diff --git a/main.cpp b/main.cpp
index a6243965a90e75616bfe24f9b5b98a47a0e01caf..a1c74095b8be7d2601f224fd4ee1b8196e338962 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,67 +1,24 @@
#include <ros/ros.h>
-#include <ros/console.h>
#include <stdio.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
+#include <std_msgs/Int32.h>
typedef uint8_t byte;
-// consts for TRON ----------------------------------------------------------
-const byte GET_ERROR_MSG = 127;
-const byte DECL_CHAN_INPUT = 1;
-const byte DECL_CHAN_OUTPUT = 2;
-const byte ADD_VAR_TO_INPUT = 3;
-const byte ADD_VAR_TO_OUTPUT = 4;
-const byte SET_TIME_UNIT = 5;
-const byte SET_TIMEOUT = 6;
-const byte REQUEST_START = 64;
-const byte ANSWER_START = 0;
-const int32_t ACK_SINGLE = -2147483648; // 32 Bit int with most significant bit set to 1
-
-
-// function declarations --------------------------------------------------------
-
-// gets count bytes from socket file descriptor
-std::unique_ptr<byte[]> get_bytes_socket(int fd, int count);
+// some helper functions -----------------------------------------------
// log bytes sent/received
-void byte_info(const byte *msg, int msg_length, bool send=true);
-
-// wrapping get_bytes_socket for converting to 32 bit integer
-int32_t get_int_socket(int fd);
-
-// retrieves error message and prints it, then throws
-void get_error_msg(int fd, int32_t errorcode); // needs fix see implementation
-
-// converts num to network order and adds it to msg starting from index
-void add_int32_in_network_order(int32_t num, byte *msg, int index);
-
-// wraps write() for printing and throwing on errors
-void send_bytes(int fd, const byte* bytes, int length);
-
-void set_time_unit_and_timeout(int fd, uint64_t microseconds, int32_t timeout);
-
-// attaches UPPAAL variable called var to channel
-void add_var_to_channel(int fd, std::string channel, bool is_input, std::string var);
-
-// reports to var_count variables to channel named chan_name
-void report_now(int fd, std::string chan_name, unsigned short var_count, int32_t *vars);
-
-// throws if not answered with byte 0
-void request_start(int fd);
-// -------------------------------------------------------------------------------
+inline void byte_info(const byte* buf, int buf_length, bool send=true){
+ std::stringstream strstr;
+ strstr << (send ? "sending" : "received") << " bytes:";
+ for (int i = 0; i < buf_length; i++) strstr << " " << (int)buf[i];
+ ROS_INFO(strstr.str().c_str());
+}
+// gets count bytes from socket file descriptor (with timeout)
const double SECONDS_BEFORE_TIMEOUT = 30;
-struct Channel {
- int32_t identifier;
- bool is_input;
- std::vector<std::string> vars; // associated variables in Uppaal
- Channel(int32_t id, bool is_input) : identifier(id), is_input(is_input){};
- Channel() = default; // default constructor needed for std::map
-};
-std::map<std::string, Channel> channels;
-
std::unique_ptr<byte[]> get_bytes_socket(int fd, int count){
std::unique_ptr<byte[]> arr = std::make_unique<byte[]>(count);
int already_read = 0;
@@ -81,88 +38,128 @@ std::unique_ptr<byte[]> get_bytes_socket(int fd, int count){
return arr; // no explicit move needed since return value is rvalue
};
-int32_t bytes_to_int_32(byte *ptr){
- uint32_t h = ntohl(*reinterpret_cast<uint32_t*>(ptr));
+inline int32_t bytes_to_int_32(byte *buf){
+ uint32_t h = ntohl(*reinterpret_cast<uint32_t*>(buf));
return *reinterpret_cast<int32_t*>(&h);
}
-uint16_t bytes_to_uint_16(byte *ptr) {
- return ntohs(*reinterpret_cast<uint16_t*>(ptr));
