| 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 "NodeData/GNSS/GnssObs.hpp" | ||
| 12 | #include "NodeData/State/PosVelAtt.hpp" | ||
| 13 | #include "internal/Node/Pin.hpp" | ||
| 14 | #include "internal/NodeManager.hpp" | ||
| 15 | namespace nm = NAV::NodeManager; | ||
| 16 | #include "internal/FlowManager.hpp" | ||
| 17 | #include "NodeRegistry.hpp" | ||
| 18 | |||
| 19 | #include "util/Logger.hpp" | ||
| 20 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 21 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 22 | |||
| 23 | #include <cstring> | ||
| 24 | #include <string> | ||
| 25 | #include <vector> | ||
| 26 | |||
| 27 | // ---------------------------------------------------------- Private variabels ------------------------------------------------------------ | ||
| 28 | |||
| 29 | namespace NAV | ||
| 30 | { | ||
| 31 | /// List of supported data identifiers | ||
| 32 | const std::vector<std::string> supportedDataIdentifier{ | ||
| 33 | PosVelAtt::type(), | ||
| 34 | PosVel::type(), | ||
| 35 | Pos::type(), | ||
| 36 | GnssObs::type() | ||
| 37 | }; | ||
| 38 | |||
| 39 | } // namespace NAV | ||
| 40 | |||
| 41 | // ---------------------------------------------------------- Member functions ------------------------------------------------------------- | ||
| 42 | |||
| 43 | 114 | NAV::UdpSend::UdpSend() | |
| 44 |
6/12✓ Branch 1 taken 114 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 114 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 114 times.
✗ Branch 9 not taken.
✓ Branch 13 taken 114 times.
✗ Branch 14 not taken.
✓ Branch 16 taken 114 times.
✗ Branch 17 not taken.
✓ Branch 19 taken 114 times.
✗ Branch 20 not taken.
|
114 | : Node(typeStatic()), _socket(_io_context, boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), 0)), _resolver(_io_context) |
| 45 | { | ||
| 46 | LOG_TRACE("{}: called", name); | ||
| 47 | |||
| 48 | 114 | _hasConfig = true; | |
| 49 | 114 | _guiConfigDefaultWindowSize = { 202, 96 }; | |
| 50 | |||
| 51 |
1/2✓ Branch 2 taken 114 times.
✗ Branch 3 not taken.
|
114 | nm::CreateInputPin(this, "Data", Pin::Type::Flow, supportedDataIdentifier, &UdpSend::receiveData); |
| 52 | 114 | } | |
| 53 | |||
| 54 | 228 | NAV::UdpSend::~UdpSend() | |
| 55 | { | ||
| 56 | LOG_TRACE("{}: called", nameId()); | ||
| 57 | 228 | } | |
| 58 | |||
| 59 | 228 | std::string NAV::UdpSend::typeStatic() | |
| 60 | { | ||
| 61 |
1/2✓ Branch 1 taken 228 times.
✗ Branch 2 not taken.
|
456 | return "UdpSend"; |
| 62 | } | ||
| 63 | |||
| 64 | ✗ | std::string NAV::UdpSend::type() const | |
| 65 | { | ||
| 66 | ✗ | return typeStatic(); | |
| 67 | } | ||
| 68 | |||
| 69 | 114 | std::string NAV::UdpSend::category() | |
| 70 | { | ||
| 71 |
1/2✓ Branch 1 taken 114 times.
✗ Branch 2 not taken.
