[48] | 1 | #include <ros/assert.h> |
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| 2 | #include <shared_serial/server.h> |
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| 3 | #include <shared_serial/watchdog.h> |
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| 4 | |
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| 5 | SerialServerLock::SerialServerLock() : |
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| 6 | socket_(0), last_socket_(0) |
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| 7 | { |
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| 8 | pthread_mutex_init(&mutex_, NULL); |
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| 9 | pthread_cond_init(&condition_, NULL); |
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| 10 | } |
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| 11 | |
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| 12 | void SerialServerLock::checkTimeout() |
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| 13 | { |
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| 14 | pthread_mutex_lock(&mutex_); |
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| 15 | |
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| 16 | struct timeval tv; |
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| 17 | gettimeofday(&tv, NULL); |
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| 18 | |
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| 19 | // Check timeout |
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| 20 | if (socket_ && (tv.tv_sec > timeout_.tv_sec || |
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| 21 | (tv.tv_sec == timeout_.tv_sec && tv.tv_usec > timeout_.tv_usec))) |
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| 22 | { |
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| 23 | ROS_DEBUG_STREAM("Lock " << socket_ << " expired"); |
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| 24 | socket_ = 0; |
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| 25 | |
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| 26 | pthread_cond_signal(&condition_); |
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| 27 | } |
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| 28 | |
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| 29 | pthread_mutex_unlock(&mutex_); |
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| 30 | } |
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| 31 | |
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| 32 | int SerialServerLock::lock(int socket, float timeout) |
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| 33 | { |
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| 34 | pthread_mutex_lock(&mutex_); |
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| 35 | |
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| 36 | // Check validity |
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| 37 | if (socket && socket != socket_) |
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| 38 | { |
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| 39 | ROS_ERROR_STREAM("Unknown lock " << socket); |
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| 40 | pthread_mutex_unlock(&mutex_); |
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| 41 | return -1; |
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| 42 | } |
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| 43 | |
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| 44 | if (!socket) |
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| 45 | { |
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| 46 | // Wait for port to become free |
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| 47 | while (socket_) |
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| 48 | { |
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| 49 | ROS_DEBUG_STREAM("Waiting for lock"); |
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| 50 | pthread_cond_wait(&condition_, &mutex_); |
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| 51 | } |
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| 52 | |
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| 53 | // New connection |
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| 54 | socket_ = last_socket_ = std::max(last_socket_+1, 1); |
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| 55 | |
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| 56 | ROS_DEBUG_STREAM("New lock " << socket_); |
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| 57 | } |
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| 58 | |
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| 59 | if (timeout) |
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| 60 | { |
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| 61 | // Set timeout |
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| 62 | struct timeval tv; |
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| 63 | gettimeofday(&tv, NULL); |
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| 64 | |
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| 65 | tv.tv_sec += (int)timeout; |
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| 66 | tv.tv_usec += (int)((timeout-(int)timeout)*1000000); |
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| 67 | if (tv.tv_usec > 1000000) |
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| 68 | { |
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| 69 | tv.tv_sec++; |
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| 70 | tv.tv_usec -= 1000000; |
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| 71 | } |
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| 72 | timeout_ = tv; |
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| 73 | |
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| 74 | ROS_DEBUG_STREAM("Lock " << socket_ << " will expire after " << timeout << " seconds"); |
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| 75 | } |
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| 76 | else |
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| 77 | { |
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| 78 | ROS_DEBUG_STREAM("Lock " << socket_ << " expired"); |
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| 79 | |
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| 80 | timeout_.tv_sec = timeout_.tv_usec = socket_ = 0; |
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| 81 | } |
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| 82 | |
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| 83 | return socket_; |
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| 84 | } |
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| 85 | |
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| 86 | void SerialServerLock::unlock() |
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| 87 | { |
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| 88 | if (!socket_) |
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| 89 | pthread_cond_signal(&condition_); |
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| 90 | pthread_mutex_unlock(&mutex_); |
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| 91 | } |
