UDP Experiment Server
Dependents: Bezier_Trajectory_Follower Dolphin 2_131TEST Jerby ... more
ExperimentServer.cpp@3:588db37d9079, 2015-08-12 (annotated)
- Committer:
- pwensing
- Date:
- Wed Aug 12 22:20:25 2015 +0000
- Revision:
- 3:588db37d9079
- Parent:
- 2:bb4b95f37896
- Child:
- 4:434982de99ed
updated error messages and end condition;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pwensing | 0:85e387719efd | 1 | #include "ExperimentServer.h" |
pwensing | 0:85e387719efd | 2 | #include "EthernetInterface.h" |
pwensing | 0:85e387719efd | 3 | |
pwensing | 0:85e387719efd | 4 | ExperimentServer::ExperimentServer() { |
pwensing | 0:85e387719efd | 5 | _terminal = NULL; |
pwensing | 0:85e387719efd | 6 | _data_cnt = 0; |
pwensing | 0:85e387719efd | 7 | } |
pwensing | 0:85e387719efd | 8 | |
pwensing | 1:63635482312f | 9 | void ExperimentServer::attachTerminal( Serial & terminal) { |
pwensing | 0:85e387719efd | 10 | _terminal = &terminal; |
pwensing | 0:85e387719efd | 11 | } |
pwensing | 0:85e387719efd | 12 | |
pwensing | 2:bb4b95f37896 | 13 | void ExperimentServer::init() { |
pwensing | 2:bb4b95f37896 | 14 | // default configuration |
pwensing | 2:bb4b95f37896 | 15 | char ip_address[] = "192.168.1.100"; |
pwensing | 2:bb4b95f37896 | 16 | char subnet_mask[]= "255.255.255.0"; |
pwensing | 2:bb4b95f37896 | 17 | char gateway[] = "192.168.1.1"; |
pwensing | 2:bb4b95f37896 | 18 | int server_port = 11223; |
pwensing | 2:bb4b95f37896 | 19 | init(ip_address,subnet_mask,gateway, server_port); |
pwensing | 2:bb4b95f37896 | 20 | } |
pwensing | 2:bb4b95f37896 | 21 | |
pwensing | 1:63635482312f | 22 | void ExperimentServer::init(const char * ip_addr, const char * subnet_mask, const char * gateway, unsigned int port) { |
pwensing | 1:63635482312f | 23 | if(_terminal!=NULL) { |
pwensing | 0:85e387719efd | 24 | _terminal->printf("\n==============================\nStarting Server\n"); |
pwensing | 0:85e387719efd | 25 | _terminal->printf("...Intializing Ethernet\n"); |
pwensing | 0:85e387719efd | 26 | } |
pwensing | 0:85e387719efd | 27 | _eth.init(ip_addr,subnet_mask,gateway); |
pwensing | 0:85e387719efd | 28 | |
pwensing | 0:85e387719efd | 29 | if(_terminal!=NULL) |
pwensing | 0:85e387719efd | 30 | _terminal->printf("...Connecting\n"); |
pwensing | 0:85e387719efd | 31 | _eth.connect(); |
pwensing | 0:85e387719efd | 32 | |
pwensing | 0:85e387719efd | 33 | if(_terminal!=NULL) |
pwensing | 0:85e387719efd | 34 | _terminal->printf("...Ethernet IP Address is %s\n", _eth.getIPAddress()); |
pwensing | 0:85e387719efd | 35 | |
pwensing | 0:85e387719efd | 36 | _server.bind(port); |
pwensing | 0:85e387719efd | 37 | if(_terminal!=NULL) |
pwensing | 0:85e387719efd | 38 | _terminal->printf("...Listening on Port %d\n", port); |
pwensing | 0:85e387719efd | 39 | } |
pwensing | 0:85e387719efd | 40 | |
pwensing | 1:63635482312f | 41 | int ExperimentServer::getParams(float params[], int num_params) { |
pwensing | 1:63635482312f | 42 | if(_terminal!=NULL) { |