+inline uint16_t bytes_to_uint_16(byte *buf) {
+ return ntohs(*reinterpret_cast<uint16_t*>(buf));
}
+// wrapping get_bytes_socket for converting to 32 bit integer
int32_t get_int_socket(int fd) {
auto ack = get_bytes_socket(fd, 4);
return bytes_to_int_32(ack.get());
}
-void add_int32_in_network_order(int32_t num, byte *msg, int index){
+// converts num to network order and adds it to byte array starting from index
+void add_int32_in_network_order(int32_t num, byte *buf, int index){
uint32_t n = htonl(*reinterpret_cast<uint32_t*>(&num));
byte* bytes = reinterpret_cast<byte*>(&n);
- msg[index] = bytes[0];
- msg[++index] = bytes[1];
- msg[++index] = bytes[2];
- msg[++index] = bytes[3];
+ buf[index] = bytes[0];
+ buf[++index] = bytes[1];
+ buf[++index] = bytes[2];
+ buf[++index] = bytes[3];
}
-void byte_info(const byte* msg, int msg_length, bool send){
- std::stringstream strstr;
- strstr << (send ? "sending" : "received") << " bytes:";
- for (int i = 0; i < msg_length; i++) strstr << " " << (int)msg[i];
- ROS_INFO(strstr.str().c_str());
+// wraps write() for printing and throwing on errors
+inline void send_bytes(int fd, const byte *buf, int length){
+ byte_info(buf, length);
+ int ret = write(fd, (void*) buf, length);
+ if (ret < 0) throw "writing failed";
}
-void send_bytes(int fd, const byte* bytes, int length){
- byte_info(bytes, length);
- int ret = write(fd, (void*) bytes, length);
- if (ret < 0) throw "writing failed";
+// returns false if nothing more to read and true if 4 bytes are read successfully
+// used to reduce overhead in testing phase
+inline bool read_4_bytes_nonblock(int fd, byte *buf) {
+ int bytes_recv = recv(fd, buf, 4, MSG_DONTWAIT);
+ if (bytes_recv == -1) return false; // nothing more to read
+ if (bytes_recv == 0) throw "connection was closed";
+ if (bytes_recv != 4) throw "could not read full 4 bytes";
+ byte_info(buf, 4, false);
+ return true;
}
-void get_error_msg(int fd, int32_t errorcode) {
+// consts for TRON ----------------------------------------------------------
+
+const byte GET_ERROR_MSG = 127;
+const byte DECL_CHAN_INPUT = 1;
+const byte DECL_CHAN_OUTPUT = 2;
+const byte ADD_VAR_TO_INPUT = 3;
+const byte ADD_VAR_TO_OUTPUT = 4;
+const byte SET_TIME_UNIT = 5;
+const byte SET_TIMEOUT = 6;
+const byte REQUEST_START = 64;
+const byte ANSWER_START = 0;
+const int32_t ACK_SINGLE = 1 << 31; // 32 Bit int with most significant bit set to 1
+
+// global vars -------------------------------------------------------------
+
+struct Channel {
+ int32_t identifier;
+ bool is_input;
+ std::vector<std::string> vars; // associated variables in Uppaal
+ Channel(int32_t id, bool is_input) : identifier(id), is_input(is_input){};
+ Channel() = default; // default constructor needed for std::map
+};
+std::map<std::string, Channel> channels;
+
+int socket_fd;
+
+// keep track of acknowledgements that are missing
+/* note: since communication is asynchronous this value can only be
+compared reliably with 0 after testing is terminated */
+int acks_missing = 0;
+
+// tron specific functions -----------------------------------------------------
+
+void get_error_msg(int32_t errorcode) {
ROS_WARN("got error, trying to get corresponding message");
- std::unique_ptr<byte[]> get_err_msg_msg = std::make_unique<byte[]>(5);
+ byte get_err_msg_msg[5];
get_err_msg_msg[0] = GET_ERROR_MSG; // get error msg code
- add_int32_in_network_order(errorcode, get_err_msg_msg.get(), 1);
- send_bytes(fd, get_err_msg_msg.get(), 5); // connection is closed after this write?