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| 92 | |
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| 93 | void SerialServer::advertiseServices() |
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| 94 | { |
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| 95 | ROS_INFO("Registering services"); |
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| 96 | |
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| 97 | send_topic_ = nh_.subscribe("send", 10, &SerialServer::callbackSend, this); |
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| 98 | close_topic_ = nh_.subscribe("close", 1, &SerialServer::callbackClose, this); |
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| 99 | flush_topic_ = nh_.subscribe("flush", 1, &SerialServer::callbackFlush, this); |
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| 100 | connect_service_ = nh_.advertiseService("connect", &SerialServer::callbackConnect, this); |
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| 101 | sendto_service_ = nh_.advertiseService("sendto", &SerialServer::callbackSendTo, this); |
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| 102 | recv_service_ = nh_.advertiseService("recv", &SerialServer::callbackRecv, this); |
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| 103 | sendrecv_service_ = nh_.advertiseService("sendrecv", &SerialServer::callbackSendRecv, this); |
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| 104 | } |
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| 105 | |
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| 106 | void SerialServer::readParameters() |
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| 107 | { |
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| 108 | std::string port_name, port_type; |
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| 109 | LxSerial::PortType lx_port_type; |
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| 110 | int baud_rate; |
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| 111 | double watchdog_interval; |
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| 112 | |
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| 113 | ROS_INFO("Reading parameters"); |
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| 114 | |
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| 115 | ROS_ASSERT(nh_.getParam("port_name", port_name)); |
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| 116 | ROS_ASSERT(nh_.getParam("port_type", port_type)); |
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| 117 | ROS_ASSERT(nh_.getParam("baud_rate", baud_rate)); |
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| 118 | nh_.param<double>("watchdog_interval", watchdog_interval, 10); |
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| 119 | |
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| 120 | if (port_type == "RS232") |
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| 121 | lx_port_type = LxSerial::RS232; |
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| 122 | else if (port_type == "RS485_FTDI") |
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| 123 | lx_port_type = LxSerial::RS485_FTDI; |
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| 124 | else if (port_type == "RS485_EXAR") |
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| 125 | lx_port_type = LxSerial::RS485_EXAR; |
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| 126 | else if (port_type == "RS485_SMSC") |
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| 127 | lx_port_type = LxSerial::RS485_SMSC; |
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| 128 | else if (port_type == "TCP") |
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| 129 | lx_port_type = LxSerial::TCP; |
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| 130 | else |
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| 131 | { |
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| 132 | ROS_FATAL_STREAM("Unknown port type " << port_type); |
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| 133 | ROS_BREAK(); |
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| 134 | return; |
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| 135 | } |
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| 136 | |
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| 137 | ROS_ASSERT(serial_port_.port_open(port_name, lx_port_type)); |
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| 138 | ROS_ASSERT(serial_port_.set_speed_int(baud_rate)); |
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| 139 | ROS_ASSERT(watchdog_.set(watchdog_interval)); |
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| 140 | } |
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| 141 | |
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| 142 | void SerialServer::callbackSend(const shared_serial::Send::ConstPtr& msg) |
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| 143 | { |
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| 144 | int socket = lock_.lock(msg->socket, msg->timeout); |
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| 145 | if (socket < 0) return; |
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| 146 | |
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| 147 | unsigned char *buf = new unsigned char[msg->data.size()]; |
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| 148 | for (unsigned int ii=0; ii != msg->data.size(); ++ii) |
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| 149 | buf[ii] = msg->data[ii]; |
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| 150 | |
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| 151 | int n = serial_port_.port_write(buf, msg->data.size()); |
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| 152 | delete buf; |
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| 153 | |
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| 154 | if (n != (int)msg->data.size()) |
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| 155 | { |
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| 156 | ROS_ERROR("Truncated send, flushing port"); |
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| 157 | serial_port_.flush_buffer(); |
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| 158 | |
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| 159 | lock_.unlock(); |
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| 160 | return; |
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| 161 | } |
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| 162 | |
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| 163 | ROS_DEBUG_STREAM("Sent " << n << " bytes"); |
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| 164 | |
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| 165 | lock_.unlock(); |
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| 166 | return; |
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| 167 | } |
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| 168 | |
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| 169 | void SerialServer::callbackClose(const shared_serial::Close::ConstPtr& msg) |
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| 170 | { |
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| 171 | int socket = lock_.lock(msg->socket, 0); |
