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lautcprosportwidget.cpp
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lautcprosportwidget.cpp
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#include "lautcprosportwidget.h"
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
LAUTCPROSPortServer::LAUTCPROSPortServer(int num, QString tpc, QObject *parent) : QObject(parent)
{
// DROP IN DEFAULT PORT NUMBER IF USER SUPPLIED VALUE IS NEGATIVE
if (num < 0) {
num = LAUTCPROSPORTSERVERPORTNUMER;
}
#ifdef LAU_ROS
if (tpc.isEmpty()) {
// GET A LIST OF ALL POSSIBLE ROS TOPICS CURRENTLY AVAILABLE
ros::master::V_TopicInfo topics;
if (ros::master::getTopics(topics)) {
for (unsigned int n = 0; n < topics.size(); n++) {
ports << new LAUTCPROSPort(QString::fromStdString(topics.at(n).name), QString::fromStdString(topics.at(n).datatype), num + n);
}
}
} else {
// GET A LIST OF ALL POSSIBLE ROS TOPICS CURRENTLY AVAILABLE
ros::master::V_TopicInfo topics;
if (ros::master::getTopics(topics)) {
for (unsigned int n = 0; n < topics.size(); n++) {
if (QString::fromStdString(topics.at(n).name) == tpc) {
ports << new LAUTCPROSPort(QString::fromStdString(topics.at(n).name), QString::fromStdString(topics.at(n).datatype), num + n);
}
}
}
}
#endif
// START THE TIMER TO CHECK FOR ROS EVENTS
if (ports.isEmpty() == false) {
startTimer(100);
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
LAUTCPROSPortServer::~LAUTCPROSPortServer()
{
while (ports.count() > 0) {
delete ports.takeFirst();
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
LAUTCPROSPort::LAUTCPROSPort(QString tpc, QString dType, int prtNmbr, QObject *parent) : QTcpServer(parent), connected(false), portNumber(prtNmbr), socket(NULL), zeroConf(NULL), topicString(tpc)
{
qDebug() << tpc << dType;
#ifdef LAU_ROS
// SET THE SERIAL PORT SETTINGS
if (node.ok()) {
subscriber = node.subscribe(topicString.toStdString(), 1000, &LAUTCPROSPort::callback, this);
} else {
qDebug() << "ERROR: Node not ok.";
}
#endif
// CREATE A ZERO CONF INSTANCE AND ADVERTISE THE SERIAL PORT
zeroConf = new QZeroConf();
connect(zeroConf, SIGNAL(error(QZeroConf::error_t)), this, SLOT(onServiceError(QZeroConf::error_t)));
connect(zeroConf, SIGNAL(servicePublished()), this, SLOT(onServicePublished()));
zeroConf->startServicePublish(topicString.toUtf8(), LAUTCPROSPORTSERVERIDSTRING, "local", portNumber);
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
LAUTCPROSPort::~LAUTCPROSPort()
{
// CLOSE THE TCP SOCKET
if (socket) {
delete socket;
}
// DELETE THE ZERO CONF INSTANCE
if (zeroConf) {
delete zeroConf;
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::incomingConnection(qintptr handle)
{
// SET THE CONNECTED FLAG HIGH
connected = true;
// CALL THE BASE CLASS TO USE ITS DEFAULT METHOD
QTcpServer::incomingConnection(handle);
// NOW LET'S CREATE THE SOCKET FOR MESSAGE HANDLING TO THE TRACKER
socket = this->nextPendingConnection();
connect(socket, SIGNAL(readyRead()), this, SLOT(onReadyReadTCP()));
connect(socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(onTcpError(QAbstractSocket::SocketError)));
connect(socket, SIGNAL(disconnected()), this, SLOT(onDisconnected()));
QHostAddress hostAddress = socket->peerAddress();
clientIPAddress = hostAddress.toString();
qDebug() << "LAU3DVideoTCPServer :: Accepting incoming connection from " << clientIPAddress;
// STOP LISTENING FOR NEW CONNECTIONS
this->close();
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onReadyReadTCP()
{
// READ THE CURRENTLY AVAILABLE BYTES FROM THE PORT
QByteArray byteArray = socket->readAll();
if (byteArray.isEmpty() == false) {
qDebug() << "LAUTCPROSPort" << byteArray;
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onReadyReadROS()
{
// READ THE CURRENTLY AVAILABLE BYTES FROM THE PORT
QByteArray byteArray;
if (byteArray.isEmpty() == false) {
// SEND THE BYTES TO THE TCP CLIENT
socket->write(byteArray);
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onDisconnected()
{
// DELETE SOCKET TO CLOSE CONNECTION
if (socket) {
socket->deleteLater();
socket = NULL;
}
connected = false;
// START LISTENING FOR A NEW CONNECTION
if (!this->isListening()) {
if (!this->listen(QHostAddress::Any, portNumber)) {
qDebug() << "LAUTCPROSPort :: Error trying to listen for incoming connections!";
}
}
qDebug() << "LAUTCPROSPort :: Closing connection from " << clientIPAddress;
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onServicePublished()
{
if (!this->listen(QHostAddress::Any, portNumber)) {
qDebug() << "LAUTCPROSPort ::" << topicString << ":: Error trying to listen for incoming connections!";
} else {
qDebug() << "LAUTCPROSPort ::" << topicString << ":: Listening for new connections!";
}
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onServiceError(QZeroConf::error_t error)
{
#ifdef LAU_CLIENT
switch (error) {
case QZeroConf::noError:
break;
case QZeroConf::serviceRegistrationFailed:
QMessageBox::warning(NULL, topicString, QString("Zero Conf Server Error: Registration failed!"), QMessageBox::Ok);
break;
case QZeroConf::serviceNameCollision:
QMessageBox::warning(NULL, topicString, QString("Zero Conf Server Error: Name collision!"), QMessageBox::Ok);
break;
case QZeroConf::browserFailed:
QMessageBox::warning(NULL, topicString, QString("Zero Conf Server Error: Browser failed!"), QMessageBox::Ok);
break;
}
#else
Q_UNUSED(error);
#endif
}
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::onTcpError(QAbstractSocket::SocketError error)
{
switch (error) {
case QAbstractSocket::RemoteHostClosedError:
qDebug() << "LAU3DVideoTCPServer :: Remote host closed error!";
break;
case QAbstractSocket::HostNotFoundError:
qDebug() << "LAU3DVideoTCPServer :: Host not found error!";
break;
case QAbstractSocket::ConnectionRefusedError:
qDebug() << "LAU3DVideoTCPServer :: Connection refused error!";
break;
default:
qDebug() << "LAU3DVideoTCPClient :: Default error!";
}
}
#ifdef LAU_ROS
/******************************************************************************/
/******************************************************************************/
/******************************************************************************/
void LAUTCPROSPort::callback(const nav_msgs::Odometry::ConstPtr &msg)
{
if (isConnected()) {
double buffer[7];
buffer[0] = msg->pose.pose.orientation.w;
buffer[1] = msg->pose.pose.orientation.x;
buffer[2] = msg->pose.pose.orientation.y;
buffer[3] = msg->pose.pose.orientation.z;
buffer[4] = msg->pose.pose.position.x;
buffer[5] = msg->pose.pose.position.y;
buffer[6] = msg->pose.pose.position.z;
socket->write((char *)&buffer[0], sizeof(double) * 7);
}
}
#endif