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[app_server] support tcp stream and don't read conf.xml directly

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This commit is contained in:
Gautier Hattenberger
2014-06-19 10:48:35 +02:00
parent 7f7da8c3c4
commit daae114124
1 changed files with 216 additions and 115 deletions
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sw/ground_segment/tmtc/app_server.c
+216 -115
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@@ -41,8 +41,6 @@
#include <stdio.h>
#include <libxml/xmlreader.h>
// assuming local path from sw/ground_segment/tmtc
char defaultPprzFolder[] = "../../..";
char defaultAppPass[] = "1234"; //4 char password to control ac's over app "pass ground stg stg stg..
char* AppPass;
@@ -74,6 +72,12 @@ char ivybuffer[BUFLEN];
// verbose flag
int verbose = 0;
//TCP flag
int uTCP = 0;
int ProcessID;
int RequestID;
//Block structure
typedef struct {
//Will we need any more block data?
@@ -107,8 +111,9 @@ device_names DevNames[MAXDEVICENUMB];
//Connected Clients Data Structure
typedef struct {
int used ;
int client_port; //do we need that??
char client_ip[MAXIPLEN];
//Pointer for tcp connection;
gpointer ClientTcpData;
} client_data;
client_data ConnectedClients[MAXCLIENT]; //Holds all status of devices
@@ -143,7 +148,7 @@ void remove_client(char* RemClientIpAd) {
}
//Record client (if new)
void add_client(char* ClientIpAd) {
void add_client(char* ClientIpAd, gpointer connection_in) {
/* Check if client exists. If exists return else record it */
int i;
for (i = 0; i < MAXCLIENT; i++) {
@@ -160,6 +165,7 @@ void add_client(char* ClientIpAd) {
//record new client ip
g_stpcpy(ConnectedClients[i].client_ip,ClientIpAd);
ConnectedClients[i].ClientTcpData = connection_in;
//
ConnectedClients[i].used = 1;
if (verbose) {
@@ -191,7 +197,8 @@ int get_ac_data(char* InStr, char* RetBuf) {
DevNames[AcID].color,
DevNames[AcID].dl_launch_ind,
DevNames[AcID].kill_thr_ind,
DevNames[AcID].flight_altitude_ind);
DevNames[AcID].flight_altitude_ind
);
}
return AcID;
}
@@ -255,6 +262,22 @@ int get_bl_data(char* InStr, char* RetBuf) {
void broadcast_to_clients () {
int i;
if (uTCP) {
//broadcast using tcp connection
GError *error = NULL;
for (i = 0; i < MAXCLIENT; i++) {
if (ConnectedClients[i].used > 0) {
GOutputStream * ostream = g_io_stream_get_output_stream (ConnectedClients[i].ClientTcpData);
g_output_stream_write(ostream, ivybuffer, strlen(ivybuffer), NULL, &error);
}
}
return;
}
i=0;
for (i = 0; i < MAXCLIENT; i++) {
if (ConnectedClients[i].used > 0) {
@@ -287,6 +310,7 @@ void broadcast_to_clients () {
g_object_unref(udpSocket);
}
}
}
//Read tcp requests of connected clients
@@ -298,8 +322,21 @@ gboolean network_read(GIOChannel *source, GIOCondition cond, gpointer data) {
if (ret == G_IO_STATUS_ERROR) {
//unref connection
g_object_unref (data);
g_string_free (s,TRUE);
GSocketAddress *sockaddr = g_socket_connection_get_remote_address(data, NULL);
GInetAddress *addr = g_inet_socket_address_get_address(G_INET_SOCKET_ADDRESS(sockaddr));
//Read sender ip
if (verbose) {
printf("App Server: Communication error.. Removing client.. ->%s\n", g_inet_address_to_string(addr));
fflush(stdout);
}
//Remove client
remove_client(g_inet_address_to_string(addr));
//Free objects
g_string_free(s, TRUE);
g_object_unref(sockaddr);
g_object_unref(addr);
g_object_unref(data);
//Return false to stop listening this socket
return FALSE;
}
else{
@@ -313,7 +350,7 @@ gboolean network_read(GIOChannel *source, GIOCondition cond, gpointer data) {
incs = g_string_erase(s,0,(strlen(AppPass)+1));
IvySendMsg("%s",incs->str);
if (verbose) {
printf("App Server: Command passed to ivy.. %s\n",incs->str);
printf("App Server: Command passed to ivy: %s\n",incs->str);
fflush(stdout);
