bool sendEMailCommand (TCPSocket &sock, const std::string &command, u32 code = 250)
{
std::string buffer = command + "\r\n";
u32 size = (u32)buffer.size();
if(!command.empty())
{
if (sock.send ((u8 *)buffer.c_str(), size) != Sock::eSockResult_Ok)
{
Warning("EMAIL: Can't send data to the server");
return false;
}
}
std::string res;
char c;
for(;;)
{
size = 1;
if (sock.receive((u8*)&c, size, false) == Sock::eSockResult_Ok)
{
res += c;
if (c == '\n')
{
u32 c;
Email::fromString(res, c);
if (c != code)
{
Warning ("EMAIL: EMail command '%s' returned '%s' instead of code %d on sock %s", command.substr(0, 20).c_str(), res.substr(0, res.size()-2).c_str(), code, sock.remoteAddr().asString().c_str());
return false;
}
return true;
}
}
else
{
Warning ("EMAIL: EMail connection closed before end of line, command '%s' returned '%s' on sock %s (code %d)", command.substr(0, 20).c_str(), res.c_str(), sock.remoteAddr().asString().c_str(), code);
return false;
}
}
return true;
}
void MasterQuery::refresh() throw (MasterQueryException) {
TCPSocket query;
char buffer[1024];
std::string pending;
try {
query.connect(masterserver.c_str(), masterport);
while (query.is_connected()) {
if (query.activity(0, 100000)) {
memset(buffer, 0, sizeof(buffer));
size_t sz = query.receive(buffer, sizeof(buffer));
if (sz) {
pending += buffer;
}
}
}
} catch(const Exception&) {
/* chomp */
}
/* setup retrievers */
cleanup();
while (pending.length()) {
std::string entry;
size_t pos = pending.find('\n');
if (pos == std::string::npos) {
entry = pending;
pending.clear();
} else {
entry = pending.substr(0, pos);
pending = pending.substr(pos + 1);
}
pos = entry.find(' ');
if (pos != std::string::npos) {
hostaddr_t host = ntohl(inet_addr(entry.substr(0, pos).c_str()));
hostport_t port = atoi(entry.substr(pos + 1).c_str());
MasterQueryClient *mqc = new MasterQueryClient(*this, host, port);
hosts.push_back(mqc);
}
}
}
int doClientTask (const char *pszRemoteHost, unsigned short usRemotePort, bool bUseMockets, Stats *pStats)
{
int rc;
static char buf [1024];
static bool bBufInitialized;
if (!bBufInitialized) {
srand (1234);
for (int i = 0; i < sizeof (buf); i++) {
buf[i] = (char) rand();
}
bBufInitialized = true;
}
if (bUseMockets) {
StreamMocket mocket;
if (0 != (rc = mocket.connect (pszRemoteHost, usRemotePort))) {
fprintf (stderr, "doClientTask: failed to connect using mockets to remote host %s on port %d; rc = %d\n",
pszRemoteHost, usRemotePort, rc);
return -1;
}
mocket.registerPeerUnreachableWarningCallback (unreachablePeerCallback, NULL);
int iDataSize = 1024*1024;
int iBytesSent = 0;
int64 i64StartTime = getTimeInMilliseconds();
mocket.send (&iDataSize, sizeof (iDataSize));
while (iBytesSent < iDataSize) {
mocket.send (buf, sizeof (buf));
iBytesSent += sizeof (buf);
}
char chReply = 0;
mocket.receive (&chReply, 1);
if (chReply != '.') {
fprintf (stderr, "doClientTask: failed to receive . from remote host\n");
return -2;
}
int64 i64EndTime = getTimeInMilliseconds();
int iTime = (int) (getTimeInMilliseconds() - i64StartTime);
pStats->update ((double) (i64EndTime - i64StartTime));
// Save results to a file
FILE *file = fopen ("stats-client-streamMockets-cpp.txt", "a");
if (file == NULL) {
fprintf (stderr, "failed to append to file stats-mockets-cpp.txt\n");
return -3;
}
fprintf (file, "[%lu]\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n", (unsigned long) (getTimeInMilliseconds()/1000), iTime,
mocket.getStatistics()->getSentPacketCount(),
mocket.getStatistics()->getSentByteCount(),
mocket.getStatistics()->getReceivedPacketCount(),
mocket.getStatistics()->getReceivedByteCount(),
mocket.getStatistics()->getRetransmitCount(),
