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gnss-sdr/src/core/receiver/tcp_cmd_interface.cc

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/*!
* \file tcp_cmd_interface.cc
* \brief Class that implements a TCP/IP telecommand command line interface
* for GNSS-SDR
* \author Javier Arribas jarribas (at) cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "tcp_cmd_interface.h"
#include "command_event.h"
#include "pvt_interface.h"
#include <boost/asio.hpp>
#include <cmath> // for isnan
#include <exception> // for exception
#include <iomanip> // for setprecision
#include <sstream> // for stringstream
#include <utility> // for move
#if USE_BOOST_ASIO_IO_CONTEXT
using b_io_context = boost::asio::io_context;
#else
using b_io_context = boost::asio::io_service;
#endif
TcpCmdInterface::TcpCmdInterface()
: rx_latitude_(0.0),
rx_longitude_(0.0),
rx_altitude_(0.0),
receiver_utc_time_(0),
keep_running_(true)
{
register_functions();
control_queue_ = nullptr;
}
void TcpCmdInterface::register_functions()
{
#if HAS_GENERIC_LAMBDA
functions_["status"] = [&](auto &s) { return TcpCmdInterface::status(s); };
functions_["standby"] = [&](auto &s) { return TcpCmdInterface::standby(s); };
functions_["reset"] = [&](auto &s) { return TcpCmdInterface::reset(s); };
functions_["hotstart"] = [&](auto &s) { return TcpCmdInterface::hotstart(s); };
functions_["warmstart"] = [&](auto &s) { return TcpCmdInterface::warmstart(s); };
functions_["coldstart"] = [&](auto &s) { return TcpCmdInterface::coldstart(s); };
functions_["set_ch_satellite"] = [&](auto &s) { return TcpCmdInterface::set_ch_satellite(s); };
#else
functions_["status"] = std::bind(&TcpCmdInterface::status, this, std::placeholders::_1);
functions_["standby"] = std::bind(&TcpCmdInterface::standby, this, std::placeholders::_1);
functions_["reset"] = std::bind(&TcpCmdInterface::reset, this, std::placeholders::_1);
functions_["hotstart"] = std::bind(&TcpCmdInterface::hotstart, this, std::placeholders::_1);
functions_["warmstart"] = std::bind(&TcpCmdInterface::warmstart, this, std::placeholders::_1);
functions_["coldstart"] = std::bind(&TcpCmdInterface::coldstart, this, std::placeholders::_1);
functions_["set_ch_satellite"] = std::bind(&TcpCmdInterface::set_ch_satellite, this, std::placeholders::_1);
#endif
}
void TcpCmdInterface::set_pvt(std::shared_ptr<PvtInterface> PVT_sptr)
{
PVT_sptr_ = std::move(PVT_sptr);
}
time_t TcpCmdInterface::get_utc_time() const
{
return receiver_utc_time_;
}
std::array<float, 3> TcpCmdInterface::get_LLH() const
{
return std::array<float, 3>{rx_latitude_, rx_longitude_, rx_altitude_};
}
std::string TcpCmdInterface::reset(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
if (control_queue_ != nullptr)
{
const command_event_sptr new_evnt = command_event_make(200, 1); // send the restart message (who=200,what=1)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
return response;
}
std::string TcpCmdInterface::standby(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
if (control_queue_ != nullptr)
{
const command_event_sptr new_evnt = command_event_make(300, 10); // send the standby message (who=300,what=10)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
return response;
}
std::string TcpCmdInterface::status(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::stringstream str_stream;
// todo: implement the receiver status report
// str_stream << "-------------------------------------------------------\n";
// str_stream << "ch | sys | sig | mode | Tlm | Eph | Doppler | CN0 |\n";
// str_stream << " | | | | | | [Hz] | [dB - Hz] |\n";
// str_stream << "-------------------------------------------------------\n";
// int n_ch = 10;
// for (int n = 0; n < n_ch; n++)
// {
// str_stream << n << "GPS | L1CA | TRK | YES | YES | 23412.4 | 44.3 |\n";
// }
// str_stream << "--------------------------------------------------------\n";
double longitude_deg;
double latitude_deg;
double height_m;
double ground_speed_kmh;
double course_over_ground_deg;
time_t UTC_time;
if (PVT_sptr_->get_latest_PVT(&longitude_deg,
&latitude_deg,
&height_m,
&ground_speed_kmh,
&course_over_ground_deg,
&UTC_time) == true)
{
struct tm tstruct
{
};
std::array<char, 80> buf1{};
tstruct = *gmtime(&UTC_time);
strftime(buf1.data(), buf1.size(), "%d/%m/%Y %H:%M:%S", &tstruct);
const std::string str_time = std::string(buf1.data());
str_stream << "- Receiver UTC Time: " << str_time << '\n';
str_stream << std::setprecision(9);
str_stream << "- Receiver Position WGS84 [Lat, Long, H]: "
<< latitude_deg << ", "
<< longitude_deg << ", ";
str_stream << std::setprecision(3);
str_stream << height_m << '\n';
str_stream << std::setprecision(1);
str_stream << "- Receiver Speed over Ground [km/h]: " << ground_speed_kmh << '\n';
str_stream << "- Receiver Course over ground [deg]: " << course_over_ground_deg << '\n';
}
else
{
str_stream << "No PVT information available.\n";
}
return str_stream.str();
}
std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLine)
{
std::string response;
if (commandLine.size() > 5)
{
// Read commandline time parameter
struct tm tm
{
};
const std::string tmp_str = commandLine.at(1) + commandLine.at(2);
