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Revoked 4e072faf. Assure connection to the Radar

This commit is contained in:
Marco Correia 2021-08-24 17:35:00 +01:00
parent d42f0c76a1
commit 1e3765e53b
1 changed files with 38 additions and 15 deletions
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47
src/cpm.c
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@ -48,6 +48,27 @@ S_OBJECT_CONTROL_T s_objectControl;
S_OBJECTS_T as_objects[NOF_OBJECTS];
bool waitingIncomingConnection(void){
// Listening to the socket (Waiting for incoming connection)
unsigned int len = sizeof(s_socket.s_client);
if(listen(s_socket.i32_socket,1)<0){
syslog_err("Waiting for incoming requests failed...");
return false;
}
if((s_socket.i32_client = accept(s_socket.i32_socket, (struct sockaddr*)&s_socket.s_server, &len)) < 0){
syslog_err("Client disconnected...");
return false;
}
syslog_debug("Radar connected");
return true;
}
bool radar_connection(char* radar_port, facilities_t* facilities){
if(facilities->dissemination->tmc_connect == false){
@ -66,8 +87,14 @@ bool radar_connection(char* radar_port, facilities_t* facilities){
s_socket.s_server.sin_addr.s_addr = inet_addr(facilities->dissemination->ip_radar);
s_socket.s_server.sin_port = htons(atoi(radar_port));
while(bind(s_socket.i32_socket, (struct sockaddr*)&s_socket.s_server,sizeof(s_socket.s_server)) < 0){
if(bind(s_socket.i32_socket, (struct sockaddr*)&s_socket.s_server,sizeof(s_socket.s_server)) < 0){
syslog_err("Binding socket to address error ...");
return false;
}
if(!waitingIncomingConnection()){
return false;
}
// Listening to the socket (Waiting for incoming connection)
@ -570,15 +597,6 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len,
// Requirements to include the object in the CPM (> 4 m or > 0.5 m/s or > 4º or > T_GenCpmMax)
if(abs(euclidian_dist) > 400 || abs(abs_speed - abs_speed_hist) > 50 || abs(angle_diff) > 4 || abs(generationDeltaTime - history_list[i][4]) >= facilities->dissemination->T_GenCpmMax){
// DEBUG messages
/*syslog_debug(" DEBUG : [Object ID : %d]",(long)as_objects[i].u8_objectID);
syslog_debug(" DEBUG : Distance traveled %ld", euclidian_dist );
syslog_debug(" DEBUG : Speed Diff %ld", abs(abs_speed - abs_speed_hist));
syslog_debug(" DEBUG : Angulo: %ld Angulo_hist: %ld | Angle Diff %ld", angle, angle_hist,abs(angle - angle_hist));
syslog_debug(" DEBUG : Time Diff %ld", abs(generationDeltaTime - history_list[i][4]));
syslog_debug(" DEBUG : \n\n\n");*/
set_values(i,j,generationDeltaTime,cpm_tx);
j++;
@ -595,7 +613,6 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len,
cpm_tx->cpm.cpmParameters.numberOfPerceivedObjects = j;
//syslog_debug( " DEBUG -------------------------------------------------");
/******* Encode CPMs to FDI and BDR ********/
//BDR
@ -631,6 +648,7 @@ void *cp_service(void *fc){
int i32_recv_bytes;
u_int8_t au8_readBuffer[READ_BUFFER_SIZE];
u_int8_t au8_readTcp[READ_BUFFER_SIZE];
bool is_radar_connected;
facilities_t *facilities = (facilities_t *) fc;
memset(valid_array, 0, sizeof(valid_array));
@ -678,6 +696,7 @@ void *cp_service(void *fc){
fmi->data.buf = malloc(1500);
/* Creating sockets and waiting for radar to connect*/
is_radar_connected = radar_connection(RADAR_PORT,facilities);
radar_connection(RADAR_PORT,facilities);
@ -693,7 +712,7 @@ void *cp_service(void *fc){
i32_recv_bytes = recv(raw_socket.raw_fd, &au8_readBuffer, READ_BUFFER_SIZE, 0);
if (dissemination_check(facilities->dissemination, &facilities->epv,1) && facilities->dissemination->active){
if(is_radar_connected){
/* Information parsing from radar */
parse_input(au8_readBuffer,i32_recv_bytes);
@ -725,6 +744,10 @@ void *cp_service(void *fc){
/*Reset Timer for dissemination control */
dissemination_reset_timer(facilities->dissemination, &facilities->epv,1);
}else{
is_radar_connected = waitingIncomingConnection();
}
}
}