pwensing | 0:85e387719efd | 43 | _terminal->printf("\n========================\nNew Experiment\n"); |
pwensing | 0:85e387719efd | 44 | _terminal->printf("...Waiting for parameters...\n"); |
pwensing | 0:85e387719efd | 45 | } |
pwensing | 0:85e387719efd | 46 | |
pwensing | 0:85e387719efd | 47 | int n = _server.receiveFrom(_client,(char *) params, sizeof(params)*sizeof(float)); |
pwensing | 1:63635482312f | 48 | if ( (n% 4) > 0 ) { |
pwensing | 3:588db37d9079 | 49 | if(_terminal!=NULL) { |
pwensing | 0:85e387719efd | 50 | _terminal->printf("ERROR: input data bad size\n"); |
pwensing | 3:588db37d9079 | 51 | _terminal->printf("ERROR: Expected %d got %d\n",4*num_params,n); |
pwensing | 3:588db37d9079 | 52 | } |
pwensing | 0:85e387719efd | 53 | return false; |
pwensing | 0:85e387719efd | 54 | } |
pwensing | 1:63635482312f | 55 | if ( n / 4 != num_params) { |
pwensing | 3:588db37d9079 | 56 | if(_terminal!=NULL) { |
pwensing | 0:85e387719efd | 57 | _terminal->printf("ERROR: input data bad size\n"); |
pwensing | 3:588db37d9079 | 58 | _terminal->printf("ERROR: Expected %d got %d\n",4*num_params,n); |
pwensing | 3:588db37d9079 | 59 | } |
pwensing | 0:85e387719efd | 60 | return false; |
pwensing | 0:85e387719efd | 61 | } |
pwensing | 0:85e387719efd | 62 | |
pwensing | 1:63635482312f | 63 | if(_terminal!=NULL) { |
pwensing | 0:85e387719efd | 64 | _terminal->printf("...Received input from: %s\n", _client.get_address()); |
pwensing | 0:85e387719efd | 65 | _terminal->printf("...Parameters: \n"); |
pwensing | 1:63635482312f | 66 | for ( int j = 0 ; j < n/sizeof(float) ; j++) { |
pwensing | 0:85e387719efd | 67 | _terminal->printf(" %d) %f\n",j+1,params[j]); |
pwensing | 0:85e387719efd | 68 | } |
pwensing | 0:85e387719efd | 69 | } |
pwensing | 0:85e387719efd | 70 | return true; |
pwensing | 0:85e387719efd | 71 | } |
pwensing | 0:85e387719efd | 72 | void ExperimentServer::flushBuffer() { |
pwensing | 0:85e387719efd | 73 | if(_data_cnt > 0) { |
pwensing | 0:85e387719efd | 74 | _server.sendTo(_client,(char*) _buffer, 4*_data_cnt ); |
pwensing | 0:85e387719efd | 75 | _data_cnt = 0; |
pwensing | 0:85e387719efd | 76 | } |
pwensing | 0:85e387719efd | 77 | } |
pwensing | 0:85e387719efd | 78 | |
pwensing | 0:85e387719efd | 79 | void ExperimentServer::sendData(float data_output[], int data_size) { |
pwensing | 1:63635482312f | 80 | if( data_size + _data_cnt > _MAX_BUFFER_SIZE) { |
pwensing | 0:85e387719efd | 81 | flushBuffer(); |
pwensing | 0:85e387719efd | 82 | } |
pwensing | 0:85e387719efd | 83 | for(int j = 0; j < data_size; j++) { |
pwensing | 0:85e387719efd | 84 | _buffer[ _data_cnt++ ] = data_output[j]; |
pwensing | 0:85e387719efd | 85 | } |
pwensing | 0:85e387719efd | 86 | } |
pwensing | 0:85e387719efd | 87 | void ExperimentServer::setExperimentComplete() { |
pwensing | 0:85e387719efd | 88 | flushBuffer(); |
pwensing | 3:588db37d9079 | 89 | char buff = {'0'}; |
pwensing | 3:588db37d9079 | 90 | _server.sendTo(_client,buff,1); |
pwensing | 0:85e387719efd | 91 | } |