596 lines
15 KiB
C
596 lines
15 KiB
C
/*
|
|
* This file is part of the rtap localisation project.
|
|
*/
|
|
|
|
#include "../libowlps-client/owlps-client.h"
|
|
#include "owlps-drone.h"
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
#include <inttypes.h>
|
|
#include <string.h>
|
|
|
|
#include <net/if.h>
|
|
|
|
#include <time.h>
|
|
#include <pthread.h>
|
|
|
|
|
|
/* Options */
|
|
struct timespec timestamp ;
|
|
struct {
|
|
char dest_ip[INET_ADDRSTRLEN] ; // Destination IP of the packets
|
|
uint_fast16_t dest_port ;
|
|
char iface[IFNAMSIZ + 1] ; // Source network interface
|
|
int_fast32_t delay ; // Time between two packet transmissions
|
|
uint_fast16_t nb_pkt ; // Number of packets to send
|
|
uint_fast16_t listening_port ;
|
|
// Calibration data:
|
|
owl_direction direction ;
|
|
float x ;
|
|
float y ;
|
|
float z ;
|
|
} options = {
|
|
"",
|
|
LOC_REQUEST_DEFAULT_PORT,
|
|
"",
|
|
-1,
|
|
0,
|
|
0,
|
|
0, 0, 0, 0
|
|
} ;
|
|
|
|
char *program_name = NULL ;
|
|
|
|
// TRUE if the packet is a calibration request, FALSE if it is a simple
|
|
// positioning request:
|
|
owl_bool is_calibration_request = FALSE ;
|
|
|
|
int socksendfd ; // Sending socket descriptor (send positioning packets)
|
|
int sockreceivefd ; // Receiving socket descriptor (Receive position)
|
|
int socksendlvfd ; // Sending labview socket descriptor (Send position to labview)
|
|
struct sockaddr_in server ; // Server info
|
|
uint8_t *packet = NULL ; // Packet to send
|
|
uint_fast16_t packet_size ; // Packet size
|
|
|
|
|
|
|
|
int main(int argc, char *argv[])
|
|
{
|
|
program_name = argv[0] ;
|
|
parse_command_line(argc, argv) ;
|
|
|
|
create_socket() ;
|
|
pthread_t send ;
|
|
pthread_create(&send, NULL, thread_send, NULL) ;
|
|
while(1)
|
|
{
|
|
if (options.listening_port > 0)
|
|
receive_position() ;
|
|
}
|
|
(void) close(socksendfd) ;
|
|
(void) close(sockreceivefd) ;
|
|
//(void) close(socksendlvfd) ; //Use for close labview socket ; for next use
|
|
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* thread_send(void* data)
|
|
{
|
|
while(1)
|
|
{
|
|
make_packet() ;
|
|
send_request() ;
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
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, INET_ADDRSTRLEN) ;
|
|
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 =
|
|
strtoul(argv[optind], NULL, 0) ;
|
|
optind++ ;
|
|
}
|
|
}
|
|
else // We got an option like -l<port>, it's OK
|
|
options.listening_port = strtoul(optarg, NULL, 0) ;
|
|
break ;
|
|
case 'n' :
|
|
options.nb_pkt = strtoul(optarg, NULL, 0) ;
|
|
break ;
|
|
case 'p' :
|
|
options.dest_port = strtoul(optarg, NULL, 0) ;
|
|
break ;
|
|
case 't' :
|
|
options.delay = strtol(optarg, NULL, 0) ;
|
|
break ;
|
|
case 'V' :
|
|
print_version() ;
|
|
exit(0) ;
|
|
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 = strtoul(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 ;
|
|
}
|
|
|
|
// Calibration request but bad direction
|
|
if (is_calibration_request)
|
|
if (options.direction < OWL_DIRECTION_MIN ||
|
|
options.direction > OWL_DIRECTION_MAX)
|
|
{
|
|
fprintf(stderr, "Error! « %"PRIu8" » is not a valid"
|
|
" direction.\n", options.direction) ;
|
|
exit(ERR_BAD_USAGE) ;
|
|
}
|
|
|
|
// Check port numbers
|
|
if (options.dest_port < 1 || options.dest_port > 65535)
|
|
{
|
|
#ifdef DEBUG
|
|
fprintf(stderr, "Warning! Bad dest_port:"
|
|
" failing back to default value.\n") ;
|
|
options.dest_port = LOC_REQUEST_DEFAULT_PORT ;
|
|
#endif // DEBUG
|
|
}
|
|
if (options.listening_port > 65535)
|
|
{
|
|
#ifdef DEBUG
|
|
fprintf(stderr, "Warning! listening_port too high: ignored.\n") ;
|
|
options.listening_port = 0 ;
|
|
#endif // DEBUG
|
|
}
|
|
|
|
// We want to send a calibration request AND to be located, which is
|
|
// not allowed:
|
|
if (is_calibration_request && options.listening_port > 0)
