////////////////////////////////////////////////////////////////////////////////////
///
/// \brief If the IsLargeDataSet method returns true, then this method is used
/// to convert message payload data into a multi-packet stream
/// according to rules defined by the JAUS standards documents.
///
/// This method should only be overloaded if your message contains data
/// larger than Header::MaxSize - Header::MinSize (e.g. image data) and you wish
/// to optimize how data is written. By default, this method calls the
/// WriteMessageBody method to generate a single large byte array, which is then
/// broken up into a Packet::List for the transport layer.
///
/// \param[out] stream Multi-packet stream containing serialized message
/// following rules of large data sets.
/// \param[out] streamHeaders Headers for packet in the stream.
/// \param[in] maxPayloadSize This is the maximum packet size including
/// payload, does not include transport, General
/// Transport Header, or Message Code (USHORT).
/// \param[in] transportHeader Additional transport header data to precede
/// the general transport header of each packet.
/// \param[in] startingSequenceNumber Sequence number to use for packets.
/// \param[in] broadcastFlags Values to use to signify if message should be
/// sent using any broadcast options (e.g.
/// multicast). 0 = no options, 1 = local broadcast,
/// 2 = global broadcast.
///
/// \return FAILURE on error, otherwise number of packets written.
///
////////////////////////////////////////////////////////////////////////////////////
int Message::WriteLargeDataSet(Packet::List& stream,
Header::List& streamHeaders,
const UShort maxPayloadSize,
const Packet* transportHeader,
const UShort startingSequenceNumber,
const Byte broadcastFlags) const
{
Header header;
header.mDestinationID = mDestinationID;
header.mSourceID = mSourceID;
header.mPriorityFlag = mPriority;
header.mBroadcastFlag = broadcastFlags;
stream.clear();
streamHeaders.clear();
Packet* temp = ((Packet *)(&mStreamPayload));
temp->Clear();
if(IsLargeDataSet() && WriteMessageBody(*temp) >= 0)
{
LargeDataSet::CreateLargeDataSet(header,
mMessageCode,
*temp,
stream,
streamHeaders,
transportHeader,
maxPayloadSize,
startingSequenceNumber);
return (int)stream.size();
}
return FAILURE;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Tests large data set creation and merging.
///
////////////////////////////////////////////////////////////////////////////////////
void TestLargeDataSets()
{
Packet payload; // Large data set payload.
Header header; // Message header data.
UShort messageCode = 50; // Random message type.
Packet::List stream; // Multi-packet stream sequence.
Header::List streamHeaders; // Mutli-packet stream sequence headers.
unsigned int payloadSize = 60000; // Payload data size to create.
header.mSourceID(50, 1, 1);
header.mDestinationID(51, 1, 1);
for(unsigned int i = 0; i < payloadSize/UINT_SIZE; i++)
{
payload.Write(i);
}
LargeDataSet::CreateLargeDataSet(header, messageCode, payload, stream, streamHeaders, NULL, 1437, 30);
payload.Destroy();
messageCode = 0;
header = Header();
LargeDataSet::MergeLargeDataSet(header, messageCode, payload, stream, NULL);
unsigned int data;
for(unsigned int i = 0; i < payloadSize/UINT_SIZE; i++)
{
payload.Read(data);
if(data != i)
{
std::cout << "Large Data Sets Error: Data Does Not Match!\n";
return;
}
}
std::random_shuffle(stream.begin(), stream.end());
LargeDataSet dataSet;
for(unsigned int i = 0; i < (unsigned int)stream.size(); i++)
{
Header header;
UShort messageCode;
stream[i].SetReadPos(0);
header.Read(stream[i]);
stream[i].Read(messageCode);
if(dataSet.AddPacket(header, messageCode, stream[i]) == false)
{
std::cout << "Large Data Sets Error: Could Not Collect Stream.\n";
}
}
// Now merge the data.
LargeDataSet::MergeLargeDataSet(header, messageCode, payload, dataSet.mStream, NULL);
for(unsigned int i = 0; i < payloadSize/UINT_SIZE; i++)
{
payload.Read(data);
if(data != i)
{
std::cout << "Large Data Sets Error: Data Does Not Match!\n";
return;
}
}
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Converts the message data into JUDP packets for transmission.
///
/// \param[in] message Message to convert/serialize.
/// \param[out] stream Packets to send.
/// \param[out] streamHeaders Header info for packets.
/// \param[in] startingSequenceNumber Sequence number to use for packets.
/// \param[in] broadcastFlags Values to use to signify if message should be
/// sent using any broadcast options (e.g.
/// multicast). 0 = no options, 1 = local broadcast,
/// 2 = global broadcast.
///
/// \return True on success, false on failure.