- byte err_msg_length = get_bytes_socket(fd, 1)[0];
- auto err_msg = get_bytes_socket(fd, err_msg_length);
+ add_int32_in_network_order(errorcode, get_err_msg_msg, 1);
+ send_bytes(socket_fd, get_err_msg_msg, 5); // connection is closed after this write?
+ byte err_msg_length = get_bytes_socket(socket_fd, 1)[0];
+ auto err_msg = get_bytes_socket(socket_fd, err_msg_length);
std::string msg_str = std::string(reinterpret_cast<char*>(err_msg.get()), (size_t) err_msg_length);
ROS_FATAL("TRON sent error message: %s", msg_str.c_str());
throw "got error from TRON";
}
-void add_var_to_channel(int fd, std::string channel, bool is_input, std::string var) {
- std::unique_ptr<byte[]> msg = std::make_unique<byte[]>(6 + var.length());
+void add_var_to_channel(std::string channel, bool is_input, std::string var) {
+ byte msg[6 + var.length()];
if (channels.find(channel) == channels.end()) throw "channel not declared";
Channel& chan = channels.at(channel);
msg[0] = is_input ? ADD_VAR_TO_INPUT : ADD_VAR_TO_OUTPUT;
- add_int32_in_network_order(chan.identifier, msg.get(), 1);
+ add_int32_in_network_order(chan.identifier, msg, 1);
msg[5] = (byte) var.length();
for (int i = 0; i < var.length(); i++) msg[6+i] = var.at(i);
ROS_INFO("attaching variable %s to channel %s", var.c_str(), channel.c_str());
- send_bytes(fd, msg.get(), 6 + var.length());
- int32_t ack = get_int_socket(fd);
- if (ack < 0) get_error_msg(fd, ack);
+ send_bytes(socket_fd, msg, 6 + var.length());
+ int32_t ack = get_int_socket(socket_fd);
+ if (ack < 0) get_error_msg(ack);
ROS_INFO("success: attached variable");
chan.vars.push_back(var);
}
-void send_channel_decl_msg(int fd, bool is_input, std::string name) {
+void send_channel_decl_msg(bool is_input, std::string name) {
// prepare packet
size_t msg_length = 2 + name.length();
- std::unique_ptr<byte[]> msg = std::make_unique<byte[]>(msg_length);
+ byte msg[msg_length];
msg[0] = is_input ? DECL_CHAN_INPUT : DECL_CHAN_OUTPUT;
msg[1] = name.length();
for (int i = 2, c = 0; i < msg_length; i++, c++) msg[i] = name[c];
// send packet
ROS_INFO("declaring channel %s as %s", name.c_str(), (is_input ? "input" : "output"));
- byte_info(msg.get(), msg_length);
- write(fd, (void*) msg.get(), msg_length);
+ byte_info(msg, msg_length);
+ write(socket_fd, (void*) msg, msg_length);
// get answer from TRON
- int32_t channel_identifier = get_int_socket(fd);
+ int32_t channel_identifier = get_int_socket(socket_fd);
if (channel_identifier < 0) { // error handling
- get_error_msg(fd, channel_identifier);
+ get_error_msg(channel_identifier);
}
if (channel_identifier == 0) throw "did not get channel identifier";
// assigned channel ID successfully
@@ -170,8 +167,8 @@ void send_channel_decl_msg(int fd, bool is_input, std::string name) {
channels[name] = Channel(channel_identifier, is_input);
}
-void set_time_unit_and_timeout(int fd, unsigned long long microseconds, int32_t timeout){
- std::unique_ptr<byte[]> msg = std::make_unique<byte[]>(9);
+void set_time_unit_and_timeout(uint64_t microseconds, int32_t timeout){
+ byte msg[9];
msg[0] = SET_TIME_UNIT;
byte *microseconds_bytes = reinterpret_cast<byte*>(µseconds);
@@ -183,32 +180,33 @@ void set_time_unit_and_timeout(int fd, unsigned long long microseconds, int32_t
for (int i = 0; i < 8; i++) msg[i+1] = microseconds_bytes[7-i];
