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adding a TPC client and server

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This commit is contained in:
Carles Fernandez 2015-12-15 15:04:58 +01:00
parent 49523f7f9d
commit cf75c669c8
3 changed files with 350 additions and 0 deletions
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82
src/core/system_parameters/rtcm.cc
View File

@ -33,6 +33,7 @@
#include <cmath> // for std::fmod
#include <cstdlib> // for strtol
#include <sstream> // for std::stringstream
#include <thread>
#include <boost/algorithm/string.hpp> // for to_upper_copy
#include <boost/dynamic_bitset.hpp>
#include <gflags/gflags.h>
@ -41,7 +42,11 @@
using google::LogMessage;
DEFINE_int32(RTCM_Ref_Station_ID, 1234, "Reference Station ID in RTCM messages");
DEFINE_int32(RTCM_Port, 2101 , "TCP port of the RTCM message server");
// 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA)
// https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
DEFINE_string(Remote_RTCM_Server, "localhost", "Remote RTCM server address");
Rtcm::Rtcm()
@ -49,9 +54,86 @@ Rtcm::Rtcm()
Rtcm::reset_data_fields();
preamble = std::bitset<8>("11010011");
reserved_field = std::bitset<6>("000000");
rtcm_message_queue = std::make_shared< concurrent_queue<std::string> >();
// for each server, do:
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), FLAGS_RTCM_Port);
servers.emplace_back(io_service, endpoint, rtcm_message_queue);
server_is_running = false;
}
Rtcm::~Rtcm()
{}
// *****************************************************************************************************
//
// TCP Server / Client functions
//
// *****************************************************************************************************
void Rtcm::run_server()
{
std::cout << "Starting a TCP Server on port " << FLAGS_RTCM_Port << std::endl;
try
{
std::thread t([&]{ io_service.run(); });
server_is_running = true;
t.detach();
}
catch (std::exception& e)
{
std::cerr << "Exception: " << e.what() << "\n";
}
}
void Rtcm::stop_service()
{
io_service.stop();
}
void Rtcm::stop_server()
{
std::cout << "Stopping TCP Server on port " << FLAGS_RTCM_Port << std::endl;
Rtcm::stop_service();
server_is_running = false;
}
void Rtcm::run_client()
{
std::cout << "Starting a TCP Client on port " << FLAGS_RTCM_Port << std::endl;
std::string remote_host = FLAGS_Remote_RTCM_Server;
std::string remote_port = std::to_string(FLAGS_RTCM_Port);
boost::asio::ip::tcp::resolver resolver(io_service);
auto endpoint_iterator = resolver.resolve({ remote_host.c_str(), remote_port.c_str() });
clients.emplace_back(io_service, endpoint_iterator);
try
{
std::thread t([&](){ io_service.run(); });
t.detach();
}
catch (std::exception& e)
{
std::cerr << "Exception: " << e.what() << "\n";
}
}
void Rtcm::stop_client()
{
std::cout << "Stopping TCP Client on port " << FLAGS_RTCM_Port << std::endl;
Rtcm::stop_service();
}
void Rtcm::send_message(const std::string & msg)
{
rtcm_message_queue->push(msg);
}
// *****************************************************************************************************

