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rxx_network.cpp.txt
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rxx_network.cpp.txt
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#include "rxx_network.h"
#include <string>
#include <iostream>
#include <sstream>
#include <random>
#include <net/if.h>
#include <arpa/inet.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <ros/package.h>
#include <iterator>
#include <sys/types.h>
#include <sys/wait.h>
#include <sys/stat.h>
#include "version/rbrain_version.h"
#include "path_generation/bezier.h"
#include "rxx_database/UiDataBase.h"
NetWorkInterface::NetWorkInterface(void):
local_controller_(""),
local_thread_(nullptr){
file_path_ = ros::package::getPath("nav_startup");
file_path_ +="/maps/";
map_yaml_length_=0;
map_yaml_index_ =0;
map_pgm_length_ =0;
map_pgm_index_ =0;
map_pbstream_length_ = 0;
map_pbstream_index_ = 0;
map_name_length_=0;
map_name_index_ =0;
map_info_length_=0;
map_info_index_ =0;
map_cur_step_ =0;
map_file_name_ ="";
char* _home_path = getenv("HOME");
if(_home_path!=nullptr){
ui_file_path_ = std::string(_home_path);
if("/root" == ui_file_path_){
ui_file_path_ = "/home/rxx";
}
ui_file_path_ += "/.config/ui_config/maps/";
}else{
ui_file_path_ = "/home/rxx/.config/ui_config/maps/";
}
m_binited_ok = false;
map_yaml_file_ =nullptr;
map_pgm_file_ =nullptr;
map_pbstream_file_ = nullptr;
remote_controller_ip_= "";
update_map_status_ = true;
update_datebase_status_ = true;
charge_sequence_id_ = "";
offline_mapping_sequence_id_ = "";
path_sequence_id_ = "";
sensor_sequence_id_ = "";
swap_sequence_id_ = "";
body_path_task_type_ = false;
body_swap_task_type_ = false;
charge_task_type_ = false;
LoadRobotDevInfo();
}
NetWorkInterface::~NetWorkInterface(void){
if(local_thread_){
local_thread_->interrupt();
local_thread_->join();
boost::this_thread::sleep(boost::posix_time::millisec(200));
delete local_thread_;
}
local_thread_ = nullptr;
}
void NetWorkInterface::StopHttpService(void){
http_srv_.stop();
}
void NetWorkInterface::LoadRobotDevInfo(void){
ros::param::param<std::string>("~id",robot_dev_info_.id,"1");
ros::param::param<std::string>("~vehicle_id",robot_dev_info_.vehicle_id,"rbrain_xml");
ros::param::param<std::string>("~robot_note",robot_dev_info_.robot_note,"xc");
ros::param::param<std::string>("~model",robot_dev_info_.model,"diff");
ros::param::param<std::string>("~robot_ip",robot_ip_,"192.168.1.240");
ros::param::param<std::string>("~local_server_ip",local_server_ip,"192.168.1.240");
ros::param::param<int>("~local_server_port",local_server_port,50001);
ros::param::param<std::string>("~eth_name",m_eth_name,"wlp3s0");
ros::param::param<int>("~robot_port",robot_port_,1690);
ros::param::param<double>("~task_excute_timeout",task_excute_timeout_,1.0);
ros::param::param<double>("~pickup_distance_extend",pickup_distance_extend_,0.2);
ros::param::param<int>("~task_timeout_cnt",task_timeout_cnt_,3);
ros::param::param<int>("~http_timeout_usec", m_http_timeout_usec, 300000);
ros::param::param<int>("~http_timeout_sec", m_http_timeout_sec, 0);
ros::param::param<int>("~http_timeout_num", m_http_timeout_num, 3);
ros::param::param<bool>("~use_same_direction", m_buse_same_direction, true);
std::string tmp_robot_ip;
if (get_local_ip(m_eth_name, tmp_robot_ip))
{
RXX_LOG_INFO("get_local_ip %s:%s", m_eth_name.c_str(), tmp_robot_ip.c_str());
// robot_ip_ = tmp_robot_ip;
}
RXX_LOG_WARN("robot_ip ->%s port_->%d",robot_ip_.c_str(),robot_port_);
robot_dev_info_.version = GetRbrainVesion();
robot_dev_info_.ret_code =0;
robot_dev_info_.err_msg = "";
if(pickup_distance_extend_ < 0){
pickup_distance_extend_ = 0;
}
AnalyzeJson::GetInstance().SetSameDirection(m_buse_same_direction);
}
bool NetWorkInterface::get_local_ip(const std::string ð_inf, std::string& out_ip)
