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|
/******************************************************************************
* Copyright (C) 2020 Alejandro Colomar Andrés *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/******************************************************************************
******* include **************************************************************
******************************************************************************/
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#define ALX_NO_PREFIX
#include <libalx/alx/robot/ur/ur.h>
#include <libalx/base/compiler/size.h>
#include <libalx/base/compiler/unused.h>
#include <libalx/base/errno/perror.h>
#include <libalx/base/linux/membarrier.h>
#include <libalx/base/signal/sigpipe.h>
#include <libalx/base/signal/sigterm.h>
#include <libalx/base/socket/tcp/server.h>
#include <libalx/base/stdio/printf/sbprintf.h>
#include <libalx/base/stdlib/getenv/getenv_i.h>
#include <libalx/base/stdlib/getenv/getenv_s.h>
#include <libalx/base/sys/types.h>
#include <libalx/extra/telnet-tcp/client/client.h>
/******************************************************************************
******* define ***************************************************************
******************************************************************************/
#define ENV_ROBOT_TYPE "ROBOT_TYPE"
#define ENV_ROBOT_ADDR "ROBOT_ADDR"
#define ENV_ROBOT_PORT "ROBOT_PORT"
#define ENV_ROBOT_USER "ROBOT_USER"
#define ENV_ROBOT_PASSWD "ROBOT_PASSWD"
#define ENV_ROBOT_STATUS_FNAME "ROBOT_STATUS_FNAME"
#define ENV_ROB_PORT "ROB_PORT"
#define ENV_ROB_CAMS_MAX "ROB_CAMS_MAX"
#define ENV_DELAY_LOGIN "DELAY_LOGIN"
#define ENV_DELAY_US "DELAY_US"
/******************************************************************************
******* enum *****************************************************************
******************************************************************************/
enum Robot_Steps {
ROBOT_STEP_IDLE,
ROBOT_STEP_INFO,
ROBOT_STEPS
};
/******************************************************************************
******* struct / union *******************************************************
******************************************************************************/
struct Robot_Step_Info {
// pose;
char cmd[_POSIX_ARG_MAX];
};
struct Robot_Status {
FILE *fp;
int step;
char cam_data[BUFSIZ];
struct Robot_Step_Info info[ROBOT_STEPS];
};
/******************************************************************************
******* static variables *****************************************************
******************************************************************************/
/* environment variables */
static char robot_addr[_POSIX_ARG_MAX];
static char robot_port[_POSIX_ARG_MAX];
static char robot_user[_POSIX_ARG_MAX];
static char robot_passwd[_POSIX_ARG_MAX];
static char robot_status_fname[FILENAME_MAX];
static char rob_port[_POSIX_ARG_MAX];
static int rob_cams_max;
static int delay_login;
static int delay_us;
/* pid */
static pid_t pid;
/* robot */
static struct Robot_Status robot_status;
#if 0
static FILE *robot; /* telnet */
#else
static struct Alx_UR *robot;
#endif
/* cam */
static int tcp;
static int cam;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static
int rob_init (void);
static
int rob_deinit (void);
static
int env_init (void);
static
int robot_init (void);
static
int robot_deinit (void);
static
int tcp_init (void);
static
int tcp_deinit (void);
static
int cam_init (void);
static
int cam_deinit (void);
static
int cam_reinit (void);
static
int robot_status_init (void);
static
int robot_status_deinit (void);
static
int robot_status_update (int step);
static
void robot_status_reset (void);
static
int cam_session (void);
static
int signal_cam_rdy (void);
static
int robot_steps (void);
static
int robot_step_info (char *str);
/******************************************************************************
******* main *****************************************************************
******************************************************************************/
int main (void)
{
int status;
status = 1;
if (rob_init())
goto err0;
status++;
if (robot_status.step) {
if (robot_steps())
goto err1;
}
status++;
if (cam_init())
goto err1;
mb();
for (int i = 0; !sigterm; i++) {
if (sigpipe)
goto err;
status = cam_session();
if (status < 0)
goto err;
if (status) {
status = 3;
if (cam_reinit())
goto err;
}
mb();
};
status = 0;
err:
if (cam_deinit())
status += 16;
err1:
if (rob_deinit())
status += 32;
err0:
fprintf(stderr, "rob#%"PRIpid": ERROR: main(): %i\n", pid, status);
perrorx(NULL);
return status;
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static