|
228 | return "Data Link"; |
| 72 | } | ||
| 73 | |||
| 74 | ✗ | void NAV::UdpSend::guiConfig() | |
| 75 | { | ||
| 76 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 77 | ✗ | if (ImGui::InputInt4L(fmt::format("IPv4##{}", size_t(id)).c_str(), _ip.data(), IP_LIMITS[0], IP_LIMITS[1])) | |
| 78 | { | ||
| 79 | ✗ | flow::ApplyChanges(); | |
| 80 | } | ||
| 81 | ✗ | ImGui::SetNextItemWidth(150 * gui::NodeEditorApplication::windowFontRatio()); | |
| 82 | ✗ | if (ImGui::InputIntL(fmt::format("Port##{}", size_t(id)).c_str(), &_port, UdpUtil::PORT_LIMITS[0], UdpUtil::PORT_LIMITS[1])) | |
| 83 | { | ||
| 84 | ✗ | flow::ApplyChanges(); | |
| 85 | } | ||
| 86 | ✗ | } | |
| 87 | |||
| 88 | ✗ | bool NAV::UdpSend::resetNode() | |
| 89 | { | ||
| 90 | ✗ | return true; | |
| 91 | } | ||
| 92 | |||
| 93 | ✗ | json NAV::UdpSend::save() const | |
| 94 | { | ||
| 95 | LOG_TRACE("{}: called", nameId()); | ||
| 96 | |||
| 97 | ✗ | json j; | |
| 98 | |||
| 99 | ✗ | j["ip"] = _ip; | |
| 100 | ✗ | j["port"] = _port; | |
| 101 | |||
| 102 | ✗ | return j; | |
| 103 | ✗ | } | |
| 104 | |||
| 105 | ✗ | void NAV::UdpSend::restore(json const& j) | |
| 106 | { | ||
| 107 | LOG_TRACE("{}: called", nameId()); | ||
| 108 | ✗ | if (j.contains("ip")) | |
| 109 | { | ||
| 110 | ✗ | j.at("ip").get_to(_ip); | |
| 111 | } | ||
| 112 | ✗ | if (j.contains("port")) | |
| 113 | { | ||
| 114 | ✗ | j.at("port").get_to(_port); | |
| 115 | } | ||
| 116 | ✗ | } | |
| 117 | |||
| 118 | ✗ | bool NAV::UdpSend::initialize() | |
| 119 | { | ||
| 120 | LOG_TRACE("{}: called", nameId()); | ||
| 121 | |||
| 122 | ✗ | std::string ipString{}; | |
| 123 | ✗ | for (size_t i = 0; i < 4; i++) | |
| 124 | { | ||
| 125 | ✗ | ipString.append(std::to_string(_ip.at(i))); | |
| 126 | ✗ | i < 3 ? ipString.append(".") : ipString.append(""); | |
| 127 | } | ||
| 128 | |||
| 129 | ✗ | _endpoints = _resolver.resolve(boost::asio::ip::udp::v4(), ipString, std::to_string(_port)); | |
| 130 | |||
| 131 | ✗ | return true; | |
| 132 | ✗ | } | |
| 133 | |||
| 134 | ✗ | void NAV::UdpSend::deinitialize() | |
| 135 | { | ||
| 136 | ✗ | _io_context.stop(); | |
| 137 | |||
| 138 | LOG_TRACE("{}: called", nameId()); | ||
| 139 | ✗ | } | |
| 140 | |||
| 141 | ✗ | void NAV::UdpSend::receiveData(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 142 | { | ||
| 143 | ✗ | auto data = queue.extract_front(); | |
| 144 | |||
| 145 | ✗ | std::vector<char> data2send{}; | |
| 146 | |||
| 147 | // Identify message type | ||
| 148 | ✗ | if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf({ data->getType() }, { PosVelAtt::type() })) | |
| 149 | { | ||
| 150 | ✗ | _msgType = UdpUtil::MessageType::PosVelAtt; | |
| 151 | ✗ | data2send.resize(UdpUtil::Size::TOTAL_POSVELATT); | |
| 152 | ✗ | setMsgTypeAndTime(data2send, data->insTime); | |
| 153 | } | ||
| 154 | ✗ | else if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf({ data->getType() }, { PosVel::type() })) | |
| 155 | { | ||
| 156 | ✗ | _msgType = UdpUtil::MessageType::PosVel; | |
| 157 | ✗ | data2send.resize(UdpUtil::Size::TOTAL_POSVEL); | |
| 158 | ✗ | setMsgTypeAndTime(data2send, data->insTime); | |
| 159 | } | ||
| 160 | ✗ | else if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf({ data->getType() }, { Pos::type() })) | |
| 161 | { | ||
| 162 | ✗ | _msgType = UdpUtil::MessageType::Pos; | |
| 163 | ✗ | data2send.resize(UdpUtil::Size::TOTAL_POS); | |
| 164 | ✗ | setMsgTypeAndTime(data2send, data->insTime); | |
| 165 | } | ||
| 166 | ✗ | else if (NAV::NodeRegistry::NodeDataTypeAnyIsChildOf({ data->getType() }, { GnssObs::type() })) | |
| 167 | { | ||
| 168 | ✗ | _msgType = UdpUtil::MessageType::GnssObs; | |
| 169 | } | ||