}
ROS_INFO("setting time unit: %i microseconds", microseconds);
- send_bytes(fd, msg.get(), 9);
- int32_t ack = get_int_socket(fd);
- if (ack != 0) get_error_msg(fd, ack);
+ send_bytes(socket_fd, msg, 9);
+ int32_t ack = get_int_socket(socket_fd);
+ if (ack != 0) get_error_msg(ack);
ROS_INFO("success: set time unit");
- msg.reset(new byte[5]);
msg[0] = SET_TIMEOUT;
- add_int32_in_network_order(timeout, msg.get(), 1);
+ add_int32_in_network_order(timeout, msg, 1);
ROS_INFO("setting timeout to %i units", timeout);
- send_bytes(fd, msg.get(), 5);
- ack = get_int_socket(fd);
- if (ack != 0) get_error_msg(fd, ack);
+ send_bytes(socket_fd, msg, 5);
+ ack = get_int_socket(socket_fd);
+ if (ack != 0) get_error_msg(ack);
ROS_INFO("success: set timeout");
}
-
-void request_start(int fd) {
+
+void request_start() {
+ /* documentation confuses codes for start and getErrorMessage, actually used:
+ 64 is start
+ 127 is gerErrorMessage */
ROS_INFO("requesting start");
byte start = REQUEST_START;
- send_bytes(fd, &start, 1);
- byte answer = get_bytes_socket(fd, 1)[0];
+ send_bytes(socket_fd, &start, 1);
+ byte answer = get_bytes_socket(socket_fd, 1)[0];
if (answer != ANSWER_START) throw "starting failed";
ROS_INFO("success: starting test phase");
}
-// nach input verarbeitung weiter machen
-void report_now(int fd, std::string chan_name, uint16_t var_count, int32_t *vars){
+void report_now(std::string chan_name, uint16_t var_count, int32_t *vars){
std::unique_ptr<byte[]> msg = std::make_unique<byte[]>(6 + 4 * var_count);
if (channels.find(chan_name) == channels.end()) throw "channel not declared";
Channel chan = channels.at(chan_name);
@@ -223,109 +221,144 @@ void report_now(int fd, std::string chan_name, uint16_t var_count, int32_t *vars
for (unsigned short i = 0; i < var_count; i++)
add_int32_in_network_order(vars[i], msg.get(), 6 + i * 4);
- send_bytes(fd, msg.get(), 6 + 4 * var_count);
+ ROS_INFO("sending to output channel %s", chan_name.c_str());
+ if (var_count == 0) ROS_INFO("no variables attached");
+ for (unsigned short i = 0; i < var_count; i++)
+ ROS_INFO("attached value %i to variable %s", vars[i], chan.vars[i].c_str());
+ send_bytes(socket_fd, msg.get(), 6 + 4 * var_count);
+ acks_missing++;
}
-int main(int argc, char**argv){
- ros::init(argc, argv, "TRON dapter");
- ros::NodeHandle nh;
-
- const std::string IP = "127.0.0.1";
- const short PORT = 8080;
-
+// returns file descriptor
+int create_connected_socket(std::string IP, uint16_t port){
int socketfd;
if ((socketfd = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
- ROS_FATAL("socket could not be created");
- ros::shutdown();
+ throw "failed to create socket";
}
ROS_INFO("socket created successfully");
struct sockaddr_in addr;
addr.sin_family = AF_INET;
- addr.sin_port = htons(PORT);
+ addr.sin_port = htons(port);
{
int x = inet_pton(AF_INET, IP.c_str(), &addr.sin_addr);
- if (x == 1) {
- ROS_INFO("valid internet address");
- } else {
- ROS_FATAL("internet address could not be converted");
- ros::shutdown();
+ if (x != 1) {
+ throw "IP could not be converted";
}
}
if (connect(socketfd, (struct sockaddr*)&addr, sizeof(sockaddr_in)) < 0) {
- ROS_FATAL("connection failed");
- ros::shutdown();
+ throw "failed to connect";
}
- ROS_INFO("successfully connected to TRON");
- try {
