Revoked 4e072faf. Assure connection to the Radar

src/cpm.c

@@ -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);																				
     	
@@ -725,7 +744,11 @@ void *cp_service(void *fc){
 
 			/*Reset Timer for dissemination control */ 
 			dissemination_reset_timer(facilities->dissemination, &facilities->epv,1);
-    		}    
+    			
+			}else{
+		    		is_radar_connected = waitingIncomingConnection();
+			}	
+		}
 	}
 
     ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);