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| 172 | if (socket < 0) return; |
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| 173 | |
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| 174 | lock_.unlock(); |
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| 175 | return; |
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| 176 | } |
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| 177 | |
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| 178 | void SerialServer::callbackFlush(const shared_serial::Flush::ConstPtr& msg) |
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| 179 | { |
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| 180 | int socket = lock_.lock(msg->socket, msg->timeout); |
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| 181 | if (socket < 0) return; |
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| 182 | |
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| 183 | serial_port_.flush_buffer(); |
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| 184 | usleep(10); |
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| 185 | serial_port_.flush_buffer(); |
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| 186 | |
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| 187 | ROS_INFO_STREAM("Flushed port"); |
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| 188 | |
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| 189 | lock_.unlock(); |
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| 190 | return; |
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| 191 | } |
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| 192 | |
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| 193 | bool SerialServer::callbackConnect(shared_serial::Connect::Request& req, shared_serial::Connect::Response& res) |
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| 194 | { |
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| 195 | int socket = lock_.lock(0, req.timeout); |
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| 196 | if (socket < 0) return false; |
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| 197 | |
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| 198 | res.socket = socket; |
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| 199 | |
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| 200 | lock_.unlock(); |
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| 201 | return true; |
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| 202 | } |
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| 203 | |
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| 204 | bool SerialServer::callbackSendTo(shared_serial::SendTo::Request& req, shared_serial::SendTo::Response& res) |
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| 205 | { |
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| 206 | int socket = lock_.lock(req.socket, req.timeout); |
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| 207 | if (socket < 0) return false; |
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| 208 | |
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| 209 | unsigned char *buf = new unsigned char[req.data.size()]; |
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| 210 | for (unsigned int ii=0; ii != req.data.size(); ++ii) |
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| 211 | buf[ii] = req.data[ii]; |
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| 212 | |
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| 213 | int n = serial_port_.port_write(buf, req.data.size()); |
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| 214 | delete buf; |
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| 215 | |
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| 216 | if (n != (int)req.data.size()) |
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| 217 | { |
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| 218 | ROS_ERROR("Truncated send, flushing port"); |
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| 219 | serial_port_.flush_buffer(); |
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| 220 | |
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| 221 | lock_.unlock(); |
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| 222 | return false; |
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| 223 | } |
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| 224 | |
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| 225 | ROS_DEBUG_STREAM("Sent " << n << " bytes"); |
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| 226 | |
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| 227 | res.socket = socket; |
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| 228 | |
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| 229 | lock_.unlock(); |
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| 230 | return true; |
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| 231 | } |
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| 232 | |
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| 233 | bool SerialServer::callbackRecv(shared_serial::Recv::Request& req, shared_serial::Recv::Response& res) |
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| 234 | { |
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| 235 | int socket = lock_.lock(req.socket, req.sock_timeout); |
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| 236 | if (socket < 0) return false; |
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| 237 | |
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| 238 | ROS_ASSERT(req.length <= 65536); |
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| 239 | |
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| 240 | unsigned char *buf = new unsigned char[req.length]; |
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| 241 | int n = serial_port_.port_read(buf, req.length, (int)req.recv_timeout, (int)((req.recv_timeout-(int)req.recv_timeout)*1000000)); |
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| 242 | |
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| 243 | if (n < 0) |
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| 244 | { |
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| 245 | ROS_ERROR_STREAM("Error " << n << " while reading serial port"); |
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| 246 | delete buf; |
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| 247 | |
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| 248 | serial_port_.flush_buffer(); |
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| 249 | usleep(10); |
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| 250 | serial_port_.flush_buffer(); |
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| 251 | |
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| 252 | lock_.unlock(); |
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| 253 | return false; |
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| 254 | } |
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| 255 | |
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| 256 | ROS_DEBUG_STREAM("Read " << n << " bytes"); |
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| 257 | |
