int sendWorkerDetails(int sock, struct workerNode *ptr){
//Send Worker Found
if(sendInt(sock , 1) < 0){
puts("Send Query result Failed");
return -1;
}
puts("Worker present status sent");
//Send the IP and Port
if(send(sock, ptr->ip, sizeof(int)*4, 0) < 0){
puts("Send IP Failed");
return -1;
}
puts("IP sent");
//Wait for ACK
if(waitForAck(sock) < 0){
puts("ACK not received");
return -1;
}
//Send Port number
if(sendInt(sock, ptr->port) < 0){
puts("Send Port Failed");
return -1;
}
puts("Port Sent");
return 1;
}
void QSocketSession::findByteOrder()
{
float i = 3.1415;
if (theIsMaster)
{ sendChunk((uchar *)&i, 4);
if (!waitForAck(1000, &theSameByteOrder) || !isOpen())
{ qWarning("*** ERROR: Handshake failed: Didn't receive ack. Closing link.");
close();
return;
}
}
else
{ float remotei;
if (!receiveChunk((uchar *)&remotei, 4, 1000) || !isOpen())
{ qWarning("*** ERROR: Handshake failed: Didn't receive remote bit pattern. Closing link.");
close();
return;
}
float rremotei;
uint &t = *((uint *)&rremotei);
t = bswap_32(*((uint *)&remotei));
if (remotei == i)
theSameByteOrder = true;
else if (rremotei == i)
theSameByteOrder = false;
else
qWarning("*** CRITICAL: Two hosts have neither same nor opposite byte order. (%f or %f should be %f)", remotei, rremotei, i);
ack(theSameByteOrder);
}
}
//--------------------------------------------------------------------------------------------------
// Send payload data via RF
//-------------------------------------------------------------------------------------------------
void tools_rfwrite (byte myNodeID, const void* ptr, uint8_t len) {
if(tools_ack()){
for (byte i = 0; i <= RETRY_LIMIT; ++i) { // tx and wait for ack up to RETRY_LIMIT times
rf12_sleep(-1); // Wake up RF module
while (!rf12_canSend())
rf12_recvDone();
rf12_sendStart(RF12_HDR_ACK, ptr, len);
rf12_sendWait(2); // Wait for RF to finish sending while in standby mode
byte acked = waitForAck(myNodeID); // Wait for ACK
rf12_sleep(0); // Put RF module to sleep
if (acked) { return; } // Return if ACK received
Sleepy::loseSomeTime(RETRY_PERIOD * 1000); // If no ack received wait and try again
}
}
else {
rf12_sleep(-1); // Wake up RF module
while (!rf12_canSend())
rf12_recvDone();
rf12_sendStart(0, ptr, len);
rf12_sendWait(2); // Wait for RF to finish sending while in standby mode
rf12_sleep(0); // Put RF module to sleep
return;
}
}
void QSocketSession::handshake()
{
if (MESSAGES) qDebug("Handshaking... (isOpen()=%d)", isOpen());
ack();
if (!waitForAck(1000) || !isOpen())
{ qWarning("*** ERROR: Handshake failed: Didn't receive ack. Closing link.");
close();
return;
}
if (MESSAGES) qDebug("Got ack!");
for (bool know = false; !know;)
{ uchar mi = rand() & 255;
sendByte(mi);
uchar i;
if (!receiveChunk((uchar *)&i, 1, 1000) || !isOpen())
{ qWarning("*** ERROR: Handshake failed: Didn't receive random. Closing link.");
close();
return;
}
if (mi != i)
{ theIsMaster = mi > i;
know = true;
}
else
{ if (MESSAGES) qDebug("Doh! Number clash (%d = %d)", mi, i);
}
}
findByteOrder();
}
/******************************************************************************
* @fn mrfiLinkSend
*
* @brief Send data on the RX link.