- send_channel_decl_msg(socketfd, true, "ausloesen");
- add_var_to_channel(socketfd, "ausloesen", true, "zahl");
- send_channel_decl_msg(socketfd, false, "position");
- add_var_to_channel(socketfd, "position", false, "zahl");
- // nicht in dokumentation: lokale variablen nicht möglich
- //add_var_to_channel(socketfd, "ausloesen", "lokal");
-
- unsigned long long microseconds = 1000000; // one second
- // Dokumentation arbeitet mit 2 unsigned ints, äußerst mystisch
- set_time_unit_and_timeout(socketfd, microseconds, 10);
-
- // FALSCH IN DOKUMENTATION: Start und error msg byte codes vertauscht
- // 64 ist start
- // 127 ist gerErrorMessage
- request_start(socketfd); // communication not synchronous anymore after start
-
- // listen to topics
- int acks_needed = 0;
- ros::Rate rate(1);
- while (ros::ok()) {
- while (true){ // checking for messages arrived
- // get 4 bytes at a time
- std::unique_ptr<byte[]> bytes = std::make_unique<byte[]>(4);
- int bytes_recv = recv(socketfd, bytes.get(), 4, MSG_DONTWAIT);
- if (bytes_recv == -1) break; // nothing more to read
- if (bytes_recv == 0) throw "connection was closed";
- if (bytes_recv != 4) throw "could not read full ack or chanID";
- byte_info(bytes.get(), 4, false);
- int32_t next = bytes_to_int_32(bytes.get());
- // if those 4 bytes are acknowledgement decrement amount of acks needed;
- if (next == ACK_SINGLE) {
- if (--acks_needed < 0) throw "too many acknowledgements";
- ROS_INFO("got acknowledgement for output");
- continue;
- }
- std::string chan_name;
- for (std::pair<const std::string, Channel>& pair : channels) {
- if (pair.second.identifier == next) chan_name = pair.first;
- }
- if (chan_name.empty()) throw "channel could not be identified";
- ROS_INFO("got channel identifier (%s) for input", chan_name.c_str());
- // channel identified, assuming following bytes are correct
- bytes = std::make_unique<byte[]>(2);
- recv(socketfd, bytes.get(), 2, MSG_DONTWAIT);
- byte_info(bytes.get(), 2, false);
- uint16_t var_count = bytes_to_uint_16(bytes.get());
- ROS_INFO("got variable count %i", var_count);
- for (uint16_t i = 0; i < var_count; i++) {
- bytes = std::make_unique<byte[]>(4);
- recv(socketfd, bytes.get(), 4, MSG_DONTWAIT);
- next = bytes_to_int_32(bytes.get());
- Channel& c = channels.at(chan_name);
- std::string var = channels.at(chan_name).vars[i];
- ROS_INFO("got variable number %i: value of %s is %i", i+1, channels.at(chan_name).vars[i].c_str(), next);
- // TODO transfer message to topic
- }
- bytes = std::make_unique<byte[]>(4);
- add_int32_in_network_order(ACK_SINGLE, bytes.get(), 0);
- ROS_INFO("sending acknowledgement");
- send_bytes(socketfd, bytes.get(), 4);
- }
- ros::spinOnce();
- rate.sleep();
+ ROS_INFO("successfully connected");
+ return socketfd;
+}
+
+void configuration_phase(){
+ /* note: for configuration phase maximum message length is 256 Bytes,
+ therefore heap allocation can be avoided most of the time in called functions */
+ send_channel_decl_msg(true, "ausloesen");
+ add_var_to_channel("ausloesen", true, "zahl");
+ send_channel_decl_msg(false, "position");
+ add_var_to_channel("position", false, "zahl");
+ // not obvious in documentation: local variables are not supported
+ //add_var_to_channel(socketfd, "ausloesen", "lokal");
+ uint64_t microseconds = 1000000; // one second
