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

This commit is contained in:
emanuel 2021-08-30 14:21:22 +01:00
parent 1008b84803 44135c4882
commit c6d8be21f3
1 changed files with 65 additions and 60 deletions
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73
src/cpm.c
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@ -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();
}
}
}