owlps/infrastructure-centred/owlps-client/owlps-client.c

/*
 * This file is part of the rtap localisation project.
 */

#include "../../libowlps/owlps.h"

#define DEBUG

/* Error codes */
#define ERR_CREATING_SOCKET 1 // Error when creating output socket
#define ERR_BAD_USAGE 2 // Bad program call (bad number of arguments)
#define ERR_SENDING_INFO 3 // Error sending a localisation request

/* Number of packets to send */
#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position

/* Delay between two packet transmissions (in microseconds) */
#define DEFAULT_DELAY_CALIB 50000 // Calibration request
#define DEFAULT_DELAY_NORMAL 25000 // Localisation request

/* Program arguments (getopt string) */
#define OPTIONS "d:hi:l::n:p:t:"


/* Function headers */
void parse_command_line(int argc, char **argv) ;
void parse_main_options(int argc, char **argv) ;
void check_destination_ip(void) ;
void parse_calibration_data(int argc, char **argv) ;
void check_configuration(void) ;
#ifdef DEBUG
void print_configuration(void) ;
#endif // DEBUG
void create_socket(void) ;
void make_packet(void) ;
void send_request(void) ;
void send_packet(void) ;
void receive_position(void) ;
void print_usage(void) ;


/* Options */
struct {
  char dest_ip[16] ; // Destination IP of the packets
  long dest_port ;
  char iface[IFNAMSIZ + 1] ; // Source network interface
  long delay ; // Time between two packet transmissions
  short nb_pkt ; // Number of packets to send
  long listening_port ;
  // Calibration data:
  DIRECTION direction ;
  float x ;
  float y ;
  float z ;
} options = {
  "",
  LOC_REQUEST_DEFAULT_PORT,
  "",
  -1,
  -1,
  -1,
  0, 0, 0, 0
} ;

char *program_name = NULL ;

// TRUE if the packet is a calibration request, FALSE if it is a simple
// positioning request:
BOOL is_calibration_request = FALSE ;

int sockfd ; // Sending socket descriptor
struct sockaddr_in server ; // Server info
char *buf = NULL ; // Packet to send
int buf_size ; // Packet size



int main(int argc, char *argv[])
{
  program_name = argv[0] ;
  parse_command_line(argc, argv) ;

  create_socket() ;
  make_packet() ;
  send_request() ;

  (void) close(sockfd) ;

  if (options.listening_port != -1)
    receive_position() ;

  return 0 ;
}



void parse_command_line(int argc, char **argv)
{
  parse_main_options(argc, argv) ;
  check_destination_ip() ;
  parse_calibration_data(argc, argv) ;
  check_configuration() ;

#ifdef DEBUG
  print_configuration() ;
#endif // DEBUG
}



void parse_main_options(int argc, char **argv)
{
  int opt ;

  while ((opt = getopt(argc, argv, OPTIONS)) != -1)
    {
      switch (opt)
	{
	case 'd' :
	  strncpy(options.dest_ip, optarg, 16) ;
	  break ;
        case 'h' :
          print_usage() ;
          exit(0) ;
	case 'i' :
	  strncpy(options.iface, optarg, IFNAMSIZ + 1) ;
	  break ;
	case 'l' :
          /* Facultative getopt options does not handle separated
           * values (like -l <port>) */
	  if (optarg == 0)
	    {
              /* If we are at the end of the string, or the next optind
               * is an option, we have -l without a port number */
	      if (argv[optind] == NULL || argv[optind][0] == '-')
                // Take the default value:
		options.listening_port = MOBILE_DEFAULT_PORT ;
	      else
		{
                  // Take the optind value:
		  options.listening_port = strtol(argv[optind], NULL, 0) ;
		  optind++ ;
		}
	    }
	  else // We got an option like -l<port>, it's OK
	    options.listening_port = strtol(optarg, NULL, 0) ;
	  break ;
	case 'n' :
	  options.nb_pkt = strtol(optarg, NULL, 0) ;
	  break ;
	case 'p' :
	  options.dest_port = strtol(optarg, NULL, 0) ;
	  break ;
	case 't' :
	  options.delay = strtol(optarg, NULL, 0) ;
	  break ;
	default :
	  print_usage() ;
	  exit(ERR_BAD_USAGE) ;
	}
    }
}