|
|
{
|
|
#ifdef DEBUG
|
|
fprintf(stderr, "Warning! You cannot wait for a server answer when"
|
|
" you calibrate. Option -l ignored…\n") ;
|
|
#endif // DEBUG
|
|
options.listening_port = 0 ;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
#ifdef DEBUG
|
|
void print_configuration()
|
|
{
|
|
fprintf(stderr, "Options:\n"
|
|
"\tDestination IP: %s\n"
|
|
"\tDestination port: %"PRIuFAST16"\n"
|
|
"\tInterface: %s\n"
|
|
"\tDelay: %"PRIuFAST32"\n"
|
|
"\tNumber of packets: %"PRIuFAST16"\n"
|
|
"\tListening port: %"PRIuFAST16"\n"
|
|
"\tDirection: %"PRIu8"\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
|
|
|
|
|
|
|
|
void create_socket()
|
|
{
|
|
char *ip_labview = "192.168.3.2" ;
|
|
int port_labview = 50000 ;
|
|
socksendfd =
|
|
owlclient_create_trx_socket(options.dest_ip, options.dest_port,
|
|
&server, options.iface) ;
|
|
|
|
//socksendlvfd =
|
|
//owlclient_create_trx_socket(ip_labview, port_labview,
|
|
// &server, options.iface) ;
|
|
|
|
sockreceivefd =
|
|
owl_create_udp_listening_socket(options.listening_port) ;
|
|
}
|
|
|
|
|
|
|
|
/* Creates the packet to send. */
|
|
void make_packet()
|
|
{
|
|
uint_fast16_t offset ; // Index used to create the packet
|
|
owl_timestamp request_time ;
|
|
char request_time_str[OWL_TIMESTAMP_STR_LEN] ;
|
|
|
|
// Get the current time and copy it as a string before to switch it to
|
|
// network endianess:
|
|
owl_timestamp_now(&request_time) ;
|
|
owl_timestamp_to_string(request_time_str, request_time) ;
|
|
request_time = owl_hton_timestamp(request_time) ;
|
|
|
|
if (is_calibration_request) // Calibration packet
|
|
{
|
|
printf("Preparing calibration request packet…\n") ;
|
|
|
|
offset = 0 ;
|
|
packet_size =
|
|
sizeof(uint8_t) * 2 + sizeof(owl_timestamp) + sizeof(float) * 3 ;
|
|
packet = malloc(packet_size) ;
|
|
|
|
memset(&packet[offset], OWL_REQUEST_CALIBRATION, 1) ; // Packet type
|
|
++offset ;
|
|
memcpy(&packet[offset], &request_time, sizeof(request_time)) ;
|
|
offset += sizeof(request_time) ;
|
|
packet[offset++] = options.direction ; // Direction
|
|
#ifdef DEBUG
|
|
printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
|
|
packet[offset - 1], options.x, options.y, options.z) ;
|
|
#endif // DEBUG
|
|
options.x = owl_htonf(options.x) ;
|
|
options.y = owl_htonf(options.y) ;
|
|
options.z = owl_htonf(options.z) ;
|
|
memcpy(&packet[offset], &options.x, sizeof(float)) ;
|
|
offset += sizeof(float) ;
|
|
memcpy(&packet[offset], &options.y, sizeof(float)) ;
|
|
offset += sizeof(float) ;
|
|
memcpy(&packet[offset], &options.z, sizeof(float)) ;
|
|
}
|
|
|
|
else // Standard packet
|
|
{
|
|
printf("Preparing request packet…\n") ;
|
|
packet_size = sizeof(uint8_t) + sizeof(owl_timestamp) ;
|
|
packet = malloc(packet_size) ;
|
|
memset(&packet[0], OWL_REQUEST_NORMAL, 1) ; // Packet type
|
|
memcpy(&packet[1], &request_time, sizeof(request_time)) ;
|
|
}
|
|
|
|
printf("Packet timestamp: %s\n", request_time_str) ;
|
|
}
|
|
|
|
|
|
|
|
void send_request()
|
|
{
|
|
owlclient_send_request(socksendfd, &server, packet, packet_size,
|
|
options.nb_pkt, options.delay) ;
|
|
}
|
|
|
|
|
|
|
|
void receive_position()
|
|
{
|
|
// Position of the mobile as computed by the infrastructure:
|
|
char timestampXYZ[128] ;
|
|
char *data_cpy ;
|
|
recvfrom(sockreceivefd, ×tampXYZ, 128, 0, NULL, NULL) ;
|
|
//send_labview(timestampXYZ) ; // Use for future
|
|
data_cpy = strdup(timestampXYZ) ;
|
|
string2data(data_cpy) ;
|
|
}
|
|
|
|
void string2data(char* string_data)
|
|
{
|
|
/*Découpage de la chaine de caractère reçu du serveur de positionnement
|
|
sous forme de addrMAC;TypeRequete;Timestamp1.Timestamp2;Algo;X;Y;Z
|
|
en variables séparées
|
|
*/
|
|
|
|
char *mac = NULL ;
|
|
char *ptr = NULL ;
|
|
|
|
char *delims = ";" ;
|
|
|
|
int type_req = 0 ;
|
|
int count_algo= 0 ;