mocket.getStatistics()->getDuplicatedDiscardedPacketCount(),
mocket.getStatistics()->getNoRoomDiscardedPacketCount());
/*mocket.getStatistics()->getDiscardedPacketCounts()._iBelowWindow,
mocket.getStatistics()->getDiscardedPacketCounts()._iNoRoom,
mocket.getStatistics()->getDiscardedPacketCounts()._iOverlap,
mocket.getStatistics()->getTransmitterWaitCounts()._iPacketQueueFull,
mocket.getStatistics()->getTransmitterWaitCounts()._iRemoteWindowFull);*/
fclose (file);
mocket.close();
}
else {
TCPSocket socket;
if (0 != (rc = socket.connect (pszRemoteHost, usRemotePort))) {
fprintf (stderr, "doClientTask: failed to connect using sockets to remote host %s on port %d; rc = %d\n",
pszRemoteHost, usRemotePort, rc);
return -3;
}
int iDataSize = 1024*1024;
int iBytesSent = 0;
int64 i64StartTime = getTimeInMilliseconds();
socket.send (&iDataSize, sizeof (iDataSize));
while (iBytesSent < iDataSize) {
socket.send (buf, sizeof (buf));
iBytesSent += sizeof (buf);
}
char chReply = 0;
socket.receive (&chReply, 1);
if (chReply != '.') {
fprintf (stderr, "doClientTask: failed to receive . from remote host\n");
return -4;
}
int64 i64EndTime = getTimeInMilliseconds();
int iTime = (int) (getTimeInMilliseconds() - i64StartTime);
pStats->update ((double) (i64EndTime - i64StartTime));
// Save results to a file
FILE *socfile = fopen ("statsSM-client-sockets-cpp.txt", "a");
if (socfile == NULL) {
fprintf (stderr, "failed to append to file statsSM-mockets-cpp.txt\n");
return -3;
}
fprintf (socfile, "[%lu]\t%d\t\n", (unsigned long) (getTimeInMilliseconds()/1000), iTime);
fclose (socfile);
socket.disconnect();
}
return 0;
}
// --------------------------------------------------------------------------
// ARDrone::getConfig()
// Description : Get current configurations of AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::getConfig(void)
{
// Open the IP address and port
TCPSocket sockConfig;
if (!sockConfig.open(ip, ARDRONE_CONFIG_PORT)) {
CVDRONE_ERROR("TCPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_CONFIG_PORT, __FILE__, __LINE__);
return 0;
}
// Send requests
UDPSocket tmpCommand;
tmpCommand.open(ip, ARDRONE_COMMAND_PORT);
tmpCommand.sendf("AT*CTRL=%d,5,0\r", seq++);
tmpCommand.sendf("AT*CTRL=%d,4,0\r", seq++);
msleep(500);
tmpCommand.close();
// Receive data
char buf[4096] = {'\0'};
int size = sockConfig.receive((void*)&buf, sizeof(buf));
// Received something
if (size > 0) {
// Clear config struct
memset(&config, 0, sizeof(ARDRONE_CONFIG));
// Parsing configurations
char *token = strtok(buf, "\n");
if (token != NULL) parse(token, &config);
while (token != NULL) {
token = strtok(NULL, "\n");
if (token != NULL) parse(token, &config);
}
}
#if 0
// For debug
printf("general.num_version_config = %d\n", config.general.num_version_config);
printf("general.num_version_mb = %d\n", config.general.num_version_mb);
printf("general.num_version_soft = %s\n", config.general.num_version_soft);
printf("general.drone_serial = %s\n", config.general.drone_serial);
printf("general:soft_build_date = %s\n", config.general.soft_build_date);
printf("general:motor1_soft = %f\n", config.general.motor1_soft);
printf("general:motor1_hard = %f\n", config.general.motor1_hard);
printf("general:motor1_supplier = %f\n", config.general.motor1_supplier);
printf("general:motor2_soft = %f\n", config.general.motor2_soft);
printf("general:motor2_hard = %f\n", config.general.motor2_hard);
printf("general:motor2_supplier = %f\n", config.general.motor2_supplier);
printf("general:motor3_soft = %f\n", config.general.motor3_soft);
printf("general:motor3_hard = %f\n", config.general.motor3_hard);
