508 lines
14 KiB
C
508 lines
14 KiB
C
/*
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* This file is part of the rtap localisation project.
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*/
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#include <owlps-client.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <inttypes.h>
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#include <string.h>
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#include <net/if.h>
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/* Error codes */
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#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
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/* Number of packets to send */
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#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
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#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position
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/* Delay between two packet transmissions (in milliseconds) */
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#define DEFAULT_DELAY_CALIB 50 // Calibration request
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#define DEFAULT_DELAY_NORMAL 25 // Localisation request
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/* Delay between two requests in loop mode (in milliseconds) */
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#define DEFAULT_FLOOD_DELAY 1000
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/* Program arguments (getopt string) */
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#define OPTIONS "d:f::hi:l::n:p:t:V"
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/* Function headers */
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void parse_command_line(int argc, char **argv) ;
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void parse_main_options(int argc, char **argv) ;
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void check_destination_ip(void) ;
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void parse_calibration_data(int argc, char **argv) ;
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void check_configuration(void) ;
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#ifdef DEBUG
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void print_configuration(void) ;
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#endif // DEBUG
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void create_socket(void) ;
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void make_packet(void) ;
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void send_request(void) ;
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void receive_position(void) ;
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void print_usage(void) ;
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void print_version(void) ;
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/* Options */
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struct {
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char dest_ip[INET_ADDRSTRLEN] ; // Destination IP of the packets
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uint_fast16_t dest_port ;
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char iface[IFNAMSIZ + 1] ; // Source network interface
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int_fast32_t delay ; // Time between two packet transmissions
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uint_fast16_t nb_pkt ; // Number of packets to send
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int_fast32_t flood_delay ; // Time between two request transmissions
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uint_fast16_t listening_port ;
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// Calibration data:
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owl_direction direction ;
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float x ;
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float y ;
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float z ;
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} options = {
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"",
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LOC_REQUEST_DEFAULT_PORT,
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"",
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-1,
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0,
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-1,
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0,
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0, 0, 0, 0
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} ;
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char *program_name = NULL ;
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// TRUE if the packet is a calibration request, FALSE if it is a simple
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// positioning request:
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owl_bool is_calibration_request = FALSE ;
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int sockfd ; // Sending socket descriptor
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struct sockaddr_in server ; // Server info
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uint8_t *packet = NULL ; // Packet to send
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uint_fast16_t packet_size ; // Packet size
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int main(int argc, char *argv[])
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{
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program_name = argv[0] ;
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parse_command_line(argc, argv) ;
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create_socket() ;
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request_transmission:
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make_packet() ;
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send_request() ;
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free(packet) ;
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if (options.flood_delay >= 0)
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{
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usleep(options.flood_delay * 1000) ;
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goto request_transmission ;
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}
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close(sockfd) ;
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if (options.listening_port > 0)
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receive_position() ;
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return 0 ;
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}
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void parse_command_line(int argc, char **argv)
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{
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parse_main_options(argc, argv) ;
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check_destination_ip() ;
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parse_calibration_data(argc, argv) ;
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check_configuration() ;
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#ifdef DEBUG
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print_configuration() ;
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#endif // DEBUG
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}
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void parse_main_options(int argc, char **argv)
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{
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int opt ;
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while ((opt = getopt(argc, argv, OPTIONS)) != -1)
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{
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switch (opt)
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{
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case 'd' :
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strncpy(options.dest_ip, optarg, INET_ADDRSTRLEN) ;
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break ;
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case 'f' :
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/* Facultative getopt options do not handle separated values
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* (like -f <delay>), so we have to test separately.
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*/
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if (optarg) // We got an option like -f<delay>, it's OK
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options.flood_delay = strtoul(optarg, NULL, 0) ;
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else // We got -f alone or -f <port>
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{
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/* If we are at the end of the string, or the next optind
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* is an option, we have the option without argument */
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if (argv[optind] == NULL || argv[optind][0] == '-')
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// Take the default value:
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options.flood_delay = DEFAULT_FLOOD_DELAY ;
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else
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{
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// Take the optind value:
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options.flood_delay =
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strtoul(argv[optind], NULL, 0) ;
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++optind ;
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}
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}
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break ;
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case 'h' :
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print_usage() ;
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exit(0) ;
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case 'i' :
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strncpy(options.iface, optarg, IFNAMSIZ + 1) ;
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break ;
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case 'l' :
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/* Facultative getopt options do not handle separated values
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* (like -l <port>), so we have to test separately.
