JetServer/JetServer.cpp at master · Talos4757/JetServer · GitHub

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#include "JetServer.h"

#define ARRAY_SIZE(array) (sizeof(array)/sizeof(array[0])) //please note that this will not work on dynamically allocated arrays


//Static members declaration
volatile bool JetServer::IsConnected = false;
volatile bool JetServer::Initing = false;
volatile bool JetServer::initErrorFlag = false;
pthread_t  JetServer::InitThread = NULL;

int JetServer::JetsonSocket = 0;
int JetServer::acp_socket = 0;


void *JetServer::DoStart(void *args)
{
    if (IsConnected)
    {
        Initing = false;
        initErrorFlag = false;
    }
    else
    {
        JetsonSocket = socket(AF_INET, SOCK_STREAM, TCP_SOCKET);
        if (JetsonSocket < 0)
        {
            Initing = false;
            initErrorFlag = true;
        }
        else
        {
            struct sockaddr_in sa;
            sa.sin_family = AF_INET;
            sa.sin_port = htons(JPORT);
            sa.sin_addr.s_addr = INADDR_ANY;

            if (bind(JetsonSocket, (struct sockaddr *)&sa, sizeof(sa)) != 0)
            {
                //failure if not 0
                Initing = false;
                initErrorFlag = true;
            }
            else
            {
                if (listen(JetsonSocket, 6) < 0)
                {
                    Initing = false;
                    initErrorFlag = true;
                }
                else
                {
                    struct sockaddr sar;
                    socklen_t st;

                    SmartDashboard::PutString("JetServer Connection Status", "Connecting...");

                    acp_socket = accept(JetsonSocket, &sar, &st);

                    SmartDashboard::PutString("JetServer Connection Status", "Connected");

                    IsConnected = true;
                    Initing = false;
                    initErrorFlag = false;
                }
            }
        }
    }

    SmartDashboard::PutBoolean("JetServer Error Flag", initErrorFlag);
}

void JetServer::Init()
{
    if (!Initing && !initErrorFlag)
    {
    	pthread_create(&InitThread, NULL, DoStart , NULL);
    }
    else
    {
        SmartDashboard::PutBoolean("JetServer Error Flag", initErrorFlag);
    }
}


vector<Target*> JetServer::QueryJetson()
{
    vector<Target *> targets;
    if (!IsConnected)
    {
        return targets;
    }

    char buffer[sizeof(int)];
    char targetbuffer[TARGETSIZE];

    recv(acp_socket, buffer, 4, 0);
    int UpcomingTargets = *(int *)buffer;

    for (int i = 0; i < UpcomingTargets; i++)
    {
        if (recv(acp_socket, targetbuffer, TARGETSIZE, 0) == -1)
        {
            IsConnected = false;
            SmartDashboard::PutString("JetServer Connection Status", "Disconnected");
            return targets;
        }

        targets.push_back(Deserialize(targetbuffer));
    }

    return targets;
}

Target *JetServer::Deserialize(char encoded[])
{
    if (ARRAY_SIZE(encoded) == TARGETSIZE)
    {
        Target *target = new Target();

        target->type = *(TargetType *)encoded;
        target->distance = *(double *)(&encoded[sizeof(int)]);
        target->h_angle = *(double *)(&encoded[sizeof(double) + sizeof(int)]);
        target->v_angle = *(double *)(&encoded[2 * sizeof(double) + sizeof(int)]);

        return target;
    }
    else
    {
        return NULL;
    }
}