+ // documentation states 2 signed integers are used for some reason
+ set_time_unit_and_timeout(microseconds, 100);
+}
+
+// TODO implement callbacks/topic messages
+void process_TRONs_msgs(){
+ /* note: TRONs communication after start is not guaranteed to be synchronous,
+ thus incoming messages must be checked for their content */
+ while (true){
+ // get 4 bytes at a time as an int32
+ byte bytes[4];
+ if (!read_4_bytes_nonblock(socket_fd, bytes))
+ break; // no bytes left to process
+ int32_t next = bytes_to_int_32(bytes);
+
+ // bytes are acknowledgement
+ if (next == ACK_SINGLE) {
+ if (--acks_missing < 0) throw "too many acknowledgements";
+ ROS_INFO("got acknowledgement for output");
+ continue;
}
- // erst nach ausloesen input wäre akzeptierbar
- int32_t zahl = 4;
- //report_now(socketfd, "position", 1, &zahl);
+ // bytes are channel identifier
+ // find corresponding channel
+ std::string chan_name;
+ for (std::pair<const std::string, Channel>& pair : channels) {
+ if (pair.second.identifier == next) chan_name = pair.first;
+ }
+
+ if (chan_name.empty())
+ /* note: this only happens if message number 12 in TRON User Manual is received,
+ which should not be the case according to the documentation */
+ throw "channel could not be identified";
+ ROS_INFO("got channel identifier (%s) for input", chan_name.c_str());
+
+ // channel identified, assuming all following bytes are correct
+
+ // get number of variables
+ recv(socket_fd, bytes, 2, MSG_DONTWAIT);
+ byte_info(bytes, 2, false);
+ uint16_t var_count = bytes_to_uint_16(bytes);
+ ROS_INFO("got variable count %i", var_count);
+
+ // process variables
+ for (uint16_t i = 0; i < var_count; i++) {
+ recv(socket_fd, bytes, 4, MSG_DONTWAIT);
+ next = bytes_to_int_32(bytes);
+ Channel& c = channels.at(chan_name);
+ std::string var = channels.at(chan_name).vars[i];
+ ROS_INFO("got variable number %i: value of %s is %i", i+1, channels.at(chan_name).vars[i].c_str(), next);
+ // TODO transfer message to topic possibly via custom callback
+ }
+
+ // send acknowledgement
+ add_int32_in_network_order(ACK_SINGLE, bytes, 0);
+ ROS_INFO("sending acknowledgement");
+ send_bytes(socket_fd, bytes, 4);
+ }
+}
+
+void testCallback(const std_msgs::Int32::ConstPtr& msg){
+ int32_t x = msg->data;
+ report_now("position", 1, &x);
+}
+
+int main(int argc, char**argv){
+ ros::init(argc, argv, "TRON dapter");
+ ros::NodeHandle nh;
+ ros::Publisher pub = nh.advertise<std_msgs::Int32>("test_topic", 1);
+ if (!pub) throw "publisher nicht erstellt";
+
+ try {
+ const std::string IP = "127.0.0.1";
+ const uint16_t PORT = 8080;
+ socket_fd = create_connected_socket(IP, PORT);
+
+ configuration_phase();
+
+ // subscribe to topics and add callbacks which use report_now-------------------------------------------
+ ros::Subscriber sub = nh.subscribe("test_topic", 1, testCallback);
+ // -----------------------------------------------------------
+
+ request_start();
+
+ // testing phase loop
+ ros::Rate test_phase_freq(1);
+ int y = 2;
+ while (ros::ok()) {
+ std_msgs::Int32 x;
+ x.data = 6;
+ if (y==2) pub.publish(x);
+ y++; // TRON does not seem to send acknowledgements back
+ process_TRONs_msgs();
+ ros::spinOnce();
+ test_phase_freq.sleep();
+ }
} catch (const char* err){
ROS_FATAL("shutting down: %s", err);
ros::shutdown();