{
int sd;
struct sockaddr_in sin;
struct ifreq ifr;
sd = socket(AF_INET, SOCK_DGRAM, 0);
if (-1 == sd)
{
printf("socket error: %s\n", strerror(errno));
return false;
}
strncpy(ifr.ifr_name, eth_inf.c_str(), IFNAMSIZ);
ifr.ifr_name[IFNAMSIZ - 1] = 0;
// if error: No such device
if (ioctl(sd, SIOCGIFADDR, &ifr) < 0)
{
printf("ioctl error: %s\n", strerror(errno));
close(sd);
return false;
}
memcpy(&sin, &ifr.ifr_addr, sizeof(sin));
std::string tmpip(inet_ntoa(sin.sin_addr));
out_ip = tmpip;
close(sd);
return true;
}
bool NetWorkInterface::GetLocalPara()
{
if (m_binited_ok)
{
return true;
}
DBWorkMode tmp_work_model;
if (!UiDataBase::GetInstance().GetWorkMode(tmp_work_model))
{
RXX_LOG_ERROR("GetWorkMode fail");
return false;
}
this->local_server_ip = tmp_work_model.server_ip;
this->local_server_port = tmp_work_model.server_port;
RXX_LOG_INFO("workmodel:%d ip:%s port:%d", tmp_work_model.work_mode, local_server_ip.c_str(), local_server_port);
m_binited_ok = true;
return true;
}
bool NetWorkInterface::CheckRemortHead()
{
static bool s_offline_status = true;
httplib::Client http_client_(this->local_server_ip, this->local_server_port);
httplib::Headers _local_headers={
{"Accept-Encoding","gzip,deflate"},
{"Connection","close"}
};
http_client_.set_default_headers(_local_headers);
http_client_.set_connection_timeout(m_http_timeout_sec, m_http_timeout_usec);
http_client_.set_read_timeout(m_http_timeout_sec, m_http_timeout_usec);
http_client_.set_write_timeout(m_http_timeout_sec, m_http_timeout_usec);
static uint32_t g_http_check_num = 0;
Json::Value _root, _data;
_data["robot_ip"] = this->robot_ip_;
_data["robot_port"] = this->robot_port_;
_root["data"] = _data;
std::string _json_body = _root.toStyledString();
httplib::Result result = http_client_.Post("/rbrainrobot/heart_beat", \
_json_body.c_str(), _json_body.size(), "application/json");
if (result == nullptr)
{
RXX_LOG_INFO("http_check_num:%d http_timeout_num:%d", g_http_check_num, m_http_timeout_num);
http_client_.stop();
g_http_check_num++;
if (g_http_check_num >= m_http_timeout_num)
{
g_http_check_num = m_http_timeout_num;
FunctionCodeType function_code = ADD_VIRSUAL_OBSTACLE;
robot_api_->SetRobotFunctionCode(function_code, 1);
robot_api_->SetRcsStatus(false);
s_offline_status = false;
return false;
}
return true;
}
else {
g_http_check_num = 0;
http_client_.stop();
robot_api_->SetRcsStatus(true);
if (!s_offline_status)
{
FunctionCodeType function_code = ADD_VIRSUAL_OBSTACLE;
robot_api_->SetRobotFunctionCode(function_code, 0);
}
s_offline_status = true;
//RXX_LOG_INFO("[%s]", result->body.c_str());
//NormalResponses tmp_res;
//bool bresult = AnalyzeJson::GetInstance().JsonToNormalResponse(result->body, tmp_res);
//if (!bresult) {
// RXX_LOG_INFO("%s not link to myself server %s:%d", this->robot_ip_.c_str(), local_server_ip.c_str(), local_server_port);
// return false;
// //robot_api_->StopTask();
//}
}
return true;
}
void NetWorkInterface::RobotSensorThreadRun(void){
ros::Rate loop(200);
uint32_t check_time_out = 0;
while (ros::ok())
{
loop.sleep();
ros::spinOnce();
if (check_time_out++ > 20)
{
check_time_out = 0;
if (!GetLocalPara())
{
RXX_LOG_ERROR("GetLocalPara fail wait.....");
continue;
}
CheckRemortHead();
}
}
http_srv_.stop();
RXX_LOG_INFO("RobotSensorThreadRun exit");
}
bool NetWorkInterface::JudgeRobotKeyStatus(const httplib::Request& req,httplib::Response& res){
return true;
if( !req.has_header("robot_key") ){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "not robot_key";
return false;
}
std::string robot_key = req.get_header_value("robot_key");
{
std::unique_lock<std::mutex> lock(local_data_mtx_);
if( robot_key != local_controller_){
res.set_content(Json::Value().toStyledString(),"application/json");