*
* @param pBuf - buffer to be transmitted
*
* @param len - number of bytes to be transmitted
*
* @return Return code indicates success or failure of transmit:
* MRFI_TX_RESULT_SUCCESS - transmit succeeded
* MRFI_TX_RESULT_FAILED - transmit failed because CCA or ACK failed
*/
uint8 mrfiLinkSend(uint8 *pBuf, uint8 len, uint8 nRetrans)
{
uint8 v,i,status;
v= halIntLock();
MRFI_SET_PAYLOAD_LEN(&pkt, len+2);
memcpy(MRFI_P_DST_ADDR(&pkt), dest_addr, 4);
memcpy(MRFI_P_SRC_ADDR(&pkt), src_addr, 4);
MRFI_P_PAYLOAD(&pkt)[0]= seqSend;
MRFI_P_PAYLOAD(&pkt)[1]= MRFI_LINK_DATA;
memcpy(MRFI_P_PAYLOAD(&pkt)+2, pBuf, len);
halIntUnlock(v);
for (i=0;i<nRetrans;i++) {
status= MRFI_Transmit(&pkt, MRFI_TX_TYPE_CCA);
if (status==MRFI_TX_RESULT_SUCCESS) {
if (waitForAck(20)) {
seqSend++;
break;
} else {
status= MRFI_TX_RESULT_FAILED;
// wait random time if sending is not successful
// (20-40 milliseconds)
halMcuWaitUs( (20000/255*MRFI_RandomByte()) + 20000 );
}
}
}
return status;
}
void setFieldColor(uint8 color)
{
PORTC = 0x0B;
PORTB = color;
PORTA = 0x01;
PORTA = 0x00;
waitForAck();
}
void GPS::sendCommand(const char* str, const bool wait, const uint32_t timeout) {
#ifdef SIMULATE
// Do nothing if in simulation mode
#else
//Serial.print("GPS(");
//Serial.print(str);
//Serial.println(")");
gpsSwSerial->println(str);
if (wait) waitForAck(timeout);
#endif
}
//fcn to initialize the frontend display
void startGame(void) {
//temp variables
char buffer[BUFFSIZE];
//construct message
sprintf(buffer, "start");
//send message
serDevice.sendData(buffer);
//wait for acknowledgement
waitForAck();
}
void setDoubleBuffer(bool doubleBuffer)
{
PORTC = 0x09;
if (doubleBuffer)
PORTB = 0x01;
else
PORTB = 0x00;
PORTA = 0x01;
PORTA = 0x00;
waitForAck();
}
void QSocketSession::handshake(bool opposite)
{
if (MESSAGES) qDebug("Handshaking... (isOpen()=%d)", isOpen());
ack();
if (!waitForAck(1000) || !isOpen())
{ qWarning("*** ERROR: Handshake failed: Didn't receive ack. Closing link.");
close();
return;
}
if (MESSAGES) qDebug("Got ack!");
theIsMaster = opposite;
findByteOrder();
}
void SegmentDisplayProtocol::writeByte(uint8_t data)
{
for (int bit = 0; bit < 8; bit++)
{
_pinClock->setLow();
_pinData->set(data & 0x01);
_pinClock->setHigh();
bitDelay();
for (int cnt = 0; !_pinClock->get() && cnt < 20; cnt++)
bitDelay();
data >>= 1;
}
waitForAck();
}
void flipBuffer(uint8* buf)
{
PORTC = 0x0A;
if (*buf)
{
*buf = 0;
PORTB = 0x01;
}
else
{
*buf = 1;
PORTB = 0x00;
}
PORTA = 0x01;
PORTA = 0x00;
waitForAck();
}
bool RControlStationComm::setAutopilotActive(int car, bool active, int timeoutMs)
{
if (!isTcpConnected()) {
qWarning() << "libRControlStation: not connected";
return false;
}
QString str;
QXmlStreamWriter stream(&str);
stream.setAutoFormatting(true);
QString cmd = "setAutopilotActive";
stream.writeStartDocument();
stream.writeStartElement("message");
stream.writeStartElement(cmd);
stream.writeTextElement("id", QString::number(car));
stream.writeTextElement("enabled", QString::number(active));
stream.writeEndDocument();
sendData(str.toLocal8Bit());
return waitForAck(cmd, timeoutMs);
}
bool RControlStationComm::addRoutePoints(int car, ROUTE_POINT *route, int len, bool replace,