}
}
@@ -371,7 +408,7 @@ gboolean network_read(GIOChannel *source, GIOCondition cond, gpointer data) {
else {
//Unknown command
if (verbose) {
printf("App Server: Client send an unknown command or wrong password: %s\n",RecString);
printf("App Server: Client send an unknown command or wrong password: (%s)\n",RecString);
fflush(stdout);
}
}
@@ -380,7 +417,10 @@ gboolean network_read(GIOChannel *source, GIOCondition cond, gpointer data) {
if (ret == G_IO_STATUS_EOF) {
//Client disconnected
if (verbose) {
printf("App Server: Client disconnected without saying 'bye':(\n");
GSocketAddress *sockaddr = g_socket_connection_get_remote_address(data, NULL);
GInetAddress *addr = g_inet_socket_address_get_address(G_INET_SOCKET_ADDRESS(sockaddr));
printf("App Server: Client disconnected without saying 'bye':( ->%s\n", g_inet_address_to_string(addr));
remove_client(g_inet_address_to_string(addr));
fflush(stdout);
}
g_string_free(s, TRUE);
@@ -407,7 +447,7 @@ gboolean new_connection(GSocketService *service, GSocketConnection *connection,
}
//Record client (if new)
add_client(g_inet_address_to_string(addr));
add_client(g_inet_address_to_string(addr), connection);
g_object_ref (connection);
GSocket *socket = g_socket_connection_get_socket(connection);
@@ -418,11 +458,28 @@ gboolean new_connection(GSocketService *service, GSocketConnection *connection,
return TRUE;
}
void request_ac_config(int ac_id_req) {
RequestID++;
IvySendMsg("app_server %d_%d CONFIG_REQ %d" ,ProcessID, RequestID ,ac_id_req );
//AC config requested..
if (verbose) {
printf("AC(id= %d) config requested.\n",ac_id_req);
fflush(stdout);
}
}
//Ivy msg function
void Ivy_All_Msgs(IvyClientPtr app, void *user_data, int argc, char *argv[]){
//For compatibility.. This will be joined in upcoming releases..
if (uTCP) sprintf(ivybuffer, "%s\n", argv[0]);
else sprintf(ivybuffer, "%s", argv[0]);
//Ivy msg received broadcast to clients..
sprintf(ivybuffer, "%s", argv[0]);
broadcast_to_clients();
}
//Parse AC flight plan xml (block & waypoint names
@@ -551,7 +608,7 @@ void parse_ac_af(int DevNameIndex, char *filename) {
}
//Parse dl values
void parse_dl_settings(int DevNameIndex, char *filename) {
void parse_ac_settings(int DevNameIndex, char *filename) {
xmlTextReaderPtr reader;
int ret;
@@ -608,106 +665,136 @@ void parse_dl_settings(int DevNameIndex, char *filename) {
}
}
//Parse ac data from conf.xml
void parse_ac_data (char *PprzFolder) {
xmlTextReaderPtr reader;
int ret;
void on_app_server_NEW_AC(IvyClientPtr app, void *user_data, int argc, char *argv[]) {
//Request config
request_ac_config(atoi(argv[0]));
}
//Create full file path
char xmlFileName[BUFLEN];
strcpy(xmlFileName, PprzFolder);
strcat(xmlFileName, "/conf/conf.xml");
void on_app_server_GET_CONFIG (IvyClientPtr app, void *user_data, int argc, char *argv[]) {
reader = xmlReaderForFile(xmlFileName, NULL, XML_PARSE_NOWARNING | XML_PARSE_NOERROR); /* Dont validate with the DTD */
int i=0;
xmlChar *AcName, *AcInd, *FpPath, *AcColor, *name, *AfPath;
if (reader != NULL) {
ret = xmlTextReaderRead(reader);
int AcId;
int RmId[2];
/*
* RmId[0] >> ProcessID of incoming MsgProcessId
* RmId[1] >> RequestID of incoming MsgProcessId
*/
while (ret == 1) {
name = xmlTextReaderName(reader);
if (name == NULL) {
name = xmlStrdup(BAD_CAST "--");
}
//read waypoint names
if (xmlStrEqual(name, (const xmlChar *)"aircraft")) {
xmlTextReaderMoveToAttribute(reader,(const xmlChar *)"ac_id");
AcInd = xmlTextReaderValue(reader);
xmlTextReaderMoveToAttribute(reader,(const xmlChar *)"name");
AcName = xmlTextReaderValue(reader);
xmlTextReaderMoveToAttribute(reader,(const xmlChar *)"airframe");
AfPath = xmlTextReaderValue(reader);
xmlTextReaderMoveToAttribute(reader,(const xmlChar *)"flight_plan");
FpPath = xmlTextReaderValue(reader);