res.status = 200;
res.reason = "robot_key is invaild";
return false;
}
}
return true;
}
void NetWorkInterface::GetRobotControlInfo(const httplib::Request& req, httplib::Response& res){
std::cout<<"GetRobotControlInfo"<<std::endl;
if(local_controller_.empty()){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "no controller now";
return ;
}
Json::Value _root = AnalyzeJson::GetInstance().ControllerIPInfoToJson(remote_controller_ip_);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetRobotTrafficControlParam(const httplib::Request& req, httplib::Response& res){
TrafficControlParam trafficControlParam;
robot_api_->GetTrafficControlParam(trafficControlParam);
Json::Value _root = AnalyzeJson::GetInstance().RobotTrafficControlParamToJson(trafficControlParam);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetRobotRunStatus(const httplib::Request& req, httplib::Response& res){
CarAPIDevInfo robot_info;
robot_api_->GetDevInfo(robot_info);
RobotRunStatus _run_status;
SetRobotRunParm(robot_info,_run_status);
TrafficControlParam robot_param;
robot_api_->GetTrafficControlParam(robot_param);
Json::Value _root = AnalyzeJson::GetInstance().RobotRunStatusToJson(_run_status, robot_info, robot_param);
// Json::FastWriter().write(root);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetRobotLaserData(const httplib::Request& req, httplib::Response& res){
sensor_msgs::PointCloud laser_point;
bool status = robot_api_->GetRobotLaserData(laser_point);
if(status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "controller sensor transform faild";
return ;
}
Json::Value _root = AnalyzeJson::GetInstance().RobotLaserDataToJson(laser_point);
// Json::FastWriter().write(root);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetCurReflectors(const httplib::Request& req, httplib::Response& res)
{
std::vector<SReflectorData> _reflectors;
bool bret = robot_api_->GetCurReflectors(_reflectors);
if(!bret)
{
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "GetCurReflectors faild";
}
else
{
Json::Value _root;
Json::Value robot_value;
robot_value["msg"] = "ok";
Json::Value _datas;
for(const auto &it:_reflectors)
{
Json::Value data;
data["x"] = it.x;
data["y"] = it.y;
data["ikey"] = it.ikey;
_datas.append(data);
}
robot_value["reflectors"] = _datas;
_root["data"] = robot_value;
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
}
void NetWorkInterface::SetReflectorSwitchStatus(const httplib::Request& req, httplib::Response& res)
{
// if(JudgeRobotKeyStatus(req,res) == false){
// return ;
// }
int istatus = 0;
bool status = AnalyzeJson::GetInstance().JsonToReflectorStatus(req.body, "reflectorSwitch", istatus);
RXX_LOG_WARN("SetReflectorSwitchStatus:%d",istatus);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot SetReflectorSwitchStatus param invaild";
return ;
}
robot_api_->SetReflectorSwitchStatus(istatus);
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::DeleteErrorReflector(const httplib::Request& req, httplib::Response& res)
{
// if(JudgeRobotKeyStatus(req,res) == false){
// return ;
// }
int ifeaturekey = 0;
bool status = AnalyzeJson::GetInstance().JsonToReflectorStatus(req.body, "featurekey", ifeaturekey);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot DeleteErrorReflector param invaild";
return ;
}
robot_api_->DeleteErrorReflector(ifeaturekey);
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SaveReflectors(const httplib::Request& req, httplib::Response& res)
{
// if(JudgeRobotKeyStatus(req,res) == false){
// return ;
// }
int istatus = 0;
bool status = AnalyzeJson::GetInstance().JsonToReflectorStatus(req.body, "iSaveStatus", istatus);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot SaveReflectors param invaild";
return ;
}