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*/
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if (optarg) // We got an option like -l<port>, it's OK
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options.listening_port = strtoul(optarg, NULL, 0) ;
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else // We got -l alone or -l <port>
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{
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/* If we are at the end of the string, or the next optind
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* is an option, we have -l without a port number */
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if (argv[optind] == NULL || argv[optind][0] == '-')
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// Take the default value:
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options.listening_port = MOBILE_DEFAULT_PORT ;
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else
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{
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// Take the optind value:
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options.listening_port =
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strtoul(argv[optind], NULL, 0) ;
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++optind ;
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}
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}
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break ;
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case 'n' :
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options.nb_pkt = strtoul(optarg, NULL, 0) ;
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break ;
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case 'p' :
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options.dest_port = strtoul(optarg, NULL, 0) ;
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break ;
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case 't' :
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options.delay = strtol(optarg, NULL, 0) ;
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break ;
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case 'V' :
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print_version() ;
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exit(0) ;
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default :
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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}
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void check_destination_ip()
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{
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/* Check if we got a destination IP address */
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if (options.dest_ip[0] == '\0')
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{
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fprintf(stderr, "Error! You must specify a destination IP address"
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" (-d).\n") ;
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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void parse_calibration_data(int argc, char **argv)
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{
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/* Parse remaining arguments (possible calibration data) */
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if (argc - optind != 0)
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{
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if (argc - optind == 4)
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{
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is_calibration_request = TRUE ;
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options.direction = strtoul(argv[optind++], NULL, 0) ;
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options.x = strtod(argv[optind++], NULL) ;
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options.y = strtod(argv[optind++], NULL) ;
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options.z = strtod(argv[optind], NULL) ;
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}
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else // Bad number of arguments
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{
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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}
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void check_configuration()
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{
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// Delay not specified (or bad delay):
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if (options.delay < 0)
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{
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#ifdef DEBUG
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fprintf(stderr,
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"Warning! delay: failing back to default value.\n") ;
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#endif // DEBUG
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if (is_calibration_request)
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options.delay = DEFAULT_DELAY_CALIB ;
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else
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options.delay = DEFAULT_DELAY_NORMAL ;
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}
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// Number of packet not specified (or bad number)
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if (options.nb_pkt < 1)
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{
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#ifdef DEBUG
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fprintf(stderr,
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"Warning! nb_pkt: failing back to default value.\n") ;
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#endif // DEBUG
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if (is_calibration_request)
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options.nb_pkt = DEFAULT_NBPKT_CALIB ;
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else
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options.nb_pkt = DEFAULT_NBPKT_NORMAL ;
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}
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// Calibration request but bad direction
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if (is_calibration_request)
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if (options.direction < OWL_DIRECTION_MIN ||
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options.direction > OWL_DIRECTION_MAX)
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{
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fprintf(stderr, "Error! « %"PRIu8" » is not a valid"
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" direction.\n", options.direction) ;
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exit(ERR_BAD_USAGE) ;
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}
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// Check port numbers
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if (options.dest_port < 1 || options.dest_port > 65535)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! Bad dest_port:"
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" failing back to default value.\n") ;
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options.dest_port = LOC_REQUEST_DEFAULT_PORT ;
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#endif // DEBUG
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}
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if (options.listening_port > 65535)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! listening_port too high: ignored.\n") ;
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options.listening_port = 0 ;
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#endif // DEBUG
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}
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// We want to send a calibration request AND to be located, which is
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// not allowed:
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if (is_calibration_request && options.listening_port > 0)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! You cannot wait for a server answer when"
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" you calibrate. Option -l ignored…\n") ;
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#endif // DEBUG
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options.listening_port = 0 ;
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}
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// We want to flood AND to be located, which is not allowed:
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if (options.flood_delay >= 0 && options.listening_port > 0)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! You cannot wait for a server answer when"
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" you flood. Option -l ignored…\n") ;
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#endif // DEBUG
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options.listening_port = 0 ;
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}
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}
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#ifdef DEBUG
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void print_configuration()
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{
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fprintf(stderr, "Options:\n"
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"\tDestination IP: %s\n"
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"\tDestination port: %"PRIuFAST16"\n"
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"\tInterface: %s\n"
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"\tDelay (ms): %"PRIdFAST32"\n"
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"\tNumber of packets: %"PRIuFAST16"\n"
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"\tFlood delay (ms): %"PRIdFAST32"\n"
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"\tListening port: %"PRIuFAST16"\n"
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"\tDirection: %"PRIu8"\n"
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"\tX: %f\n"
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"\tY: %f\n"
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"\tZ: %f\n"
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,
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options.dest_ip,
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options.dest_port,
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options.iface,
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options.delay,
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options.nb_pkt,
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options.flood_delay,