printf("general:motor3_supplier = %f\n", config.general.motor3_supplier);
printf("general:motor4_soft = %f\n", config.general.motor4_soft);
printf("general:motor4_hard = %f\n", config.general.motor4_hard);
printf("general:motor4_supplier = %f\n", config.general.motor4_supplier);
printf("general.ardrone_name = %s\n", config.general.ardrone_name);
printf("general.flying_time = %d\n", config.general.flying_time);
printf("general.navdata_demo = %s\n", config.general.navdata_demo ? "true" : "false");
printf("general.com_watchdog = %d\n", config.general.com_watchdog);
printf("general.video_enable = %s\n", config.general.video_enable ? "true" : "false");
printf("general.vision_enable = %s\n", config.general.vision_enable ? "true" : "false");
printf("general.vbat_min = %d\n", config.general.vbat_min);
printf("general.localtime = %d\n", config.general.localtime);
printf("general.navdata_options = %d\n", config.general.navdata_options);
printf("control:accs_offset = {%f, %f, %f}\n", config.control.accs_offset[0], config.control.accs_offset[1], config.control.accs_offset[2]);
printf("control:accs_gains = { %f %f %f %f %f %f %f %f %f }\n", config.control.accs_gains[0], config.control.accs_gains[1], config.control.accs_gains[2], config.control.accs_gains[3], config.control.accs_gains[4], config.control.accs_gains[5], config.control.accs_gains[6], config.control.accs_gains[7], config.control.accs_gains[8]);
printf("control:gyros_offset = { %f %f %f }\n", config.control.gyros_offset[0], config.control.gyros_offset[1], config.control.gyros_offset[2]);
printf("control:gyros_gains = { %f %f %f }\n", config.control.gyros_gains[0], config.control.gyros_gains[1], config.control.gyros_gains[2]);
printf("control:gyros110_offset = { %f %f }\n", config.control.gyros110_offset[0], config.control.gyros110_offset[1]);
printf("control:gyros110_gains = { %f %f }\n", config.control.gyros110_gains[0], config.control.gyros110_gains[1]);
printf("control:magneto_offset = { %f %f %f }\n", config.control.magneto_offset[0], config.control.magneto_offset[1], config.control.magneto_offset[2]);
printf("control:magneto_radius = %f\n", config.control.magneto_radius);
printf("control:gyro_offset_thr_x = %f\n", config.control.gyro_offset_thr_x);
printf("control:gyro_offset_thr_y = %f\n", config.control.gyro_offset_thr_y);
printf("control:gyro_offset_thr_z = %f\n", config.control.gyro_offset_thr_z);
printf("control:pwm_ref_gyros = %d\n", config.control.pwm_ref_gyros);
printf("control:osctun_value = %d\n", config.control.osctun_value);
printf("control:osctun_test = %s\n", config.control.osctun_test ? "true" : "false");
printf("control:altitude_max = %d\n", config.control.altitude_max);
printf("control:altitude_min = %d\n", config.control.altitude_min);
printf("control:outdoor = %s\n", config.control.outdoor ? "true" : "false");
printf("control:flight_without_shell = %s\n", config.control.flight_without_shell ? "true" : "false");
printf("control:autonomous_flight = %s\n", config.control.autonomous_flight ? "true" : "false");
printf("control:flight_anim = %d,%d\n", config.control.flight_anim[0], config.control.flight_anim[1]);
printf("control:control_level = %d\n", config.control.control_level);
printf("control:euler_angle_max = %f\n", config.control.euler_angle_max);
printf("control:control_iphone_tilt = %f\n", config.control.control_iphone_tilt);
printf("control:control_vz_max = %f\n", config.control.control_vz_max);
printf("control:control_yaw = %f\n", config.control.control_yaw);
printf("control:manual_trim = %s\n", config.control.manual_trim ? "true" : "false");
printf("control:indoor_euler_angle_max = %f\n", config.control.indoor_euler_angle_max);
