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apoloPort.cpp
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#include "apoloPort.h"
#include "apoloMessage.h"
#define TAM_APOLO_BUFFER 90000
ApoloPort::ApoloPort(int port,vector<SimulatedWorld*>*listWorlds)
{
world=listWorlds;
sock=new Socket();
sock->initServer(port);
Thid.Start(&ApoloPort::handleConnections,this,sock);
}
bool ApoloPort::getDependentUltrasonicSensors(PositionableEntity *object, vector<UltrasonicSensor *> &v)
{
ReferenceSystem *location = object->getReferenciableLocation();
int i, n = location->getNumberOfDependents();
UltrasonicSensor *aux;
for (i = 0; i<n; i++) {
aux = dynamic_cast<UltrasonicSensor *>((location->getDependent(i))->getOwner());
if (aux)v.push_back(aux);
}
if (v.size() > 0)return true;
return false;
}
PositionableEntity *ApoloPort::getElement(char *nworld,char *name,int *worldindex)
{
if (name == 0)return 0;
//if nworld=0 busca en todos los mundos
PositionableEntity *elem=0;
*worldindex=-1;
if(nworld==0){
if(name==0)return 0;
for(int i=0; i<world->size();i++){
elem=(*world)[i]->getWorld()->getObjectByName(name);
if(elem){
*worldindex=i;
return elem;
}
}
}
else
{
if(name==0)return 0;
for(int i=0; i<world->size();i++){
if((*world)[i]->getName().compare(nworld)==0)
{
*worldindex=i;
return ((*world)[i]->getWorld()->getObjectByName(name));
}
}
}
//world & element not found
return 0;
}
void *ApoloPort::handleConnections(void *server)
{
Socket *aux_sock= (Socket*) server;
Socket socket=*aux_sock;
PositionableEntity *pos;
RobotSim *robot;
LaserSensorSim *laser;
WheeledBaseSim *wb;
static int valid=0, total=0;
while(1)
{
Socket *temp=socket.acceptConnection();
char buffer[TAM_APOLO_BUFFER];
int size = 0;
while(temp->IsConnected())
{
int lect = 0;
if(0<(lect=temp->Receive(buffer+size, TAM_APOLO_BUFFER -size,-1)))
{
size += lect;
ApoloMessage *m=0;
char *pbuffer=buffer;//recorrepbuffer
while(m=ApoloMessage::getApoloMessage(&pbuffer,size))
{
size -= m->getSize();
total++;
char *nworld=m->getWorld();
char *name=m->getObjectName();
int worldindex=0;
PositionableEntity *element=getElement(nworld,name,&worldindex);
//DISABLES ALL AUTOMATIC SIMULATIONS To avoid concurrents access
//TODO: not stoping the simulation... just avoid the concurrency (disable on timer while procesing a single message)
for (int i = 0; i < world->size(); i++)
(*world)[i]->getChild()->SetPlaySimu(false);
//END OF IT
switch(m->getType())
{
case AP_CHECKJOINTS:
case AP_SETJOINTS:
if(element){
robot=dynamic_cast<RobotSim*>(element);
int numJoints=m->getCharAt(0);
for(int i=0;i<numJoints;i++)
if(robot)robot->setJointValue(i,m->getDoubleAt(1+8*i));
if(m->getType()==AP_CHECKJOINTS){
bool res=false;
if(robot){
res=robot->checkRobotColision();
}
char resp[50];
int tam=ApoloMessage::writeBOOL(resp,res);
temp->Send(resp,tam);
}
valid++;
}
break;
case AP_GETLOCATION:
case AP_GETLOCATION_WB:
if(element){
double d[6];
Vector3D p=element->getRelativePosition();
double o[3];
element->getRelativeOrientation(d[3],d[4],d[5]);
for(int i=0;i<3;i++)d[i]=p[i];
char resp[70];
int tam;
if(m->getType()==AP_GETLOCATION)tam=ApoloMessage::writeDoubleVector(resp,6,d);
else {
d[3]=d[5];
tam=ApoloMessage::writeDoubleVector(resp,4,d);
}
temp->Send(resp,tam);
valid++;
}
break;
case AP_PLACE:
if(element){
double d[6];
for(int i=0;i<6;i++)d[i]=m->getDoubleAt(8*i);
element->setAbsoluteT3D(Transformation3D(d[0],d[1],d[2],d[3],d[4],d[5]));
valid++;
}
break;
case AP_PLACE_WB: //place a wheeled based robot. computes the grounded location and collision
if(element){
wb=dynamic_cast<WheeledBaseSim *>(element);
bool res=false;