robot_api_->SaveReflectors();
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetRobotMap(const httplib::Request& req, httplib::Response& res){
std::string pgm_body_file;
std::string yaml_body_file;
std::string pbstream_file;
robot_api_->GetRobotRealMap(pgm_body_file, yaml_body_file, pbstream_file);
std::string map_id_name = robot_api_->get_work_map_id();
uint32_t _pgm_file_size = pgm_body_file.size();
uint32_t _yaml_file_size = yaml_body_file.size();
uint32_t _pbstream_file_size = pbstream_file.size();
uint32_t _map_id_size = map_id_name.size();
RXX_LOG_INFO("_pgm_file_size:%d _yaml_file_size:%d _pbstream_file_size:%d",
_pgm_file_size, _yaml_file_size, _pbstream_file_size);
char _size[4];
memcpy(_size,&_map_id_size,sizeof(_size));
std::string _map_file(_size,4);
_map_file += map_id_name;
memcpy(_size,&_yaml_file_size,sizeof(_size));
_map_file += std::string(_size,4)+yaml_body_file;
memcpy(_size,&_pgm_file_size,sizeof(_size));
_map_file += std::string(_size,4)+pgm_body_file;
memcpy(_size, &_pbstream_file_size, sizeof(_size));
_map_file += std::string(_size, 4) + pbstream_file;
res.set_header("Accept-Encoding","gzip");
res.set_header("Content-Type","application/octet-stream");
res.set_content_provider(
_map_file.size(),
"application/octet-stream",
[_map_file,res](size_t offset, size_t length, httplib::DataSink &sink) {
sink.write(_map_file.data()+offset, length);
// std::cout<<" "<<length<<std::endl;
return true;
},
[] { ;});
}
void NetWorkInterface::GetRobotTaskStatus(const httplib::Request& req, httplib::Response& res){
uint32_t task_state = 0;
bool task_cancel = false,task_error = false;
int32_t task_feedback = 0;
double residue_path = std::numeric_limits<double>::max();
TaskErrorInfo task_error_info;
robot_api_->GetCurTaskState(task_state,task_cancel);
robot_api_->GetMoveTaskFeedBack(task_feedback, residue_path);
task_error = robot_api_->GetTaskErrorStatus();
robot_api_->GetTaskErrorInfo(task_error_info);
Json::Value _root = AnalyzeJson::GetInstance().RobotTaksStateToJson(task_state, task_feedback, task_error, task_error_info, residue_path);
res.set_content(_root.toStyledString(),"application/json");
//RXX_LOG_INFO("%s", _root.toStyledString().c_str());
res.status = 200;
res.reason = "OK";
{
std::unique_lock<std::mutex> lock(task_timeout_mtx_);
if(task_state == 3 ){
task_timeout_.start = false;
}
task_timeout_.duration = 0;
task_timeout_.time_cnt = 0;
task_timeout_.ocur_timeout = false;
}
}
void NetWorkInterface::GetRobotDevStatusInfo(const httplib::Request& req, httplib::Response& res){
CarAPIDevInfo robot_info;
robot_api_->GetDevInfo(robot_info);
robot_dev_info_.version = robot_info.dev_version;
Json::Value _root = AnalyzeJson::GetInstance().RobotInfoToJson(robot_dev_info_);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::GetRobotRunPath(const httplib::Request& req, httplib::Response& res){
nav_msgs::Path robot_path;
bool result = robot_api_->GetRobotRemainPath(robot_path);
if(result==false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot api get path failed";
return ;
}
Json::Value _root = AnalyzeJson::GetInstance().RobotPathToJson(robot_path);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::RequestRobotControl(const httplib::Request& req, httplib::Response& res){
if(!local_controller_.empty()){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot already have controller";
return ;
}
remote_controller_ip_ = req.get_header_value("REMOTE_ADDR");
char _buf[200];
std::snprintf(_buf, sizeof(_buf), "%llu", (unsigned long long)ros::Time::now().toNSec());
std::string _name = std::string(_buf);
std::random_device _rand;
std::mt19937 _generator(_rand());
std::uniform_int_distribution<int> dis(1000, 9999);
_name += std::to_string( dis(_generator) );
local_controller_ = _name;
