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StateServer.c
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StateServer.c
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// StateServer.c
//
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Yaskawa America, Inc.
* All rights reserved.
*
* Redistribution and use in binary form, with or without modification,
* is permitted provided that the following conditions are met:
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Yaskawa America, Inc., nor the names
* of its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "MotoPlus.h"
#include "ParameterExtraction.h"
#include "CtrlGroup.h"
#include "SimpleMessage.h"
#include "Controller.h"
#include "StateServer.h"
//-----------------------
// Function Declarations
//-----------------------
void Ros_StateServer_StartNewConnection(Controller* controller, int sd);
void Ros_StateServer_SendState(Controller* controller);
BOOL Ros_StateServer_SendMsgToAllClient(Controller* controller, SimpleMsg* sendMsg, int msgSize);
//-----------------------
// Function implementation
//-----------------------
//-----------------------------------------------------------------------
// Start the task for a new state server connection:
// - Ros_StateServer_SendState: Task that broadcasts controller & robot state to the connected client
//-----------------------------------------------------------------------
void Ros_StateServer_StartNewConnection(Controller* controller, int sd)
{
int connectionIndex;
printf("Starting new connection to the State Server\r\n");
//look for next available connection slot
for (connectionIndex = 0; connectionIndex < MAX_STATE_CONNECTIONS; connectionIndex++)
{
if (controller->sdStateConnections[connectionIndex] == INVALID_SOCKET)
{
//Start the new connection in a different task.
//Each task's memory will be unique IFF the data is on the stack.
//Any global or heap stuff will not be unique.
controller->sdStateConnections[connectionIndex] = sd;
// If not started
if(controller->tidStateSendState == INVALID_TASK)
{
//start task that will send the controller state
controller->tidStateSendState = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE,
(FUNCPTR)Ros_StateServer_SendState,
(int)controller, 0, 0, 0, 0, 0, 0, 0, 0, 0);
//set feedback signal
if(controller->tidStateSendState != INVALID_TASK)
Ros_Controller_SetIOState(IO_FEEDBACK_STATESERVERCONNECTED, TRUE);
}
break;
}
}
if (connectionIndex == MAX_STATE_CONNECTIONS)
{
printf("Too many State server connections... not accepting last attempt.\r\n");
mpClose(sd);
}
}
//-----------------------------------------------------------------------
// Send state (robot position and controller status) as long as there is
// an active connection
//-----------------------------------------------------------------------
void Ros_StateServer_SendState(Controller* controller)
{
int groupNo;
SimpleMsg sendMsg;
SimpleMsg sendMsgFEx;
int msgSize, fexMsgSize = 0;
BOOL bOkToSendExFeedback;
BOOL bHasConnections;
BOOL bSuccesfulSend;
printf("Starting State Server Send State task\r\n");
printf("Controller number of group = %d\r\n", controller->numGroup);
bHasConnections = FALSE;
//Thread for state server should never terminate
while(TRUE)
{
Ros_SimpleMsg_JointFeedbackEx_Init(controller->numGroup, &sendMsgFEx);
bOkToSendExFeedback = TRUE;
// Send feedback position for each control group
for(groupNo=0; groupNo < controller->numGroup; groupNo++)
{
msgSize = Ros_SimpleMsg_JointFeedback(controller->ctrlGroups[groupNo], &sendMsg);
fexMsgSize = Ros_SimpleMsg_JointFeedbackEx_Build(groupNo, &sendMsg, &sendMsgFEx);
if(msgSize > 0)
{
bSuccesfulSend = Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
if (bSuccesfulSend != bHasConnections)
{
bHasConnections = bSuccesfulSend;
Ros_Controller_SetIOState(IO_FEEDBACK_STATESERVERCONNECTED, bHasConnections);
}
}
else
{
printf("Ros_SimpleMsg_JointFeedback returned a message size of 0\r\n");
bOkToSendExFeedback = FALSE;
}
}
if (controller->numGroup < 2) //only send the ROS_MSG_MOTO_JOINT_FEEDBACK_EX message if we have multiple control groups
bOkToSendExFeedback = FALSE;
if (bOkToSendExFeedback) //send extended-feedback message
Ros_StateServer_SendMsgToAllClient(controller, &sendMsgFEx, fexMsgSize);
// Send controller/robot status
msgSize = Ros_Controller_StatusToMsg(controller, &sendMsg);
if(msgSize > 0)
{
Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
}
Ros_Sleep(STATE_UPDATE_MIN_PERIOD);
}
// Terminate this task
controller->tidStateSendState = INVALID_TASK;
Ros_Controller_SetIOState(IO_FEEDBACK_STATESERVERCONNECTED, FALSE);
printf("State Server Send State task was terminated\r\n");
mpDeleteSelf;
}
//-----------------------------------------------------------------------
// Send state message to all active connections
// return TRUE if message was send to at least one client
//-----------------------------------------------------------------------
BOOL Ros_StateServer_SendMsgToAllClient(Controller* controller, SimpleMsg* sendMsg, int msgSize)
{
int index;
int ret;
BOOL bSuccessfulSend = FALSE;
// Check all active connections
for(index = 0; index < MAX_STATE_CONNECTIONS; index++)
{
if(controller->sdStateConnections[index] != INVALID_SOCKET)
{
ret = mpSend(controller->sdStateConnections[index], (char*)(sendMsg), msgSize, 0);
if(ret <= 0)
{
printf("StateServer Send failure. Closing state server connection.\r\n");
mpClose(controller->sdStateConnections[index]);
controller->sdStateConnections[index] = INVALID_SOCKET;
}
else
{
bSuccessfulSend = TRUE;
}
}
}
return bSuccessfulSend;
}