printf("control:indoor_control_vz_max = %f\n", config.control.indoor_control_vz_max);
printf("control:indoor_control_yaw = %f\n", config.control.indoor_control_yaw);
printf("control:outdoor_euler_angle_max = %f\n", config.control.outdoor_euler_angle_max);
printf("control:outdoor_control_vz_max = %f\n", config.control.outdoor_control_vz_max);
printf("control:outdoor_control_yaw = %f\n", config.control.outdoor_control_yaw);
printf("control:flying_mode = %d\n", config.control.flying_mode);
printf("control:hovering_range = %d\n", config.control.hovering_range);
printf("network:ssid_single_player = %s\n", config.network.ssid_single_player);
printf("network:ssid_multi_player = %s\n", config.network.ssid_multi_player);
printf("network:wifi_mode = %d\n", config.network.wifi_mode);
printf("network:wifi_rate = %d\n", config.network.wifi_rate);
printf("network:owner_mac = %s\n", config.network.owner_mac);
printf("pic:ultrasound_freq = %d\n", config.pic.ultrasound_freq);
printf("pic:ultrasound_watchdog = %d\n", config.pic.ultrasound_watchdog);
printf("pic:pic_version = %d\n", config.pic.pic_version);
printf("video:camif_fps = %d\n", config.video.camif_fps);
printf("video:camif_buffers = %d\n", config.video.camif_buffers);
printf("video:num_trackers = %d\n", config.video.num_trackers);
printf("video:video_storage_space = %d\n", config.video.video_storage_space);
printf("video:video_on_usb = %s\n", config.video.video_on_usb ? "true" : "false");
printf("video:video_file_index = %d\n", config.video.video_file_index);
printf("video:bitrate = %d\n", config.video.bitrate);
printf("video:bitrate_ctrl_mode = %d\n", config.video.bitrate_ctrl_mode);
printf("video:bitrate_storage = %d\n", config.video.bitrate_storage);
printf("video:codec_fps = %d\n", config.video.codec_fps);
printf("video:video_codec = %d\n", config.video.video_codec);
printf("video:video_slices = %d\n", config.video.video_slices);
printf("video:video_live_socket = %d\n", config.video.video_live_socket);
printf("video:max_bitrate = %d\n", config.video.max_bitrate);
printf("video:video_channel = %d\n", config.video.video_channel);
printf("leds:leds_anim = %d,%d,%d\n", config.leds.leds_anim[0], config.leds.leds_anim[1], config.leds.leds_anim[2]);
printf("detect:enemy_colors = %d\n", config.detect.enemy_colors);
printf("detect:enemy_without_shell = %d\n", config.detect.enemy_without_shell);
printf("detect:groundstripe_colors = %d\n", config.detect.groundstripe_colors);
printf("detect:detect_type = %d\n", config.detect.detect_type);
printf("detect:detections_select_h = %d\n", config.detect.detections_select_h);
printf("detect:detections_select_v_hsync = %d\n", config.detect.detections_select_v_hsync);
printf("detect:detections_select_v = %d\n", config.detect.detections_select_v);
printf("syslog:output = %d\n", config.syslog.output);
printf("syslog:max_size = %d\n", config.syslog.max_size);
printf("syslog:nb_files = %d\n", config.syslog.nb_files);
printf("custom:application_desc = %s\n", config.custom.application_desc);
printf("custom:profile_desc = %s\n", config.custom.profile_desc);
printf("custom:session_desc = %s\n", config.custom.session_desc);
printf("custom:application_id = %s\n", config.custom.application_id);
printf("custom:profile_id = %s\n", config.custom.profile_id);
printf("custom:session_id = %s\n", config.custom.session_id);
printf("userbox:userbox_cmd = %d\n", config.userbox.userbox_cmd);
printf("gps:latitude = %f\n", config.gps.latitude);
printf("gps:longitude = %f\n", config.gps.longitude);
printf("gps:altitude = %f\n", config.gps.altitude);
#endif
// Finalize
sockConfig.close();
return 1;
}