///
////////////////////////////////////////////////////////////////////////////////////
bool JUDP::SerializeMessage(const Message* message,
Packet::List& stream,
Header::List& streamHeaders,
const UShort startingSequenceNumber,
const int broadcastFlags) const
{
Packet packet;
Header header;
// Pre-allocate memory.
packet.Reserve(mMaxPayloadSize + OverheadSizeBytes);
// Clear stream/headers.
stream.clear();
streamHeaders.clear();
// If the message is a large data set, create a multi-packet stream.
if(message->IsLargeDataSet(mMaxPayloadSize))
{
return message->WriteLargeDataSet(stream,
streamHeaders,
mMaxPayloadSize,
&mTransportHeader,
startingSequenceNumber) > 0;
}
// Single packet.
else if(message->Write(packet, header, &mTransportHeader, true, startingSequenceNumber) > 0)
{
stream.push_back(packet);
streamHeaders.push_back(header);
return true;
}
return false;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief If the Transport services of a component receive a multi-packet
/// stream for a message, this method is used to read the contents.
///
/// This method should only be overloaded if you wish to optimize the
/// de-serialization of mutli-packet streams for your message (e.g. video data).
/// By default, this method converts the stream to a larger continuous packet
/// to be used by the ReadMessageBody method.
///
/// \param[in] stream Multi-packet stream containing serialized message
/// following rules of large data sets.
/// \param[in] transportHeader Additional transport header data that precedes
/// the general transport header of each packet.
///
/// \return FAILURE on error, otherwise number of packets read.
///
////////////////////////////////////////////////////////////////////////////////////
int Message::ReadLargeDataSet(const Packet::List& stream,
const Packet* transportHeader)
{
Header header;
UShort messageCode;
if(LargeDataSet::MergeLargeDataSet(header, messageCode, mStreamPayload, stream, transportHeader))
{
if(ReadMessageBody(mStreamPayload))
{
mSourceID = header.mSourceID;
mDestinationID = header.mDestinationID;
mPriority = header.mPriorityFlag;
return (int)stream.size();
}
}
return FAILURE;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Test method to verify ability to read/write message data from
/// an example wireshark log provided for testing systems for the JAUS
/// Interoperability Challenge hosted at several AUVSI competitions.
///
////////////////////////////////////////////////////////////////////////////////////
void VerifyAgainstLog()
{
Packet::List packets;
Packet::List::iterator packet;
Component component;
component.DiscoveryService()->SetSubsystemIdentification(Subsystem::OCU, "OCP");
component.AddService(new LocalPoseSensor());
component.AddService(new VelocityStateSensor());
component.AddService(new ListManager());
component.AddService(new TestLocalWaypointListDriver());
Packet::LoadWiresharkCapturePacketExport("logs/example-capture.txt", packets);
Address cop(42, 1, 1);
Address sim(6000, 1, 1);
//Packet::LoadWiresharkCapturePacketExport("logs/example_capture-2.txt", packets);
Message::List messages;
Message::List::iterator message;
// Delete UDP header data to get to just the JAUS message.
for(packet = packets.begin(); packet != packets.end();)
{
// Delete UDP header data.
packet->Delete(43);
// Read message header data.
Header jausHeader;
if(jausHeader.Read(*packet))
{
UShort messageCode = 0;
packet->Read(messageCode, Header::PayloadOffset);
Message* jausMessage = component.TransportService()->CreateMessage(messageCode);
if(jausMessage)
{
packet->SetReadPos(0);
if(jausMessage->Read(*packet))
{
messages.push_back(jausMessage);
if(jausMessage->GetMessageCode() == SET_ELEMENT)
{
Element::List::iterator m;
SetElement* setElement = (SetElement *)jausMessage;
for(m = setElement->GetElementList()->begin();
m != setElement->GetElementList()->end();
m++)
{
UShort code = 0;
m->mPayload.SetReadPos(0);
m->mPayload.Read(code);
Message* element = component.TransportService()->CreateMessage(code);
if(element)
{
element->CopyHeaderData(jausMessage);
if(element->ReadMessageBody(m->mPayload))
{
messages.push_back(element);
}
else
{
std::cout << "Failed to Read Message Data [" << std::hex << element->GetMessageCode() << "]:\n";
delete element;
}
}
}
}
}
else
{
std::cout << "Failed to Read Message Data [" << std::hex << jausMessage->GetMessageCode() << "]:\n";
}
}
else
{
std::cout << "Unknown Message Type [" << std::hex << messageCode << "]:\n";
}
}
else
{
std::cout << "Bad Header!\n";
}
packet++;
}
component.Initialize(cop);
message = messages.begin();
for(message = messages.begin();
message != messages.end();
message++)
{
//(*message)->Print();
if((*message)->GetSourceID() == cop)
{
(*message)->SetDestinationID(sim);
component.Send((*message));
}
CxUtils::SleepMs(1);
delete (*message);
}
}
