UDP Experiment Server
Dependents: Bezier_Trajectory_Follower Dolphin 2_131TEST Jerby ... more
ExperimentServer.cpp
- Committer:
- pwensing
- Date:
- 2015-08-11
- Revision:
- 2:bb4b95f37896
- Parent:
- 1:63635482312f
- Child:
- 3:588db37d9079
File content as of revision 2:bb4b95f37896:
#include "ExperimentServer.h" #include "EthernetInterface.h" ExperimentServer::ExperimentServer() { _terminal = NULL; _data_cnt = 0; } void ExperimentServer::attachTerminal( Serial & terminal) { _terminal = &terminal; } void ExperimentServer::init() { // default configuration char ip_address[] = "192.168.1.100"; char subnet_mask[]= "255.255.255.0"; char gateway[] = "192.168.1.1"; int server_port = 11223; init(ip_address,subnet_mask,gateway, server_port); } void ExperimentServer::init(const char * ip_addr, const char * subnet_mask, const char * gateway, unsigned int port) { if(_terminal!=NULL) { _terminal->printf("\n==============================\nStarting Server\n"); _terminal->printf("...Intializing Ethernet\n"); } _eth.init(ip_addr,subnet_mask,gateway); if(_terminal!=NULL) _terminal->printf("...Connecting\n"); _eth.connect(); if(_terminal!=NULL) _terminal->printf("...Ethernet IP Address is %s\n", _eth.getIPAddress()); _server.bind(port); if(_terminal!=NULL) _terminal->printf("...Listening on Port %d\n", port); } int ExperimentServer::getParams(float params[], int num_params) { if(_terminal!=NULL) { _terminal->printf("\n========================\nNew Experiment\n"); _terminal->printf("...Waiting for parameters...\n"); } int n = _server.receiveFrom(_client,(char *) params, sizeof(params)*sizeof(float)); if ( (n% 4) > 0 ) { if(_terminal!=NULL) _terminal->printf("ERROR: input data bad size\n"); return false; } if ( n / 4 != num_params) { if(_terminal!=NULL) _terminal->printf("ERROR: input data bad size\n"); return false; } if(_terminal!=NULL) { _terminal->printf("...Received input from: %s\n", _client.get_address()); _terminal->printf("...Parameters: \n"); for ( int j = 0 ; j < n/sizeof(float) ; j++) { _terminal->printf(" %d) %f\n",j+1,params[j]); } } return true; } void ExperimentServer::flushBuffer() { if(_data_cnt > 0) { _server.sendTo(_client,(char*) _buffer, 4*_data_cnt ); _data_cnt = 0; } } void ExperimentServer::sendData(float data_output[], int data_size) { if( data_size + _data_cnt > _MAX_BUFFER_SIZE) { flushBuffer(); } for(int j = 0; j < data_size; j++) { _buffer[ _data_cnt++ ] = data_output[j]; } } void ExperimentServer::setExperimentComplete() { flushBuffer(); }