Json::Value _root = AnalyzeJson::GetInstance().ControllerResponseToJson(local_controller_);
res.set_content(_root.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::ReleaseRobotControl(const httplib::Request& req, httplib::Response& res){
if( !req.has_header("robot_key") ){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "not robot_key";
return ;
}
std::string robot_key = req.get_header_value("robot_key");
{
std::unique_lock<std::mutex> lock(local_data_mtx_);
if( robot_key == local_controller_){
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "ok";
local_controller_ = "";
remote_controller_ip_ = "";
}else{
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot_key is invaild";
}
}
}
void NetWorkInterface::SetRobotInitPose(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
CarAPIPose robot_pose;
bool status = AnalyzeJson::GetInstance().JsonToRobotInitPose(req.body, robot_pose);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot init pose param invaild";
return ;
}
status = robot_api_->InitCarPose(robot_pose);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot init faild";
return ;
}
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SetRobotRemoteVelocity(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
CarAPISpeed _velocity;
bool status = AnalyzeJson::GetInstance().JsonToRobotRemoteVelocity(req.body, _velocity);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot remote velocity invaild";
return ;
}
status = robot_api_->SetRobotVelocity(_velocity);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot remote velocity faild";
return ;
}
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SetRobotForkControl(const httplib::Request &req, httplib::Response &res)
{
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
CarAPIFork _fork;
bool status = AnalyzeJson::GetInstance().JsonToRobotForkControl(req.body, _fork);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot remote fork invaild";
return ;
}
status = robot_api_->SetRobotFork(_fork);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot remote fork faild";
return ;
}
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SetRobotAutoCharge(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
std::string sequence_id = "";
bool body_task_type = false;
Json::Value root;
bool status = AnalyzeJson::GetInstance().JsonToBodySequenceIdAndType(req.body,root,sequence_id,body_task_type);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot charger param invaild";
RXX_LOG_WARN("SetRobotAutoCharge not find sequence_id");
return ;
}
uint16_t charge_cmd = 0;
CarAPIPose _pose;
status = AnalyzeJson::GetInstance().JsonToChargerStatus(root,charge_cmd,_pose);
if( status == false || charge_cmd<=0 || charge_cmd >5){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot charger param invaild";
return ;
}
if(charge_sequence_id_ == sequence_id && \
body_task_type == charge_task_type_){
CarAPIRes response;
response.sub_cmd = charge_cmd;
response.result = 1;
Json::Value _response = AnalyzeJson::GetInstance().ChargeResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
RXX_LOG_WARN("SetRobotAutoCharge same sequence_id :%d",sequence_id);
return;
}
charge_sequence_id_ = sequence_id;
charge_task_type_ = body_task_type;
CarAPIRes response;
status = robot_api_->SetRobotAutoCharge(charge_cmd,response,_pose);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot charger faild";
return ;
}
Json::Value _response = AnalyzeJson::GetInstance().ChargeResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SetOfflineMapping(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
Json::Value _response;
CarAPIRes response;
RXX_LOG_INFO("SetOfflineMapping--->%s",req.body.c_str());
std::string sequence_id = "";
