this will break because if killthread then game is closing
closesocket(sd);
WSACleanup();
return 5555;
}
//}
//std::cout << "Reading a datagram" << std::endl;
//GEngine->AddOnScreenDebugMessage(1, 5.f, FColor::Black, TEXT("about to read")); //GEngine->
/* Receive bytes from client */
bytes_received = recvfrom(sd, UDPReceiveBuffer, BUFFER_SIZE, 0,
(struct sockaddr *)&client, &client_length);
/*if (bytes_received < 0)
{
//while (true){
GEngine->AddOnScreenDebugMessage(2, 5.f, FColor::Black, TEXT("Failed to receive datagram"));
//}
fprintf(stderr, "Could not receive datagram.\n");
closesocket(sd);
WSACleanup();
//pollingThread.~thread();
//ExitThread(0);
return 4444;
}*/
int nError = WSAGetLastError();
if (nError != WSAEWOULDBLOCK&&nError != 0)
{
UE_LOG(YourLog, Log, TEXT("Winsock error code\r\n"));
std::cout << "Winsock error code: " << nError << "\r\n";
std::cout << "Server disconnected!\r\n";
return 9000;
}
else if (bytes_received > 0) parseDatagram((char*)UDPReceiveBuffer);
//std::cout << (int)client.sin_addr.S_un.S_un_b.s_b1 << '.' << (int)client.sin_addr.S_un.S_un_b.s_b2 << '.' << (int)client.sin_addr.S_un.S_un_b.s_b3 << '.' << (int)client.sin_addr.S_un.S_un_b.s_b4 << std::endl;
//fprintf(stderr, buffer);
//GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("sleeping"));
Sleep(3);
}
return 2;
}