231
src/core/system_parameters/rtcm.h
View File

@ -34,12 +34,18 @@
#include <bitset>
#include <deque>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include <boost/asio.hpp>
#include <boost/crc.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include "concurrent_queue.h"
#include "gnss_synchro.h"
#include "galileo_fnav_message.h"
#include "gps_navigation_message.h"
@ -79,6 +85,7 @@ class Rtcm
{
public:
Rtcm(); //<! Default constructor
~Rtcm();
/*!
* \brief Prints message type 1001 (L1-Only GPS RTK Observables)
@ -261,6 +268,14 @@ public:
bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
void run_server();
void stop_server();
void run_client();
void stop_client();
void send_message(const std::string & message);
private:
//
// Generation of messages content
@ -324,6 +339,222 @@ private:
unsigned int msm_lock_time_indicator(unsigned int lock_time_period_s);
unsigned int msm_extended_lock_time_indicator(unsigned int lock_time_period_s);
//
// Classes for TCP communication
//
class Message_buffer
{
public:
// Construct from a std::string.
explicit Message_buffer(const std::string& data)
: data_(new std::vector<char>(data.begin(), data.end())),
buffer_(boost::asio::buffer(*data_))
{
}
// Implement the ConstBufferSequence requirements.
typedef boost::asio::const_buffer value_type;
typedef const boost::asio::const_buffer* const_iterator;
const boost::asio::const_buffer* begin() const { return &buffer_; }
const boost::asio::const_buffer* end() const { return &buffer_ + 1; }
private:
std::shared_ptr<std::vector<char> > data_;
boost::asio::const_buffer buffer_;
};
class Rtcm_listener
{
public:
virtual ~Rtcm_listener() {}
virtual void deliver(const Message_buffer & msg) = 0;
};
class Rtcm_session
: public Rtcm_listener,
public std::enable_shared_from_this<Rtcm_session>
{
public:
Rtcm_session(boost::asio::ip::tcp::socket socket, std::shared_ptr< concurrent_queue<std::string> > & queue) : socket_(std::move(socket)) , queue_(queue) { }
void start()
{
std::cout << "Starting a session: " << std::endl;
listeners_.insert(shared_from_this());
do_send_messages();
}
void deliver(const Message_buffer & msg)
{
bool write_in_progress = !write_msgs_.empty();
std::cout << "Pushing a message " << std::endl;
write_msgs_.push_back(msg);
if (!write_in_progress)
{
do_write();
}
}
private:
void do_send_messages()
{
std::string message;
queue_->wait_and_pop(message);
Message_buffer buffer_out(message);
for (auto listener: listeners_)
{
listener->deliver(buffer_out);
}
do_send_messages();
}
void do_write()
{
auto self(shared_from_this());
boost::asio::async_write(socket_, write_msgs_.front(), [this, self](boost::system::error_code ec, std::size_t /*length*/)
{
if(!ec)
{
std::cout << "RTCM message sent." << std::endl;
write_msgs_.pop_front();
if(!write_msgs_.empty())
{
do_write();
}
}
else
{
std::cout << "Erasing listener" << std::endl;
listeners_.erase(shared_from_this());
}
});
}
boost::asio::ip::tcp::socket socket_;
std::shared_ptr< concurrent_queue<std::string> > & queue_;
std::string read_msg_;
std::deque<Message_buffer> write_msgs_;
std::set< std::shared_ptr<Rtcm_listener> > listeners_;
};
class Tcp_server
{
public:
Tcp_server(boost::asio::io_service& io_service, const boost::asio::ip::tcp::endpoint& endpoint, std::shared_ptr< concurrent_queue<std::string> > & queue)
: acceptor_(io_service), queue_(queue),
socket_(io_service)
{
acceptor_.open(endpoint.protocol());
acceptor_.set_option(boost::asio::ip::tcp::acceptor::reuse_address(true));
acceptor_.bind(endpoint);
acceptor_.listen();
do_accept();
}
private:
void do_accept()
{
acceptor_.async_accept(socket_, [this](boost::system::error_code ec)
{
if (!ec)
{
std::cout << "Starting RTCM TCP server session..." << std::endl;
std::thread session([&]{ std::make_shared<Rtcm_session>(std::move(socket_), queue_)->start(); });
session.detach();
std::cout << "Accepting new connections " << std::endl;
}
else
{
std::cout << "Error starting a new session: " << ec << std::endl;
}
do_accept();
});
}
boost::asio::ip::tcp::acceptor acceptor_;
boost::asio::ip::tcp::socket socket_;
std::shared_ptr< concurrent_queue<std::string> > & queue_;
};
class Tcp_client
{
public:
Tcp_client(boost::asio::io_service& io_service,
boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
: io_service_(io_service),
socket_(io_service)
{
do_connect(endpoint_iterator);
}
void close()
{
io_service_.post([this]() { socket_.close(); });
}
private:
void do_connect(boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
{
std::cout << "Connecting to server..." << std::endl;
boost::asio::async_connect(socket_, endpoint_iterator,
[this](boost::system::error_code ec, boost::asio::ip::tcp::resolver::iterator)
{
if (!ec)
{
std::cout << "Connected." << std::endl;
do_read_message();
}
else
{
std::cout << "Server is down." << std::endl;
}
});
}
void do_read_message()
{
// Waiting for data and reading forever, until connection is closed.
for(;;)
{
std::array<char, 10> buf;
boost::system::error_code error;
size_t len = socket_.read_some(boost::asio::buffer(buf), error);
if(error == boost::asio::error::eof)
break; // // Connection closed cleanly by peer.
else if(error)
{
std::cout << "Error: " << error << std::endl;
socket_.close();
break;
}
std::cout << "Received message: ";
std::cout.write(buf.data(), len);
std::cout << std::endl;
}
std::cout << std::endl;
socket_.close();
std::cout << "Connection closed by the server. Good bye." << std::endl;
}
boost::asio::io_service& io_service_;
boost::asio::ip::tcp::socket socket_;
};
boost::asio::io_service io_service;
std::shared_ptr< concurrent_queue<std::string> > rtcm_message_queue;
std::thread t;
std::list<Rtcm::Tcp_server> servers;
std::list<Rtcm::Tcp_client> clients;
bool server_is_running;
void stop_service();
//
// Transport Layer
//

37
src/tests/formats/rtcm_test.cc
View File

@ -30,6 +30,7 @@
*/
#include <memory>
#include <thread>
#include "rtcm.h"
TEST(Rtcm_Test, Hex_to_bin)
@ -519,3 +520,39 @@ TEST(Rtcm_Test, MSM1)
EXPECT_EQ(psrng4_s, read_psrng4_s_2);
}
TEST(Rtcm_Test, InstantiateServer)
{
auto rtcm = std::make_shared<Rtcm>();
rtcm->run_server();
std::string msg("Hello");
rtcm->send_message(msg);
std::string test3 = "ff";
std::string test3_bin = rtcm->hex_to_bin(test3);
EXPECT_EQ(0, test3_bin.compare("11111111"));
rtcm->stop_server();
std::string test6 = "0011";
std::string test6_hex = rtcm->bin_to_hex(test6);
EXPECT_EQ(0, test6_hex.compare("3"));
long unsigned int expected1 = 42;
EXPECT_EQ(expected1, rtcm->bin_to_uint("00101010"));
rtcm->run_server();
std::string test4_bin = rtcm->hex_to_bin(test3);
std::string s("Testing");
rtcm->send_message(s);
rtcm->stop_server();
EXPECT_EQ(0, test4_bin.compare("11111111"));
}
TEST(Rtcm_Test, InstantiateClient)
{
auto rtcm = std::make_shared<Rtcm>();
rtcm->run_client();
std::string test3 = "ff";
std::string test3_bin = rtcm->hex_to_bin(test3);
EXPECT_EQ(0, test3_bin.compare("11111111"));
rtcm->stop_client();
}