1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
|
#include "udp2lcm.h"
void *udpRecvHandler(void *args) {
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 NULL;
}
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 NULL;
}
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 NULL;
}
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(void *args) {
// 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 NULL;
}
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 NULL;
}
while (true) {
pthread_mutex_lock(&heartBeatMutex);
sendto(sockfd, (const char *)heartBeat, 9, 0,
(struct sockaddr *)&serverAddr, sizeof(serverAddr));
pthread_mutex_unlock(&heartBeatMutex);
sleep(1);
}
}
|