double d[4];
for(int i=0;i<4;i++)d[i]=m->getDoubleAt(8*i);
Transformation3D taux(d[0],d[1],d[2],mr::Z_AXIS,d[3]);
if(wb)res=wb->dropWheeledBase(taux);
if(res){
res=!(wb->getWorld()->checkCollisionWith(*wb));
}
char resp[50];
int tam=ApoloMessage::writeBOOL(resp,res);
temp->Send(resp,tam);
valid++;
}
break;
case AP_MOVE_WB:
if(element){
wb=dynamic_cast<WheeledBaseSim *>(element);
double d[3];
for(int i=0;i<3;i++)d[i]=m->getDoubleAt(8*i);
wb->move(d[0],d[1]);
wb->simulate(d[2]);
wb->move(0,0);
bool res = wb->getMoveSuccess();
char resp[50];
int tam = ApoloMessage::writeBOOL(resp, res);
temp->Send(resp, tam);
valid++;
}
break;
case AP_UPDATEWORLD:
if(worldindex>=0){//updates one world
(*world)[worldindex]->getChild()->RefreshChild();
}else //updates all worlds
{
for(int i=0; i<world->size();i++)
(*world)[i]->getChild()->RefreshChild();
}
valid++;
break;
case AP_LINK_TO_ROBOT_TCP:
if(element){
robot=dynamic_cast<RobotSim*>(element);
char *objectname=m->getStringAt(0);
PositionableEntity *target=getElement(nworld,objectname,&worldindex);
if(target&&robot){
target->LinkTo(robot->getTcp());
}
valid++;
}
break;
case AP_GET_LASER_DATA:
if (element) {
laser = dynamic_cast<LaserSensorSim*>(element);
laser->simulate(0);
LaserData data;
laser->getData(data);
int num = (int)data.size();
char *resp = new char[sizeof(double)*num+20];
int tam = ApoloMessage::writeDoubleVector(resp, data.getRanges());
temp->Send(resp, tam);
delete [] resp;
valid++;
}
break;
case AP_GET_LASER_LM:
if (element) {
laser = dynamic_cast<LaserSensorSim*>(element);
vector<LaserSensorSim::LandMarkInfo> v;
laser->simulate(0);
laser->detectLandMarks(v);
int num = (int)v.size();
char *resp = new char[(2*sizeof(double)+2)*num + 20];
int tam = ApoloMessage::writeLandMarkInfoVector(resp, v);
temp->Send(resp, tam);
delete[] resp;
valid++;
}
break;
case AP_GET_WB_ODOMETRY:
if (element) {
wb = dynamic_cast<WheeledBaseSim *>(element);
Transformation2D odom = (wb->getWBodometry()).get();
double dresp[3] = { odom.x,odom.y,odom.theta.getValue() };
char resp[70];
int tam;
tam = ApoloMessage::writeDoubleVector(resp, 3, dresp);
temp->Send(resp, tam);
valid++;
}
break;
case AP_RESET_ODOMETRY:
if (element) {
wb = dynamic_cast<WheeledBaseSim *>(element);
bool res = false;
double d[3];
for (int i = 0; i<3; i++)d[i] = m->getDoubleAt(8 * i);
if (wb) {
(wb->getWBodometry()).reset(wb);
(wb->getWBodometry()).set(d[0], d[1], d[2]);
valid++;
}
}
break;
case AP_GET_USENSOR:
if (element) {
UltrasonicSensor *usensor = dynamic_cast<UltrasonicSensor *>(element);
if (!usensor)break;
usensor->simulate(0);
double measure = usensor->getDistance();
char resp[70];
int tam;
tam = ApoloMessage::writeDoubleVector(resp, 1, &measure);
temp->Send(resp, tam);
valid++;
}
break;
case AP_GET_DEP_USENSORS:
if (element) {
vector<UltrasonicSensor *> v;
if (getDependentUltrasonicSensors(element, v))
{
int n = v.size();
double *vaux = new double[n];
for (int i = 0; i < n; i++) {
v[i]->simulate(0);
vaux[i] = v[i]->getDistance();
}
char *resp=new char[8*n+10];
int tam;
tam = ApoloMessage::writeDoubleVector(resp, n, vaux);
temp->Send(resp, tam);
valid++;
delete[] vaux;
delete[] resp;
}
}
break;
case AP_CHANGE_PORT:
{
int nport = m->getUInt16At(0);
if (nport != socket.GetPort()) {
socket.close();
aux_sock->close();
aux_sock->initServer(nport);
}
}
}
delete m;//aseguro limpieza
}
char messageLog[150];
sprintf(messageLog,"Commands Executed: %d/%d",valid,total);
wxLogStatus(messageLog);
//temp->Send(request,50);
//prepare the buffer with the remaining data
for (int i = 0; i < size; i++)buffer[i] = pbuffer[i];
}
}
temp->close();
delete temp;
}
}