int rob_init (void)
{
int status;
pid = getpid();
status = -1;
if (sigpipe_init())
goto err0;
status--;
if (sigterm_init())
goto err0;
status--;
if (env_init())
goto err0;
status--;
if (robot_init())
goto err0;
status--;
if (tcp_init())
goto err1;
return 0;
err1:
robot_deinit();
err0:
fprintf(stderr, "rob#%"PRIpid": ERROR: rob_init(): %i\n", pid, status);
return status;
}
static
int rob_deinit (void)
{
int status;
status = 0;
if (tcp_deinit())
status -= 1;
if (robot_deinit())
status -= 2;
if (robot_status_deinit())
status -= 4;
return status;
}
static
int env_init (void)
{
int status;
status = -1;
if (getenv_s(robot_addr, ARRAY_SIZE(robot_addr), ENV_ROBOT_ADDR))
goto err;
status--;
if (getenv_s(robot_port, ARRAY_SIZE(robot_port), ENV_ROBOT_PORT))
goto err;
status--;
if (getenv_s(robot_user, ARRAY_SIZE(robot_user), ENV_ROBOT_USER))
goto err;
status--;
if (getenv_s(robot_passwd, ARRAY_SIZE(robot_passwd), ENV_ROBOT_PASSWD))
goto err;
status--;
if (getenv_s(robot_status_fname, ARRAY_SIZE(robot_status_fname),
ENV_ROBOT_STATUS_FNAME))
goto err;
status--;
if (getenv_s(rob_port, ARRAY_SIZE(rob_port), ENV_ROB_PORT))
goto err;
status--;
if (getenv_i32(&rob_cams_max, ENV_ROB_CAMS_MAX))
goto err;
status--;
if (getenv_i32(&delay_login, ENV_DELAY_LOGIN))
goto err;
status--;
if (getenv_i32(&delay_us, ENV_DELAY_US))
goto err;
return 0;
err:
fprintf(stderr, "rob#%"PRIpid": ERROR: env_init(): %i\n", pid, status);
return status;
}
static
int robot_init (void)
{
int status;
status = -1;
#if 0
if (telnet_open_client(&robot, robot_addr, robot_port, "w"))
goto err0;
status--;
if (telnet_login(robot, robot_user, robot_passwd, delay_login))
goto err;
#else
if (ur_init(&robot, robot_addr, robot_port, delay_login))
goto err0;
#endif
status--;
if (robot_status_init())
goto err;
return 0;
err:
robot_deinit();
err0:
fprintf(stderr, "rob#%"PRIpid": ERROR: robot_init(): %i\n",pid, status);
return status;
}
static
int robot_deinit (void)
{
#if 0
return pclose(robot);
#else
return ur_deinit(robot);
#endif
}
static
int tcp_init (void)
{
tcp = tcp_server_open(rob_port, rob_cams_max);
return tcp < 0;
}
static
int tcp_deinit (void)
{
return close(tcp);
}
static
int cam_init (void)
{
struct sockaddr_storage cam_addr = {0};
socklen_t cam_addr_len;
int status;
status = -1;
cam_addr_len = sizeof(cam_addr);
cam = accept(tcp, (struct sockaddr *)&cam_addr, &cam_addr_len);
if (cam < 0)
goto err;
status--;
if (signal_cam_rdy())
goto err;
return 0;
err:
fprintf(stderr, "rob#%"PRIpid": ERROR: cam_init(): %i\n", pid, status);
return status;
}
static
int cam_deinit (void)
{
return close(cam);
}
static
int cam_reinit (void)
{
cam_deinit();
return cam_init();
}
static
int robot_status_init (void)
{
FILE *fp;
fp = fopen(robot_status_fname, "r");
if (!fp)
return 0;
if (fread(&robot_status, 1, sizeof(robot_status), fp) <= 0)
goto eread;
robot_status.fp = fp;
return 0;
eread:
fclose(fp);
memset(&robot_status, 0, sizeof(robot_status));
return -2;
}
static
int robot_status_deinit (void)
{
if (robot_status.fp)
return fclose(robot_status.fp);
return 0;
}
static
int robot_status_update (int step)
{
if (!step) {
robot_status_reset();
return 0;
}
robot_status.step = step;
if (!robot_status.fp) {
robot_status.fp = fopen(robot_status_fname, "w");
if (!robot_status.fp)
return -1;
} else {
rewind(robot_status.fp);
}
if (fwrite(&robot_status, sizeof(robot_status), 1,robot_status.fp) != 1)
return -2;
return 0;
}
static
void robot_status_reset (void)
{
if (robot_status.fp)
fclose(robot_status.fp);
remove(robot_status_fname);
memset(&robot_status, 0, sizeof(robot_status));
}
static
int cam_session (void)
{
ssize_t n;
int status;
status = 1;
n = recv(cam, robot_status.cam_data,
ARRAY_SIZE(robot_status.cam_data) - 1, 0);
if (n < 0)
goto err;
robot_status.cam_data[n] = 0;
status++;
if (!n)
goto err;
status = -1;
if (robot_steps())
goto err;
status = 10;
if (signal_cam_rdy())
goto err;
usleep(delay_us);
return 0;
err:
fprintf(stderr, "rob#%"PRIpid": ERROR: cam_session(): %i\n",pid,status);
return status;
}
static
int signal_cam_rdy (void)
{
ssize_t n;
n = send(cam, "\n", 1, 0);
if (n < 0)
return 1;
return 0;
}
static
int robot_steps (void)
{
switch (robot_status.step) {
case ROBOT_STEP_IDLE:
robot_status_update(ROBOT_STEP_INFO);
case ROBOT_STEP_INFO:
if (robot_step_info(robot_status.cam_data))
goto err;
robot_status_update(ROBOT_STEP_IDLE);
}
return 0;
err:
fprintf(stderr, "rob#%"PRIpid": ERROR: robot_steps(): %i\n",
pid, robot_status.step);
return robot_status.step;
}
static
int robot_step_info (char *str)
{
#if 0
return telnet_send(robot, str);
#else
return ur_puts(robot, str, delay_us);
#endif
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
|