Json::Value root;
bool status = AnalyzeJson::GetInstance().JsonToBodySequenceId(req.body,root,sequence_id);
if(status == false){
response.result = 1;
response.sub_cmd = 0;
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "robot offline mapping param invaild";
RXX_LOG_WARN("SetOfflineMapping not find sequence_id");
return ;
}
std::string map_id = "";
uint16_t offline_mapping_cmd = 0;
status = AnalyzeJson::GetInstance().JsonToOfflineMapping(root, offline_mapping_cmd,map_id);
if( status == false || offline_mapping_cmd<=0 || offline_mapping_cmd >7 || \
(map_id.empty() && (offline_mapping_cmd == 4 || \
offline_mapping_cmd == 6 ))){
RXX_LOG_WARN("map offline mapping command %d",offline_mapping_cmd);
response.result = 1;
response.sub_cmd = offline_mapping_cmd;
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "robot offline mapping param invaild";
return ;
}
if(offline_mapping_cmd == 4 ||
offline_mapping_cmd == 6){
offline_map_id_ = map_id;
}
if(offline_mapping_cmd == 6){
std::string file_path = file_path_ + offline_map_id_ + ".pbstream";
struct stat _buffer;
int result_value = stat(file_path.c_str(),&_buffer);
if( result_value != 0){
RXX_LOG_WARN("update mapping map %s is not exist result_value:%d",file_path.c_str(),result_value);
response.result = 1;
response.sub_cmd = offline_mapping_cmd;
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "robot offline mapping faild";
return ;
}
}
if(offline_mapping_sequence_id_ == sequence_id && \
offline_mapping_cmd != 5 ){
response.result = 0;
response.sub_cmd = offline_mapping_cmd;
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
RXX_LOG_WARN("SetOfflineMapping same sequence_id :%d",sequence_id);
return ;
}
offline_mapping_sequence_id_ = sequence_id;
status = robot_api_->SetRobotOfflineMapping(offline_mapping_cmd,response,map_id);
if( status == false){
response.result = 1;
response.sub_cmd = offline_mapping_cmd;
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "robot offline mapping faild";
return ;
}
if( offline_mapping_cmd == 5 && \
response.result == 100 && \
status == true){
auto result = fork();
RXX_LOG_WARN("fork pid :%d",result);
if( result == 0){
setpgrp();
system("sync");
std::string _command ="cp " + file_path_ + offline_map_id_+".pgm "+\
ui_file_path_+ offline_map_id_ + ".pgm";
RXX_LOG_INFO("offline mapping --->%s",_command.c_str());
system(_command.c_str());
_command ="cp " + file_path_ + offline_map_id_+".yaml "+\
ui_file_path_+ offline_map_id_ + ".yaml";
RXX_LOG_INFO("offline mapping--->%s",_command.c_str());
system(_command.c_str());
_command = "cp " + file_path_ + offline_map_id_ + ".pbstream " +\
ui_file_path_ + offline_map_id_ +".pbstream";
RXX_LOG_INFO("offline mapping--->%s",_command.c_str());
system(_command.c_str());
system("sync");
_exit(0);
}else if(result < 0){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot offline mapping faild";
return ;
}else{
int pid_status;
waitpid(result,&pid_status,0);
robot_api_->SetWorkMapId(offline_map_id_,false);
}
}
_response = AnalyzeJson::GetInstance().OfflineMappingResponseToJson(response);
res.set_content(_response.toStyledString(),"application/json");
res.status = 200;
res.reason = "OK";
}
void NetWorkInterface::SetOnlineMapping(const httplib::Request& req, httplib::Response& res){
if( !req.has_header("robot_key") ){
// res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 500;
res.reason = "not robot_key";
return ;
}
uint16_t online_mapping_cmd = 0;
bool status = AnalyzeJson::GetInstance().JsonToOnlineMapping(req.body, online_mapping_cmd);
if( status == false || online_mapping_cmd<=0 || online_mapping_cmd >4){
// res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 500;
res.reason = "robot online mapping param invaild";
return ;
}
CarAPIRes response;