| 170 | |||
| 171 | // Copy data | ||
| 172 | ✗ | if (_msgType == UdpUtil::MessageType::Pos) | |
| 173 | { | ||
| 174 | ✗ | auto pos = std::static_pointer_cast<const Pos>(data); | |
| 175 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::POS, pos->lla_position().data(), UdpUtil::Size::POS); | |
| 176 | ✗ | } | |
| 177 | ✗ | else if (_msgType == UdpUtil::MessageType::PosVel) | |
| 178 | { | ||
| 179 | ✗ | auto posVel = std::static_pointer_cast<const PosVel>(data); | |
| 180 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::POS, posVel->lla_position().data(), UdpUtil::Size::POS); | |
| 181 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::VEL, posVel->n_velocity().data(), UdpUtil::Size::VEL); | |
| 182 | ✗ | } | |
| 183 | ✗ | else if (_msgType == UdpUtil::MessageType::PosVelAtt) | |
| 184 | { | ||
| 185 | ✗ | auto posVelAtt = std::static_pointer_cast<const PosVelAtt>(data); | |
| 186 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::POS, posVelAtt->lla_position().data(), UdpUtil::Size::POS); | |
| 187 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::VEL, posVelAtt->n_velocity().data(), UdpUtil::Size::VEL); | |
| 188 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::QUAT, &posVelAtt->n_Quat_b().x(), UdpUtil::Size::QUAT); | |
| 189 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::QUAT + UdpUtil::Size::QUAT, &posVelAtt->n_Quat_b().y(), UdpUtil::Size::QUAT); | |
| 190 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::QUAT + 2 * UdpUtil::Size::QUAT, &posVelAtt->n_Quat_b().z(), UdpUtil::Size::QUAT); | |
| 191 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::QUAT + 3 * UdpUtil::Size::QUAT, &posVelAtt->n_Quat_b().w(), UdpUtil::Size::QUAT); | |
| 192 | ✗ | } | |
| 193 | ✗ | else if (_msgType == UdpUtil::MessageType::GnssObs) | |
| 194 | { | ||
| 195 | ✗ | auto gnssObs = std::static_pointer_cast<const GnssObs>(data); | |
| 196 | ✗ | const size_t sizeGnssData = UdpUtil::Size::SINGLE_OBSERVATION_DATA * gnssObs->data.size(); | |
| 197 | |||
| 198 | ✗ | auto sizeTotal = sizeGnssData + UdpUtil::Size::MSGTYPE + UdpUtil::Size::GPSCYCLE + UdpUtil::Size::GPSWEEK + UdpUtil::Size::GPSTOW + UdpUtil::Size::SIZE; | |
| 199 | ✗ | if (sizeTotal > UdpUtil::MAXIMUM_BYTES) | |
| 200 | { | ||
| 201 | ✗ | LOG_ERROR("{}: gnssObs msg is bigger than the maximum size of a single UDP package: {} bytes.", nameId(), sizeTotal); | |
| 202 | } | ||
| 203 | |||
| 204 | ✗ | data2send.resize(sizeTotal); | |
| 205 | |||
| 206 | ✗ | setMsgTypeAndTime(data2send, data->insTime); | |
| 207 | |||
| 208 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::SIZE, &sizeGnssData, UdpUtil::Size::SIZE); | |
| 209 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::GNSSDATA, gnssObs->data.data(), sizeGnssData); | |
| 210 | ✗ | } | |
| 211 | ✗ | _socket.send_to(boost::asio::buffer(data2send), *_endpoints.begin()); | |
| 212 | ✗ | } | |
| 213 | |||
| 214 | ✗ | void NAV::UdpSend::setMsgTypeAndTime(std::vector<char>& data2send, const InsTime& insTime) | |
| 215 | { | ||
| 216 | ✗ | auto gpsCycle = insTime.toGPSweekTow().gpsCycle; | |
| 217 | ✗ | auto gpsWeek = insTime.toGPSweekTow().gpsWeek; | |
| 218 | ✗ | auto gpsTow = static_cast<double>(insTime.toGPSweekTow().tow); | |
| 219 | |||
| 220 | ✗ | std::memcpy(data2send.data(), &_msgType, UdpUtil::Size::MSGTYPE); | |
| 221 | |||
| 222 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::GPSCYCLE, &gpsCycle, UdpUtil::Size::GPSCYCLE); | |
| 223 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::GPSWEEK, &gpsWeek, UdpUtil::Size::GPSWEEK); | |
| 224 | ✗ | std::memcpy(data2send.data() + UdpUtil::Offset::GPSTOW, &gpsTow, UdpUtil::Size::GPSTOW); | |
| 225 | ✗ | } | |
| 226 |