| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "udpSend.hpp" | ||
| 10 | |||
| 11 | #include "internal/NodeManager.hpp" | ||
| 12 | namespace nm = NAV::NodeManager; | ||
| 13 | #include "internal/FlowManager.hpp" | ||
| 14 | |||
| 15 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 16 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 17 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 18 | |||
| 19 | #include "util/Logger.hpp" | ||
| 20 | |||
| 21 | 112 | NAV::UdpSend::UdpSend() | |
| 22 |
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112 | : Node(typeStatic()), _socket(_io_context, boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), 0)), _resolver(_io_context) |
| 23 | { | ||
| 24 | LOG_TRACE("{}: called", name); | ||
| 25 | |||
| 26 | 112 | _hasConfig = true; | |
| 27 | 112 | _guiConfigDefaultWindowSize = { 202, 96 }; | |
| 28 | |||
| 29 |
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336 | nm::CreateInputPin(this, "PosVelAtt", Pin::Type::Flow, { NAV::PosVelAtt::type() }, &UdpSend::receivePosVelAtt); |
| 30 | 224 | } | |
| 31 | |||
| 32 | 224 | NAV::UdpSend::~UdpSend() | |
| 33 | { | ||
| 34 | LOG_TRACE("{}: called", nameId()); | ||
| 35 | 224 | } | |
| 36 | |||
| 37 | 224 | std::string NAV::UdpSend::typeStatic() | |
| 38 | { | ||
| 39 |
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448 | return "UdpSend"; |
| 40 | } | ||
| 41 | |||
| 42 | ✗ | std::string NAV::UdpSend::type() const | |
| 43 | { | ||
| 44 | ✗ | return typeStatic(); | |
| 45 | } | ||
| 46 | |||
| 47 | 112 | std::string NAV::UdpSend::category() | |
| 48 | { | ||
| 49 |
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224 | return "Data Link"; |
| 50 | } | ||
| 51 | |||
| 52 | ✗ | void NAV::UdpSend::guiConfig() | |
| 53 | { | ||
| 54 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 55 | ✗ | if (ImGui::InputInt4L(fmt::format("IPv4##{}", size_t(id)).c_str(), _ip.data(), IP_LIMITS[0], IP_LIMITS[1])) | |
| 56 | { | ||
| 57 | ✗ | flow::ApplyChanges(); | |
| 58 | } | ||
| 59 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 60 | ✗ | if (ImGui::InputIntL(fmt::format("Port##{}", size_t(id)).c_str(), &_port, PORT_LIMITS[0], PORT_LIMITS[1])) | |
| 61 | { | ||
| 62 | ✗ | flow::ApplyChanges(); | |
| 63 | } | ||
| 64 | ✗ | } | |
| 65 | |||
| 66 | ✗ | bool NAV::UdpSend::resetNode() | |
| 67 | { | ||
| 68 | ✗ | return true; | |
| 69 | } | ||
| 70 | |||
| 71 | ✗ | json NAV::UdpSend::save() const | |
| 72 | { | ||
| 73 | LOG_TRACE("{}: called", nameId()); | ||
| 74 | |||
| 75 | ✗ | json j; | |
| 76 | |||
| 77 | ✗ | j["ip"] = _ip; | |
| 78 | ✗ | j["port"] = _port; | |
| 79 | |||
| 80 | ✗ | return j; | |
| 81 | ✗ | } | |
| 82 | |||
| 83 | ✗ | void NAV::UdpSend::restore(json const& j) | |
| 84 | { | ||
| 85 | LOG_TRACE("{}: called", nameId()); | ||
| 86 | ✗ | if (j.contains("ip")) | |
| 87 | { | ||
| 88 | ✗ | j.at("ip").get_to(_ip); | |
| 89 | } | ||
| 90 | ✗ | if (j.contains("port")) | |
| 91 | { | ||
| 92 | ✗ | j.at("port").get_to(_port); | |
| 93 | } | ||
| 94 | ✗ | } | |
| 95 | |||
| 96 | ✗ | bool NAV::UdpSend::initialize() | |
| 97 | { | ||
| 98 | LOG_TRACE("{}: called", nameId()); | ||
| 99 | |||
| 100 | ✗ | std::string ipString{}; | |
| 101 | ✗ | for (size_t i = 0; i < 4; i++) | |
| 102 | { | ||
| 103 | ✗ | ipString.append(std::to_string(_ip.at(i))); | |
| 104 | ✗ | i < 3 ? ipString.append(".") : ipString.append(""); | |
| 105 | } | ||
| 106 | |||
| 107 | ✗ | _endpoints = _resolver.resolve(boost::asio::ip::udp::v4(), ipString, std::to_string(_port)); | |
| 108 | |||
| 109 | ✗ | return true; | |
| 110 | ✗ | } | |
| 111 | |||
| 112 | ✗ | void NAV::UdpSend::deinitialize() | |
| 113 | { | ||
| 114 | ✗ | _io_context.stop(); | |
| 115 | |||
| 116 | LOG_TRACE("{}: called", nameId()); | ||
| 117 | ✗ | } | |
| 118 | |||
| 119 | ✗ | void NAV::UdpSend::receivePosVelAtt(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 120 | { | ||
| 121 | ✗ | auto posVelAtt = std::make_shared<PosVelAtt>(*std::static_pointer_cast<const PosVelAtt>(queue.extract_front())); | |
| 122 | |||
| 123 | ✗ | Eigen::Vector3d posLLA = posVelAtt->lla_position(); | |
| 124 | ✗ | Eigen::Vector3d vel_n = posVelAtt->n_velocity(); | |
| 125 | ✗ | Eigen::Vector4d n_Quat_b = { posVelAtt->n_Quat_b().x(), posVelAtt->n_Quat_b().y(), posVelAtt->n_Quat_b().z(), posVelAtt->n_Quat_b().w() }; | |
| 126 | ✗ | auto timeStamp = posVelAtt->insTime.toGPSweekTow(); | |
| 127 | ✗ | auto gpsC = timeStamp.gpsCycle; | |
| 128 | ✗ | auto gpsW = timeStamp.gpsWeek; | |
| 129 | ✗ | auto gpsT = timeStamp.tow; | |
| 130 | |||
| 131 | ✗ | std::vector<double> udp_posVelAtt{ posLLA(0), posLLA(1), posLLA(2), vel_n(0), vel_n(1), vel_n(2), n_Quat_b(0), n_Quat_b(1), n_Quat_b(2), n_Quat_b(3), static_cast<double>(gpsC), static_cast<double>(gpsW), static_cast<double>(gpsT) }; | |
| 132 | |||
| 133 | ✗ | _socket.send_to(boost::asio::buffer(udp_posVelAtt), *_endpoints.begin()); | |
| 134 | ✗ | } | |
| 135 |