std::string map_info_pgm,map_info_yaml;
response.sub_cmd = online_mapping_cmd;
switch (online_mapping_cmd){
case 1:
robot_api_->StartMapping();
res.status = 200;
res.reason = "OK";
response.result = 0;
break;
case 2:
robot_api_->CancelMapping();
res.status = 200;
res.reason = "OK";
response.result = 0;
break;
case 3:
robot_api_->StopMapping();
res.status = 200;
res.reason = "OK";
response.result = 0;
break;
default:
// res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 500;
res.reason = "robot online mapping param invaild";
RXX_LOG_ERROR("===================================");
response.sub_cmd = online_mapping_cmd;
response.result = 1;
break;
}
Json::Value _response = AnalyzeJson::GetInstance().OnlineMappingResponseToJson(response);
res.set_content(_response.toStyledString(), "application/json");
return;
}
void NetWorkInterface::SetRobotMap(const httplib::Request& req, httplib::Response& res,const httplib::ContentReader &content_reader){
ResetMapInfo();
update_map_status_ = true;
std::string _map_info;
content_reader([this,&_map_info](const char* data,size_t data_length){
_map_info.append(data,data_length);
return true;
});
bool _status = false;
uint32_t rem_len = 0, index = 0,total_len = 0;
total_len = _map_info.size();
asycn_map_id_.clear();
while(_status == false && update_map_status_ == true && ros::ok()){
_status = UpdataMapping(_map_info.c_str()+index,total_len,rem_len,false);
index = _map_info.size() - rem_len;
total_len = rem_len;
}
if(update_map_status_ == true){
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.reason = "OK";
}else{
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.reason = "cannot open .yaml and .pgm";
}
res.status = 200;
}
void NetWorkInterface::SetRobotFixPath(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}
std::string sequence_id = "";
bool body_task_type = false;
Json::Value root;
bool status = AnalyzeJson::GetInstance().JsonToBodySequenceIdAndType(req.body,root,sequence_id,body_task_type);
if(status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
RXX_LOG_WARN("SetRobotFixPath not find sequence_id");
return ;
}
RXX_LOG_ERROR("SetRobotFixPath-->%s",req.body.c_str());
MoveTaskCmd task_command;
status = AnalyzeJson::GetInstance().JsonToFixPaths(root, task_command);
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = "robot json paths failed";
// RXX_LOG_WARN("fix path not match robot type cur:%d",robot_work_type);
return ;
}
RXX_LOG_ERROR("path_master_id:%d path_sub_id%d", task_command.path_property.master_id.size(), \
task_command.path_property.sub_id.size());
if(sequence_id == path_sequence_id_ && \
body_task_type == body_path_task_type_){
RXX_LOG_INFO("SetRobotFixPath type:%d sequence_id is same %d",body_task_type,sequence_id);
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
return ;
}
path_sequence_id_ = sequence_id;
body_path_task_type_ = body_task_type;
PickUpPathExtend(task_command);
RbrainErrMSG err_msg;
status = robot_api_->MoveTask(task_command,err_msg);//RbrainRobotApi类 是RbrainCarXP类、RbrainCarXC、RbrainCarXD的父类。
//根据robot_api_所实际指向的对象是属于哪个类的就可以知道调用到的具体是哪个子类的
// 该MoveTask虚函数了。
//该函数是用来下发运动控制任务的。
if( status == false){
res.set_content(AnalyzeJson::GetInstance().FailedResponseToJson(),"application/json");
res.status = 200;
res.reason = err_msg.err_msg;
return ;
}
res.set_content(AnalyzeJson::GetInstance().SuccessResponseToJson(),"application/json");
res.status = 200;
res.reason = "OK";
{
std::unique_lock<std::mutex> lock(task_timeout_mtx_);
task_timeout_.start = true;
task_timeout_.duration = 0;
task_timeout_.time_cnt = 0;
task_timeout_.ocur_timeout = false;
}
}
void NetWorkInterface::SetRobotMoveBase(const httplib::Request& req, httplib::Response& res){
if(JudgeRobotKeyStatus(req,res) == false){
return ;
}