void check_destination_ip()
{
  /* Check if we got a destination IP address */
  if (options.dest_ip[0] == '\0')
    {
      fprintf(stderr, "Error! You must specify a destination IP address"
              " (-d).\n") ;
      print_usage() ;
      exit(ERR_BAD_USAGE) ;
    }
}



void parse_calibration_data(int argc, char **argv)
{
  /* Parse remaining arguments (possible calibration data) */
  if (argc - optind != 0)
    {
      if (argc - optind == 4)
	{
	  is_calibration_request = TRUE ;
	  options.direction = strtol(argv[optind++], NULL, 0) ;
	  options.x = strtod(argv[optind++], NULL) ;
	  options.y = strtod(argv[optind++], NULL) ;
	  options.z = strtod(argv[optind], NULL) ;
	}
      else // Bad number of arguments
	{
	  print_usage() ;
	  exit(ERR_BAD_USAGE) ;
	}
    }
}



void check_configuration()
{
  // Delay not specified (or bad delay):
  if (options.delay < 0)
    {
#ifdef DEBUG
      fprintf(stderr,
              "Warning! delay: failing back to default value.\n") ;
#endif // DEBUG
      if (is_calibration_request)
	options.delay = DEFAULT_DELAY_CALIB ;
      else
	options.delay = DEFAULT_DELAY_NORMAL ;
    }

  // Number of packet not specified (or bad number)
  if (options.nb_pkt < 1)
    {
#ifdef DEBUG
      fprintf(stderr,
              "Warning! nb_pkt: failing back to default value.\n") ;
#endif // DEBUG
      if (is_calibration_request)
	options.nb_pkt = DEFAULT_NBPKT_CALIB ;
      else
	options.nb_pkt = DEFAULT_NBPKT_NORMAL ;
    }

  // We want to send a calibration request AND to be located, which is
  // not allowed:
  if (is_calibration_request && options.listening_port != -1)
    {
#ifdef DEBUG
      fprintf(stderr, "Warning! You cannot wait for a server answer when"
              " you calibrate. Option -l ignored…\n") ;
#endif // DEBUG      
      options.listening_port = -1 ;
    }
}



#ifdef DEBUG
void print_configuration()
{
  fprintf(stderr, "Options:\n"
          "\tDestination IP: %s\n"
          "\tDestination port: %ld\n"
          "\tInterface: %s\n"
          "\tDelay: %ld\n"
          "\tNumber of packets: %d\n"
          "\tListening port: %ld\n"
          "\tDirection: %d\n"
          "\tX: %f\n"
          "\tY: %f\n"
          "\tZ: %f\n"
          ,
	  options.dest_ip,
	  options.dest_port,
	  options.iface,
	  options.delay,
	  options.nb_pkt,
	  options.listening_port,
	  options.direction,
	  options.x,
	  options.y,
	  options.z
	  ) ;
}
#endif // DEBUG



/* Creates the packet to send. */
void make_packet()
{
  int buf_offset ; // Index used to create the packet
  int buf_size ; // Packet size
  struct timeval request_time ;

  gettimeofday(&request_time, NULL) ;

  if (is_calibration_request) // Calibration packet
    {
      printf("Calibration time: %llu\n", timeval_to_ms(request_time)) ;

      buf_offset = 0 ;
      buf_size =
        sizeof(char) * 2 + sizeof(struct timeval) + sizeof(float) * 3 ;
      buf = malloc(buf_size) ;

      buf[buf_offset++] = PACKET_TYPE_CALIBRATION ; // Packet type
      memcpy(&buf[buf_offset], &request_time, sizeof(request_time)) ;
      buf_offset += sizeof(request_time) ;
      buf[buf_offset++] = options.direction ; // Direction
#ifdef DEBUG
      printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
             buf[buf_offset - 1], options.x, options.y, options.z) ;
#endif // DEBUG
      memcpy(&buf[buf_offset], &options.x, sizeof(float)) ;
      buf_offset += sizeof(float) ;
      memcpy(&buf[buf_offset], &options.y, sizeof(float)) ;
      buf_offset += sizeof(float) ;
      memcpy(&buf[buf_offset], &options.z, sizeof(float)) ;
    }

  else // Standard packet
    {
      printf("Request time: %llu\n", timeval_to_ms(request_time)) ;
      buf_size = sizeof(char) + sizeof(struct timeval) ;
      buf = malloc(buf_size) ;
      buf[0] = PACKET_TYPE_NORMAL ; // Packet type
      memcpy(&buf[1], &request_time, sizeof(request_time)) ;
    }
}