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options.listening_port,
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options.direction,
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options.x,
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options.y,
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options.z
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) ;
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}
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#endif // DEBUG
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void create_socket()
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{
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sockfd =
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owlclient_create_trx_socket(options.dest_ip, options.dest_port,
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&server, options.iface) ;
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}
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/* Creates the packet to send. */
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void make_packet()
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{
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uint_fast16_t offset ; // Index used to create the packet
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owl_timestamp request_time ;
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char request_time_str[OWL_TIMESTAMP_STRLEN] ;
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// Get the current time and copy it as a string before to switch it to
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// network endianess:
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owl_timestamp_now(&request_time) ;
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owl_timestamp_to_string(request_time_str, request_time) ;
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request_time = owl_hton_timestamp(request_time) ;
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if (is_calibration_request) // Calibration packet
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{
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printf("Preparing calibration request packet…\n") ;
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offset = 0 ;
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packet_size =
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sizeof(uint8_t) * 2 + sizeof(owl_timestamp) + sizeof(float) * 3 ;
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packet = malloc(packet_size) ;
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memset(&packet[offset], OWL_REQUEST_CALIBRATION, 1) ; // Packet type
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++offset ;
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memcpy(&packet[offset], &request_time, sizeof(request_time)) ;
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offset += sizeof(request_time) ;
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packet[offset++] = options.direction ; // Direction
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#ifdef DEBUG
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printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
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packet[offset - 1], options.x, options.y, options.z) ;
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#endif // DEBUG
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options.x = owl_htonf(options.x) ;
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options.y = owl_htonf(options.y) ;
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options.z = owl_htonf(options.z) ;
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memcpy(&packet[offset], &options.x, sizeof(float)) ;
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offset += sizeof(float) ;
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memcpy(&packet[offset], &options.y, sizeof(float)) ;
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offset += sizeof(float) ;
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memcpy(&packet[offset], &options.z, sizeof(float)) ;
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}
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else // Standard packet
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{
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printf("Preparing request packet…\n") ;
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packet_size = sizeof(uint8_t) + sizeof(owl_timestamp) ;
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packet = malloc(packet_size) ;
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memset(&packet[0], OWL_REQUEST_NORMAL, 1) ; // Packet type
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memcpy(&packet[1], &request_time, sizeof(request_time)) ;
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}
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printf("Packet timestamp: %s\n", request_time_str) ;
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}
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void send_request()
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{
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owlclient_send_request(sockfd, &server, packet, packet_size,
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options.nb_pkt, options.delay) ;
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}
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void receive_position()
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{
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// Position of the mobile as computed by the infrastructure:
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float x, y, z ;
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sockfd = owl_create_udp_listening_socket(options.listening_port) ;
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recvfrom(sockfd, &x, sizeof(float), 0, NULL, NULL) ;
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recvfrom(sockfd, &y, sizeof(float), 0, NULL, NULL) ;
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recvfrom(sockfd, &z, sizeof(float), 0, NULL, NULL) ;
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close(sockfd) ;
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printf("Computed position: (%.4f;%.4f;%.4f)\n", x, y, z) ;
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}
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void print_usage()
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{
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printf("Usage:\n"
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"Localisation request:\n"
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"\t%s -d dest_ip [-p dest_port] [-i iface] [-t delay]"
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" [-n nb_packets] [-f [delay]] [-l [port]]\n"
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"Calibration request:\n"
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"\t%s -d dest_ip [-p dest_port] [-i iface] [-t delay]"
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" [-n nb_packets] direction x y z\n"
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"\n"
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"Options:\n"
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"\t-h\t\tPrint this help.\n"
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"\t-V\t\tPrint version information.\n"
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"\t-d dest_ip\tDestination IP address of the localisation"
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" request.\n"
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"\t-p dest_port\tDestination port of the localisation request"
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" (default: %d).\n"
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"\t-t delay\tTime between each packet transmission in"
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" milliseconds (default: %d ms for a normal request,"
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" %d ms for a calibration request).\n"
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"\t-n nb_packets\tNumber of packet transmitted for the request"
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" (default: %d for a normal request, %d for a calibration"
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" request).\n"
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"\t-i iface\tName of the network interface used to transmit the"
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" request (e.g. \"eth2\"). If this option is absent, interface"
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" is selected automatically. You must be root to use this"
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" option.\n"
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"\t-f [delay]\t\"Flood mode\": loop undefinitely, sending a"
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" new request every <delay> milliseconds (default: %d ms).\n"
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"\t-l [port]\tWait for the computed position and display it."
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" The Optional argument <port> allows to specify the listening"
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" port (default: %d).\n"
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,
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program_name,
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program_name,
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LOC_REQUEST_DEFAULT_PORT,
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DEFAULT_DELAY_NORMAL,
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DEFAULT_DELAY_CALIB,
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DEFAULT_NBPKT_NORMAL,
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DEFAULT_NBPKT_CALIB,
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DEFAULT_FLOOD_DELAY,
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MOBILE_DEFAULT_PORT
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) ;
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}
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void print_version()
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{
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printf("This is OwlPS Client, part of the Open Wireless"
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" Positioning System project.\n"
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"Version: %s.\n",
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#ifdef OWLPS_VERSION
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OWLPS_VERSION
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#else // OWLPS_VERSION
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"unknown version"
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#endif // OWLPS_VERSION
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) ;
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}
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