1 files changed, 127 insertions, 0 deletions

diff --git a/udp2lcm/udp.c b/udp2lcm/udp.c
new file mode 100644
index 0000000..6c4bd4a
--- /dev/null
+++ b/udp2lcm/udp.c
@@ -0,0 +1,127 @@
+#include "udp2lcm.h"
+
+void udpRecvHandler() {
+    int socketfd = -1;
+    char buffer[MAX_BUFFER_SIZE];
+    struct sockaddr_in serverAddr;
+    socklen_t addrLen = sizeof(serverAddr);
+    int bytesReceived;
+
+    int retval;
+    struct pollfd fds;
+
+    printf("udpRecvHandler\n");
+    if ((socketfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    memset(buffer, 0, sizeof(buffer));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(PORT);
+    serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    if (bind(socketfd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
+        -1) {
+        fprintf(stderr, "Error: Bind failed\n");
+        close(socketfd);
+        return;
+    }
+
+    bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
+                             (struct sockaddr *)&clientAddr, &addrLen);
+    if (bytesReceived == -1) {
+        fprintf(stderr, "Error: Failed to receive data\n");
+        close(socketfd);
+        return;
+    }
+    printf("Start message from %s: %s\n", inet_ntoa(clientAddr.sin_addr),
+           buffer);
+    strcpy(clientIP, inet_ntoa(clientAddr.sin_addr));
+
+    /*
+     * 接收到来自手机端的第一条消息之后：
+     * - 启动udpSend线程，用于向手机端发送心跳信息
+     * - 通过ROBOT_COMTROL信道向算法模块发送建图开始消息
+     *   - 7号命令初始坐标、初始角度、雷达扫描最大范围、机器人半径、机器人高
+     *   - 30号命令开始建图，参数为单个像素点大小
+     */
+    if (pthread_create(&udpSend, NULL, udpSendHandler, NULL) != 0) {
+        fprintf(stderr, "Error creating udpSend thread\n");
+        close(socketfd);
+        exit(-1);
+    }
+
+    robot_control_t robotCtrlData;
+    robotCtrlInit(&robotCtrlData, 0, 7, 0, 7, 1, 0, 0);
+    robotCtrlData.iparams[0] = 1;
+    robot_control_t_publish(lcm, "ROBOT_CONTROL", &robotCtrlData);
+    freeRobotCtrl(&robotCtrlData);
+    // 随即下达30号命令，开始建图
+    robotCtrlInit(&robotCtrlData, 0, 30, 0, 1, 1, 0, 0);
+    robotCtrlData.dparams[0] = 0.05;
+    robotCtrlData.niparams = 1;
+    robotCtrlData.iparams[0] = 1;
+    robot_control_t_publish(lcm, "ROBOT_CONTROL", &robotCtrlData);
+    freeRobotCtrl(&robotCtrlData);
+
+    /*
+     * 开始接收来自手机端的命令
+     * 限定时间为3s，超过3s未收到消息则停止轮子
+     * 但不退出循环，防止是网络抖动
+     */
+    const path_ctrl_t path = {0, 0}; // 就是停止命令，不能改
+    fds.fd = socketfd;
+    fds.events = POLLIN;
+    while (true) {
+        retval = poll(&fds, 1, 3000);
+        if (retval == -1) {
+            fprintf(stderr, "Error: select failed\n");
+            break;
+        } else if (retval == 0) {
+            // 超出3s，报错并停止前进
+            fprintf(stderr, "No data within three seconds.\n");
+            path_ctrl_t_publish(lcm, "wheel_ctrl", &path);
+        } else {
+            bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
+                                     (struct sockaddr *)&clientAddr, &addrLen);
+            if (bytesReceived == -1) {
+                fprintf(stderr, "Error: Failed to receive data\n");
+                continue;
+            }
+            printf("Massage from client %s: ", clientIP);
+            for (int i = 0; i < bytesReceived; i++) {
+                printf("%02x ", buffer[i]);
+            }
+            printf("\n");
+            parseCmd(buffer, bytesReceived);
+        }
+    }
+}
+
+void udpSendHandler() {
+    // 创建UDP套接字
+    int sockfd = -1;
+    struct sockaddr_in serverAddr;
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;   // 设置地址族为IPv4
+    serverAddr.sin_port = htons(PORT); // 设置端口号
+    if (inet_aton(clientIP, &serverAddr.sin_addr) == 0) {
+        fprintf(stderr, "Error: Failed to convert IP address\n");
+        close(sockfd);
+        return;
+    }
+
+    while (true) {
+        pthread_mutex_lock(&heartBeatMutex);
+        sendto(sockfd, (const char *)heartBeat, 9, 0,
+               (struct sockaddr *)&serverAddr, sizeof(serverAddr));
+        pthread_mutex_unlock(&heartBeatMutex);
+        sleep(1);
+    }
+}
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