Merge branch 'master' of https://gitlab.es.av.it.pt/its/it2s-itss-facilities

src/cpm.c

@@ -48,28 +48,8 @@ S_OBJECT_CONTROL_T s_objectControl;
 S_OBJECTS_T as_objects[NOF_OBJECTS];
 
 
-bool radar_connection(char* radar_port, facilities_t* facilities){
-	
-	if(facilities->dissemination->tmc_connect == false){
-
-		// Create socket
-		s_socket.i32_socket = socket(AF_INET, SOCK_STREAM, 0);
-		
-		if(s_socket.i32_socket < 0){
-			syslog_err("Initializing socket failed ...");
-			return false;
-		}
-	
-		// Bind it to server address and port
-		bzero(&s_socket.s_server, sizeof(s_socket.s_server));
-		s_socket.s_server.sin_family = AF_INET;
-		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){
-			syslog_err("Binding socket to address error ...");
-		}
 
+bool waitingIncomingConnection(void){
 	// Listening to the socket (Waiting for incoming connection)
 	unsigned int len = sizeof(s_socket.s_client);
 
@@ -85,6 +65,37 @@ bool radar_connection(char* radar_port, facilities_t* facilities){
 	
 	syslog_debug("Radar connected");
 
+	return true;
+}
+
+
+bool radar_connection(char* radar_port, facilities_t* facilities){
+
+	if(facilities->dissemination->tmc_connect == false){
+
+		// Create TCP socket
+		s_socket.i32_socket = socket(AF_INET, SOCK_STREAM, 0);
+		
+		if(s_socket.i32_socket < 0){
+			syslog_err("Initializing socket failed ...");
+			return false;
+		}
+	
+		// Bind it to server address and port
+		bzero(&s_socket.s_server, sizeof(s_socket.s_server));
+		s_socket.s_server.sin_family = AF_INET;
+		s_socket.s_server.sin_addr.s_addr = inet_addr(facilities->dissemination->ip_radar);
+		s_socket.s_server.sin_port = htons(atoi(radar_port));
+
+		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;
+		}
 	}
 
 	// Create RAW socket
@@ -570,15 +581,6 @@ 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 +597,6 @@ 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 +632,7 @@ 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));
 
@@ -678,8 +680,7 @@ void *cp_service(void *fc){
 	fmi->data.buf = malloc(1500);
 	
 	/* Creating sockets and waiting for radar to connect*/	
-	radar_connection(RADAR_PORT,facilities);
+	is_radar_connected = radar_connection(RADAR_PORT,facilities);	
-
 
 	while(!facilities->exit){
 		usleep(1000*50);
@@ -693,7 +694,7 @@ 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 +726,10 @@ void *cp_service(void *fc){
 	
 				/*Reset Timer for dissemination control */ 
 				dissemination_reset_timer(facilities->dissemination, &facilities->epv,1);
+    			
+			}else{
+		    		is_radar_connected = waitingIncomingConnection();
+			}	
 		}
 	}