/* Opens an UDP socket to the aggregator. */
void create_socket()
{
  struct sockaddr_in client ;

  sockfd = create_udp_sending_socket(options.dest_ip, options.dest_port,
                                     &server, &client) ;
  if (sockfd < 0)
    {
      perror("Error! Cannot create UDP sending socket to the aggregation"
             " server") ;
      exit(ERR_CREATING_SOCKET) ;
    }

  if (options.iface[0] != '\0') // If we specified an interface name
    {
      if (setsockopt(sockfd, SOL_SOCKET, SO_BINDTODEVICE, options.iface,
                     strlen(options.iface) + 1) == -1)
	{
	  fprintf(stderr, "Error! Cannot select interface %s to send the"
                  " packet: ", options.iface) ;
	  perror("") ;
	  fprintf(stderr, "Sending through the default interface.\n") ;
	}
    }
}



void send_request()
{
  int i ;

#ifdef DEBUG
  printf("Sent packets: ") ;
#endif // DEBUG

  send_packet() ; // Transmit first packet

  // Transmit remaining packets (if any)
  for (i = 0 ; i < options.nb_pkt - 1 ; ++i)
    {
      usleep(options.delay) ; // Wait during the wanted delay
      send_packet() ;
    }

#ifdef DEBUG
  putchar('\n') ;
#endif // DEBUG
}



void send_packet()
{
  ssize_t nsent = sendto(sockfd, (void *) buf, buf_size, 0,
                         (struct sockaddr *) &server,
                         (socklen_t) sizeof(server)) ;
  if (nsent != (ssize_t) buf_size)
    {
      perror("Error sending data to the aggregation server") ;
      exit(ERR_SENDING_INFO) ;
    }

#ifdef DEBUG
  putchar('.') ;
  fflush(stdout) ;
#endif // DEBUG
}



void receive_position()
{
  // Position of the mobile as computed by the infrastructure:
  float x, y, z ;

  sockfd = create_udp_listening_socket(options.listening_port) ;
  recvfrom(sockfd, &x, sizeof(float), 0, NULL, NULL) ;
  recvfrom(sockfd, &y, sizeof(float), 0, NULL, NULL) ;
  recvfrom(sockfd, &z, sizeof(float), 0, NULL, NULL) ;
  (void) close(sockfd) ;

  printf("Computed position: (%.4f;%.4f;%.4f)\n", x, y, z) ;
}



void print_usage()
{
  printf("Usage:\n"
         "Localisation request:\n"
         "\t%s -d dest_ip [-p dest_port] [-i iface] [-t delay]"
         " [-n nb_packets] [-l [port]]\n"
         "Calibration request:\n"
         "\t%s -d dest_ip [-i iface] [-t delay] [-n nb_packets]"
         " direction x y z\n"
         "\n"
         "Options:\n"
         "\t-h\t\tPrint this help.\n"
         "\t-d dest_ip\tDestination IP address of the localisation request.\n"
         "\t-p dest_port\tDestination port of the localisation request"
         " (default: %d).\n"
         "\t-t delay\tTime between each packet transmission.\n"
         "\t-n nb_packets\tNumber of packet transmitted for the request.\n"
         "\t-i iface\tName of the network interface used to transmit the"
         " request (e.g. \"eth2\"). If this option is absent, interface"
         " is selected automatically. You must be root to use this"
         " option.\n"
         "\t-l [port]\tWait for the computed position and display it."
         " Optional argument 'port' allows to specify the listening"
         " port (default: %d).\n"
         ,
         program_name,
         program_name,
         LOC_REQUEST_DEFAULT_PORT,
         MOBILE_DEFAULT_PORT
         ) ;
}