xmlTextReaderMoveToAttribute(reader,(const xmlChar *)"gui_color");
AcColor = xmlTextReaderValue(reader);
//Get Device Id
AcId = atoi(((char *) AcInd));
//Save Device Name
strcpy(DevNames[AcId].name, ((char *) AcName));
//Save color
strcpy(DevNames[AcId].color, (char *) AcColor);
//Save Flight Plan Path
strcpy(DevNames[AcId].flight_plan_path, "/conf/");
strcat(DevNames[AcId].flight_plan_path , (char *) FpPath);
//Save airframe Path
strcpy(DevNames[AcId].airframe_path, "/conf/");
strcat(DevNames[AcId].airframe_path , (char *) AfPath);
//Save Settings Path
sprintf(DevNames[AcId].settings_path, "/var/aircrafts/%s/settings.xml", (char *) AcName);
//parse flight plan file for waypoint and block names
char FlightPlanPath[BUFLEN];
strcpy(FlightPlanPath, PprzFolder);
strcat(FlightPlanPath, DevNames[AcId].flight_plan_path);
parse_ac_fp(AcId, FlightPlanPath);
//parse airframe file
char AirframePath[BUFLEN];
strcpy(AirframePath, PprzFolder);
strcat(AirframePath, DevNames[AcId].airframe_path);
parse_ac_af(AcId, AirframePath);
//parse dl_settings for launch & kill throttle
char SettingsPath[BUFLEN];
strcpy(SettingsPath, PprzFolder);
strcat(SettingsPath, DevNames[AcId].settings_path);
parse_dl_settings(AcId, SettingsPath);
}
ret = xmlTextReaderRead(reader);
}
xmlFreeTextReader(reader);
if (ret != 0) {
if (verbose) {
printf("App Server: failed to parse %s\n", xmlFileName);
fflush(stdout);
}
}
//Split arg0 to get process id and request id
char * mtok;
mtok = strtok (argv[0],"_");
while (mtok != NULL || i>2)
{
RmId[i]= atoi(mtok);
i++;
mtok = strtok (NULL, "_");
}
else{
//Check whether process id and request id matches or not
if ( RmId[0]== ProcessID && RmId[1] <= RequestID) {
int inc_device_id=atoi(argv[1]);
//Save Device Name
strcpy(DevNames[inc_device_id].name, argv[7] );
//Save color
strcpy(DevNames[inc_device_id].color, argv[6]);
//Save Flight Plan Path
//check if file is local
if ((strncmp( argv[2], "file://", strlen("file://"))) == 0) {
sprintf(DevNames[inc_device_id].flight_plan_path, "%s", argv[2]+7);
}
else {
printf("App Server: App server only works with local files! (Flight Plan Path:%s)\n", argv[2]);
return;
}
//Save Airframe Path
//check if file is local
if ((strncmp( argv[3], "file://", strlen("file://"))) == 0) {
sprintf(DevNames[inc_device_id].airframe_path, "%s", argv[3]+7);
}
else {
printf("App Server: App server works only with local files! (Airframe Path:%s)\n", argv[3]);
return;
}
//Save Settings Path
//check if file is local
if ((strncmp( argv[5], "file://", strlen("file://"))) == 0) {
sprintf(DevNames[inc_device_id].settings_path, "%s", argv[5]+7);
}
else {
printf("App Server: App server works only with local files! (Settings Path:%s)\n", argv[5]);
return;
}
// Init some variables (-1 means no settings in xml file)
DevNames[inc_device_id].dl_launch_ind = -1;
DevNames[inc_device_id].kill_thr_ind = -1;
DevNames[inc_device_id].flight_altitude_ind = -1;
//Parse airframe files..
parse_ac_af(inc_device_id, DevNames[inc_device_id].airframe_path);
//Parse flight plan
parse_ac_fp(inc_device_id, DevNames[inc_device_id].flight_plan_path);
//Parse settings
parse_ac_settings(inc_device_id, DevNames[inc_device_id].settings_path);
if (verbose) {
printf("App Server: Unable to open %s\n", xmlFileName);
printf("%s configuration saved. : (Id: %d Color:%s)\n", DevNames[inc_device_id].name,inc_device_id, DevNames[inc_device_id].color);
fflush(stdout);
printf("\tFlight_P Path:\t %s \n", DevNames[inc_device_id].flight_plan_path);
fflush(stdout);
printf("\tAirframe Path:\t %s \n", DevNames[inc_device_id].airframe_path);
fflush(stdout);
printf("\tSettings Path:\t %s \n", DevNames[inc_device_id].settings_path);
fflush(stdout);
}
//everything is awesome! AC data is ready to be served.