bool mapOnly, int mapRoute, int timeoutMs)
{
if (!isTcpConnected()) {
qWarning() << "libRControlStation: not connected";
return false;
}
QString str;
QXmlStreamWriter stream(&str);
stream.setAutoFormatting(true);
QString cmd = "addRoutePoint";
if (replace) {
cmd = "replaceRoute";
}
stream.writeStartDocument();
stream.writeStartElement("message");
stream.writeStartElement(cmd);
stream.writeTextElement("id", QString::number(car));
stream.writeTextElement("mapOnly", QString::number(mapOnly));
stream.writeTextElement("mapRoute", QString::number(mapRoute));
for (int i = 0;i < len;i++) {
stream.writeStartElement("point");
stream.writeTextElement("px", QString::number(route[i].px));
stream.writeTextElement("py", QString::number(route[i].py));
stream.writeTextElement("speed", QString::number(route[i].speed));
stream.writeTextElement("time", QString::number(route[i].time));
stream.writeEndElement();
}
stream.writeEndDocument();
sendData(str.toLocal8Bit());
return waitForAck(cmd, timeoutMs);
}
//fcn to print to console
void print(const char *format, ...) {
//temp variables
char buffer[BUFFSIZE];
char temp[BUFFSIZE-6];
//construct message part 1
sprintf(buffer, "print-");
//construct message part 2
va_list arguments;
va_start(arguments, format);
vsnprintf(temp, BUFFSIZE-7, format, arguments);
va_end(arguments);
//concatenate parts
strcat(buffer, temp);
//send message
serDevice.sendData(buffer);
//wait for acknowledgement
waitForAck();
}
bool RControlStationComm::setEnuRef(int car, double *llh, int timeoutMs)
{
if (!isTcpConnected()) {
qWarning() << "libRControlStation: not connected";
return false;
}
QString str;
QXmlStreamWriter stream(&str);
stream.setAutoFormatting(true);
stream.writeStartDocument();
stream.writeStartElement("message");
stream.writeStartElement("setEnuRef");
stream.writeTextElement("id", QString::number(car));
stream.writeTextElement("lat", QString::number(llh[0], 'g', 10));
stream.writeTextElement("lon", QString::number(llh[1], 'g', 10));
stream.writeTextElement("height", QString::number(llh[2]));
stream.writeEndDocument();
sendData(str.toLocal8Bit());
return waitForAck("setEnuRef", timeoutMs);
}
//-----------------------------------------------------------------------------
// See cul.h for a description of this function.
//-----------------------------------------------------------------------------
BYTE sppSend(SPP_STRUCT* pPacketPointer){
BYTE res = TRUE;
// Checking that length is not too long
if (pPacketPointer->payloadLength > SPP_MAX_PAYLOAD_LENGTH)
{
res = TOO_LONG;
sppTxStatus = TX_IDLE;
}
// Flipping the sequence bit, writing total packet length and address if the transfer is not a retransmission.
// If it is a retransmission, the fields are correct
if(!(pPacketPointer->flags & RETRANSMISSION))
{
pPacketPointer->flags ^= SEQUENCE_BIT;
pPacketPointer->payloadLength += SPP_HEADER_AND_FOOTER_LENGTH;
pPacketPointer->srcAddress = myAddress;
}
// Setting up the DMA
DMA_ABORT_CHANNEL(dmaNumberTx);
SET_DMA_SOURCE(dmaTx,pPacketPointer);
// Proceed if the packet length is OK.
if (res == TRUE)
{
// Clearing RF interrupt flags and enabling RF interrupts.