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| 258 | res.data.resize(n); |
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| 259 | for (int ii=0; ii != n; ++ii) |
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| 260 | res.data[ii] = buf[ii]; |
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| 261 | delete buf; |
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| 262 | |
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| 263 | res.socket = socket; |
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| 264 | |
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| 265 | lock_.unlock(); |
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| 266 | return true; |
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| 267 | } |
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| 268 | |
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| 269 | bool SerialServer::callbackSendRecv(shared_serial::SendRecv::Request& req, shared_serial::SendRecv::Response& res) |
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| 270 | { |
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| 271 | int socket = lock_.lock(req.socket, req.sock_timeout); |
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| 272 | if (socket < 0) return false; |
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| 273 | |
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| 274 | // *** Send *** |
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| 275 | unsigned char *buf = new unsigned char[req.send_data.size()]; |
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| 276 | for (unsigned int ii=0; ii != req.send_data.size(); ++ii) |
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| 277 | buf[ii] = req.send_data[ii]; |
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| 278 | |
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| 279 | int n = serial_port_.port_write(buf, req.send_data.size()); |
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| 280 | delete buf; |
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| 281 | |
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| 282 | if (n != (int)req.send_data.size()) |
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| 283 | { |
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| 284 | ROS_ERROR("Truncated send, flushing port"); |
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| 285 | serial_port_.flush_buffer(); |
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| 286 | |
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| 287 | lock_.unlock(); |
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| 288 | return false; |
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| 289 | } |
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| 290 | |
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| 291 | ROS_DEBUG_STREAM("Sent " << n << " bytes"); |
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| 292 | |
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| 293 | // *** Receive *** |
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| 294 | ROS_ASSERT(req.length <= 65536); |
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| 295 | |
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| 296 | buf = new unsigned char[req.length]; |
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| 297 | n = serial_port_.port_read(buf, req.length, (int)req.recv_timeout, (int)((req.recv_timeout-(int)req.recv_timeout)*1000000)); |
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| 298 | |
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| 299 | if (n < 0) |
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| 300 | { |
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| 301 | ROS_ERROR("Error while reading serial port"); |
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| 302 | delete buf; |
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| 303 | |
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| 304 | serial_port_.flush_buffer(); |
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| 305 | usleep(10); |
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| 306 | serial_port_.flush_buffer(); |
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| 307 | |
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| 308 | lock_.unlock(); |
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| 309 | return false; |
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| 310 | } |
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| 311 | |
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| 312 | ROS_DEBUG_STREAM("Read " << n << " bytes"); |
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| 313 | |
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| 314 | res.recv_data.resize(n); |
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| 315 | for (int ii=0; ii != n; ++ii) |
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| 316 | res.recv_data[ii] = buf[ii]; |
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| 317 | delete buf; |
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| 318 | |
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| 319 | res.socket = socket; |
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| 320 | |
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| 321 | lock_.unlock(); |
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| 322 | return true; |
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| 323 | } |
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| 324 | |
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| 325 | int main(int argc, char **argv) |
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| 326 | { |
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| 327 | ros::init(argc, argv, "shared_serial_server"); |
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| 328 | |
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| 329 | SerialServer serialServer; |
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| 330 | |
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| 331 | ROS_INFO("Spinning"); |
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| 332 | |
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| 333 | ros::AsyncSpinner spinner(8); |
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| 334 | spinner.start(); |
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| 335 | |
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| 336 | ros::Rate loop_rate(10); |
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| 337 | while (ros::ok()) |
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| 338 | { |
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| 339 | serialServer.checkTimeout(); |
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| 340 | serialServer.kickWatchdog(); |
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| 341 | loop_rate.sleep(); |
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| 342 | } |
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| 343 | |
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| 344 | return 0; |
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| 345 | } |
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