if (strptime(tmp_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
{
response = "ERROR: time parameter malformed\n";
return response;
}
receiver_utc_time_ = timegm(&tm);
// Read latitude, longitude, and height
rx_latitude_ = std::stof(commandLine.at(3).c_str());
rx_longitude_ = std::stof(commandLine.at(4).c_str());
rx_altitude_ = std::stof(commandLine.at(5).c_str());
if (std::isnan(rx_latitude_) || std::isnan(rx_longitude_) || std::isnan(rx_altitude_))
{
response = "ERROR: position malformed\n";
}
else
{
if (control_queue_ != nullptr)
{
const command_event_sptr new_evnt = command_event_make(300, 12); // send the standby message (who=300,what=12)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
}
}
else
{
response = "ERROR: time parameter not found, please use hotstart %d/%m/%Y %H:%M:%S Lat Long H\n";
}
return response;
}
std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLine)
{
std::string response;
if (commandLine.size() > 5)
{
// Read commandline time parameter
struct tm tm
{
};
const std::string tmp_str = commandLine.at(1) + commandLine.at(2);
if (strptime(tmp_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
{
response = "ERROR: time parameter malformed\n";
return response;
}
receiver_utc_time_ = timegm(&tm);
// Read latitude, longitude, and height
rx_latitude_ = std::stof(commandLine.at(3).c_str());
rx_longitude_ = std::stof(commandLine.at(4).c_str());
rx_altitude_ = std::stof(commandLine.at(5).c_str());
if (std::isnan(rx_latitude_) || std::isnan(rx_longitude_) || std::isnan(rx_altitude_))
{
response = "ERROR: position malformed\n";
}
else
{
if (control_queue_ != nullptr)
{
const command_event_sptr new_evnt = command_event_make(300, 13); // send the warmstart message (who=300,what=13)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
}
}
else
{
response = "ERROR: time parameter not found, please use warmstart %d/%m/%Y %H:%M:%S Lat Long H\n";
}
return response;
}
std::string TcpCmdInterface::coldstart(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
if (control_queue_ != nullptr)
{
const command_event_sptr new_evnt = command_event_make(300, 11); // send the coldstart message (who=300,what=11)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
return response;
}
std::string TcpCmdInterface::set_ch_satellite(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
// todo: implement the set satellite command
response = "Not implemented\n";
return response;
}
void TcpCmdInterface::set_msg_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue)
{
control_queue_ = std::move(control_queue);
}
void TcpCmdInterface::run_cmd_server(int tcp_port)
{
// Get the port from the parameters
const uint16_t port = tcp_port;
// Error to not throw exception
boost::system::error_code not_throw;
// Socket and acceptor
b_io_context context;
try
{
boost::asio::ip::tcp::acceptor acceptor(context, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
while (keep_running_)
{
try
{
std::cout << "TcpCmdInterface: Telecommand TCP interface listening on port " << tcp_port << '\n';
boost::asio::ip::tcp::socket socket(context);
acceptor.accept(socket, not_throw);
if (not_throw)
{
std::cerr << "TcpCmdInterface: Error when binding the port in the socket\n";
continue;
}
// Read a message
boost::system::error_code error = boost::asio::error::eof;
do
{
std::string response;
boost::asio::streambuf b;
if (boost::asio::read_until(socket, b, '\n', error) == 0)
{
std::cerr << "TcpCmdInterface: Error reading messages: " << error.message() << '\n';
}
std::istream is(&b);
std::string line;
std::getline(is, line);
std::istringstream iss(line);
const std::vector<std::string> cmd_vector(std::istream_iterator<std::string>{iss},
std::istream_iterator<std::string>());
if (!cmd_vector.empty())
{
try
{
if (cmd_vector.at(0) == "exit")
{
error = boost::asio::error::eof;
// send cmd response
if (socket.write_some(boost::asio::buffer("OK\n"), not_throw) == 0)
{
std::cerr << "Error: 0 bytes sent in cmd response\n";
}
}
else
{
response = functions_[cmd_vector.at(0)](cmd_vector);
}
}
catch (const std::bad_function_call &ex)
{
response = "ERROR: command not found \n ";
}
catch (const std::exception &ex)
{
response = "ERROR: command execution error: " + std::string(ex.what()) + "\n";
}
}
else
{
response = "ERROR: empty command\n";
}
// send cmd response
if (socket.write_some(boost::asio::buffer(response), not_throw) == 0)
{
std::cerr << "Error: 0 bytes sent in cmd response\n";
}
if (not_throw)
{
std::cerr << "Error sending(" << not_throw.value() << "): " << not_throw.message() << '\n';
break;
}
}
while (error != boost::asio::error::eof);
if (error == boost::asio::error::eof)
{
std::cerr << "TcpCmdInterface: EOF detected\n";
}
else
{
std::cerr << "TcpCmdInterface unexpected error: " << error << '\n';
}
// Close socket
socket.close();
}
catch (const boost::exception &e)
{
std::cerr << "TcpCmdInterface: Boost exception\n";
}
catch (const std::exception &ex)
{
std::cerr << "TcpCmdInterface: Exception " << ex.what() << '\n';
}
}
}
catch (const boost::exception &e)
{
std::cerr << "TCP Command Interface exception: address already in use\n";
}
}
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