RFIF &= ~IRQ_DONE;
RFIM &= ~IRQ_SFD;
INT_SETFLAG(INUM_RF, INT_CLR);
#ifdef CCA_ENABLE
if(!CCA)
{
SRX();
// Turning on Rx and waiting to make the RSSI value become valid.
halWait(1);
}
if(CCA)
#endif
{ // Setting up radio
DMA_ABORT_CHANNEL(dmaNumberRx);
SIDLE();
RFTXRXIF = 0;
INT_GLOBAL_ENABLE(FALSE);
DMA_ARM_CHANNEL(dmaNumberTx);
STX();
INT_GLOBAL_ENABLE(TRUE);
sppTxStatus = TX_IN_PROGRESS;
if(pPacketPointer->flags & DO_ACK)
{
pAckData = pPacketPointer;
waitForAck();
}
else
{
pAckData = NULL;
}
RFIM |= IRQ_DONE;
}
#ifdef CCA_ENABLE
// The "air" is busy
else
{
res = CHANNEL_BUSY;
RFIM &= ~IRQ_DONE;
// De-flipping the sequence bit.
if(!(pPacketPointer->flags & RETRANSMISSION))
{
pPacketPointer->flags ^= SEQUENCE_BIT;
}
}
#endif
}
return res;
} // ends sppSend
void drawData(void)
{
PORTA = 0b00000010; //initialize draw
PORTA = 0b00000000; //draw command received, so turn off draw bit
waitForAck();
}
int sendFileToServer(int sock, char path[100], char fileName[100]){
// Entire file path
char wholePath[200];
strcpy(wholePath, path);
strcat(wholePath, "/");
strcat(wholePath, fileName);
printf("Whole File Path = %s\n",wholePath);
//Sending 1 KB at a time
char fileContents[1024];
// Find out file size
int size;
struct stat s;
int status = stat(wholePath, &s);
if(status < 0){
// stat failed
puts("No Such File or Directory");
// Send incorrect file details stopper as status -1
if(sendInt(sock, -1) < 0){
puts("Incorrect file details sent as status -1 : Failed to send");
}
return -1;
}else{
if(sendInt(sock, 1) < 0){
puts("Incorrect file details sent as status 1 : Failed to send");
}
}
size = s.st_size;
printf("File Size = %d\n",size);
// Open file
FILE *fp;
fp = fopen(wholePath, "r");
if(fp == NULL){
printf("%s : Error opening file\n",fileName);
return -1;
}
//Send FileName
if(send(sock , &fileName[0] , sizeof(char)*100 , 0) < 0){
puts("Send File Name Failed");
return -1;
}
printf("File Name Sent = %s\n",fileName);
if(waitForAck(sock) < 0){
return -1;
}
// Wait for server response for file already exists
int fileExists;
if(readInt(sock, &fileExists) < 0){
puts("Failed to read file exists from server");
return -1;
}
if(fileExists < 0){
// File already exists, do not send, but do consider this to be an error
puts("File already Indexed | Will not be indexed again");
return 1;
}
//Send File size
if(sendInt(sock, size) < 0){
puts("Send File Size Failed");
return -1;
}
puts("File Size Sent");
// Read file
while(fgets(fileContents, 1024, (FILE*)fp) != NULL){
//Sending maximum 1 KB of the file (Can be less depending of bytes in the line)
if(send(sock , &fileContents , sizeof(char)*1024 , 0) < 0){
puts("Send Failed");
return -1;
}
// Wait for Ack
if(waitForAck(sock) < 0){
puts("Failed receiving Ack when sending the file");
return -1;
}
}
puts("File Sent");
if(waitForAck(sock) < 0){
return -1;
}
// Close file
fclose(fp);
return 1;
}