|
|
int count_print = 0 ;
|
|
int onetime = 0 ;
|
|
|
|
|
|
while(onetime<1)
|
|
{
|
|
|
|
//Lecture Adresse Mac
|
|
ptr = strtok(string_data, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
print_error("mac") ;
|
|
break ;
|
|
}
|
|
mac = ptr ;
|
|
|
|
//Lecture Type Request
|
|
ptr = strtok(NULL, delims) ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("request") ;
|
|
break ;
|
|
}
|
|
type_req = atoi(ptr) ;
|
|
|
|
//Lecture TimeStamp1
|
|
ptr = strtok(NULL, ".") ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("timestamp") ;
|
|
break ;
|
|
}
|
|
sscanf(ptr, "%ld", ×tamp.tv_sec) ;
|
|
|
|
//Lecture TimeStamp2
|
|
ptr = strtok(NULL, ";") ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("timestamp") ;
|
|
break ;
|
|
}
|
|
sscanf(ptr, "%ld", ×tamp.tv_nsec) ;
|
|
onetime++;
|
|
}
|
|
result results[10];
|
|
|
|
while(1)
|
|
{
|
|
//Lecture de l'algorythme utilisé
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL) break ;
|
|
sscanf(ptr, "%s", results[count_algo].algo) ;
|
|
|
|
//Lecture du point X
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
if(count_algo==0)
|
|
{
|
|
print_error ("trame");
|
|
break ;
|
|
}
|
|
else
|
|
{
|
|
print_error ("algo");
|
|
count_algo-- ;
|
|
break ;
|
|
}
|
|
}
|
|
results[count_algo].x = atof(ptr) ;
|
|
|
|
//Lecture du point Y
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
if(count_algo==0)
|
|
{
|
|
print_error ("trame");
|
|
break ;
|
|
}
|
|
else
|
|
{
|
|
print_error ("algo");
|
|
count_algo--;
|
|
break ;
|
|
}
|
|
}
|
|
results[count_algo].y = atof(ptr) ;
|
|
|
|
//Lecture du point Z
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
if(count_algo==0)
|
|
{
|
|
print_error ("trame");
|
|
break ;
|
|
}
|
|
else
|
|
{
|
|
perror ("algo");
|
|
count_algo--;
|
|
break ;
|
|
}
|
|
}
|
|
results[count_algo].z = atof(ptr) ;
|
|
|
|
count_algo++;
|
|
|
|
}
|
|
|
|
for(count_print=0;count_print<count_algo;count_print++)
|
|
{
|
|
printf("\n----------------\n"
|
|
" Adresse Mac : %s\n"
|
|
" Type de requete : %d\n"
|
|
" Timestamp : %ld.%ld\n"
|
|
" Algo : %s\n"
|
|
" X : %f\n "
|
|
" Y : %f\n"
|
|
" Z : %f\n"
|
|
"------------------\n", mac, type_req, timestamp.tv_sec, timestamp.tv_nsec, results[count_print].algo, results[count_print].x, results[count_print].y, results[count_print].z);
|
|
}
|
|
}
|
|
|
|
void send_labview(char* string_data)
|
|
{
|
|
//owlclient_send_request(socksendlvfd, &server, string_data, strlen(string_data),
|
|
//1, 0) ;
|
|
//printf("Send to labView : %s", string_data) ;
|
|
}
|
|
|
|
void print_error(char* merror)
|
|
{
|
|
if(!strcmp(merror,"trame")) printf("Impossible à lire la trame : Abandon") ;
|
|
else if (!strcmp(merror,"algo")) printf("Impossible à lire les coordonnées de l'algo : Abandon") ;
|
|
else printf("Erreur inconnu : Abandon") ;
|
|
}
|
|
|
|
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 [-p dest_port] [-i iface] [-t delay]"
|
|
" [-n nb_packets] direction x y z\n"
|
|
"\n"
|
|
"Options:\n"
|
|
"\t-h\t\tPrint this help.\n"
|
|
"\t-V\t\tPrint version information.\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 (default: %d"
|
|
" µs for a normal request, %d µs for a calibration request).\n"
|
|
"\t-n nb_packets\tNumber of packet transmitted for the request"
|
|
" (default: %d for a normal request, %d for a calibration"
|
|
" 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,
|
|
DEFAULT_DELAY_NORMAL,
|
|
DEFAULT_DELAY_CALIB,
|
|
DEFAULT_NBPKT_NORMAL,
|
|
DEFAULT_NBPKT_CALIB,
|
|
MOBILE_DEFAULT_PORT
|
|
) ;
|
|
}
|
|
|
|
|
|
void print_version()
|
|
{
|
|
printf("This is OwlPS Client for AR.Drone, part of the Open Wireless"
|
|
" Positioning System project.\n"
|
|
"Version: %s.\n",
|
|
#ifdef OWLPS_VERSION
|
|
OWLPS_VERSION
|
|
#else // OWLPS_VERSION
|
|
"unknown version"
|
|
#endif // OWLPS_VERSION:w
|
|
) ;
|
|
}
|