}
return;
} // end of XMLParseDoc function
}
void on_app_server_AIRCRAFTS (IvyClientPtr app, void *user_data, int argc, char *argv[]) {
int i=0;
int RmId[2];
/*
* RmId[0] >> ProcessID of incoming MsgProcessId
* RmId[1] >> RequestID of incoming MsgProcessId
*/
//Split arg0 to get process id and request id
char * mtok;
mtok = strtok (argv[0],"_");
while (mtok != NULL || i>2)
{
RmId[i]= atoi(mtok);
i++;
mtok = strtok (NULL, "_");
}
//Check whether process id and request id matches or not
if ( RmId[0]== ProcessID && RmId[1] <= RequestID) {
i=0;
char * mtok2;
mtok2 = strtok (argv[1],",");
while (mtok2 != NULL || i> MAXDEVICENUMB) {
request_ac_config(atoi(mtok2));
mtok2 = strtok (NULL, ",");
i++;
}
}
}
// Print help message
void print_help() {
@@ -717,24 +804,30 @@ void print_help() {
printf(" -u <UDP port>\tfor sending AC data (default: %d)\n", udp_port);
printf(" -b <Ivy bus>\tdefault is %s\n", defaultIvyBus);
printf(" -p <password>\tpassword for connection with control capabilities (default is %s)\n", defaultAppPass);
printf(" -utcp \t\tUse TCP communication to send ivy messages (default: UDP )\n");
printf(" -v\tverbose\n");
printf(" -h --help show this help\n");
}
gboolean request_ac_list(gpointer data) {
RequestID++;
IvySendMsg("app_server %d_%d AIRCRAFTS_REQ" ,ProcessID, RequestID);
return FALSE;
}
int main(int argc, char **argv) {
int i;
//Get process id
ProcessID= getpid();
// default password
AppPass = defaultAppPass;
// try environment variable first, set to default if failed
IvyBus = getenv("IVYBUS");
if (IvyBus == NULL) IvyBus = defaultIvyBus;
// Look for paparazzi folder (PAPARAZZI_HOME or assume local path by default)
char* PprzFolder = getenv("PAPARAZZI_HOME");
if (PprzFolder == NULL) PprzFolder = defaultPprzFolder;
// Parse options
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-h") == 0) {
@@ -756,6 +849,9 @@ int main(int argc, char **argv) {
else if (strcmp(argv[i], "-v") == 0) {
verbose = 1;
}
else if (strcmp(argv[i], "-utcp") == 0) {
uTCP = 1;
}
else {
printf("App Server: Unknown option\n");
print_help();
@@ -765,16 +861,17 @@ int main(int argc, char **argv) {
if (verbose) {
printf("### Paparazzi App Server ###\n");
printf("Using Paparazzi Folder : %s\n", PprzFolder);
printf("Server listen port (TCP) : %d\n", tcp_port);
printf("Server broadcast port (UDP) : %d\n", udp_port);
if (uTCP) {
printf("Server using TCP communication..\n");
}else{
printf("Server broadcast port (UDP) : %d\n", udp_port);
}
printf("Control Pass : %s\n", AppPass);
printf("Ivy Bus : %s\n", IvyBus);
fflush(stdout);
}
//Parse conf.xml
parse_ac_data(PprzFolder);
//Create tcp listener
#if !GLIB_CHECK_VERSION (2, 35, 1)
@@ -797,10 +894,12 @@ int main(int argc, char **argv) {
g_signal_connect(service, "incoming", G_CALLBACK(new_connection), NULL);
//Here comes the ivy bindings
IvyInit ("PPRZ_App_Server", "Papparazzi App Server Ready", NULL, NULL, NULL, NULL);
IvyInit ("PPRZ_App_Server", "Papparazzi App Server Ready!", NULL, NULL, NULL, NULL);
IvyBindMsg(Ivy_All_Msgs, NULL, "(^ground .*)");
IvyBindMsg(Ivy_All_Msgs, NULL, "(^\\S* AIRSPEED (\\S*) (\\S*) (\\S*) (\\S*))");
IvyBindMsg(Ivy_All_Msgs, NULL, "(^ground (\\S*) (\\S*) .*)");
IvyBindMsg(on_app_server_NEW_AC, NULL, "ground NEW_AIRCRAFT (\\S*)");
IvyBindMsg(on_app_server_GET_CONFIG, NULL, "(\\S*) ground CONFIG (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_app_server_AIRCRAFTS, NULL, "(\\S*) ground AIRCRAFTS (\\S*)");
IvyStart(IvyBus);
GMainLoop *loop = g_main_loop_new(NULL, FALSE);
@@ -809,6 +908,9 @@ int main(int argc, char **argv) {
printf("Starting App Server\n");
fflush(stdout);
}
IvySendMsg("app_server");
g_timeout_add(100, request_ac_list, NULL);
g_main_loop_run(loop);
@@ -818,4 +920,3 @@ int main(int argc, char **argv) {
}
return 0;
}