Server Ack packet

GS ACK Request/gsserver.cpp

@@ -0,0 +1,131 @@
+#include "gsserver.h"
+#include <errno.h>
+#include <signal.h>
+#include <iostream>
+#include <string>
+
+#ifdef _WIN32
+#include <winsock.h>
+#include <windows.h>
+
+#include<stdio.h>
+#include<string.h>
+#include<winsock2.h>
+#include<Ws2tcpip.h>
+#include<signal.h>
+
+#ifndef INET6_ADDRSTRLEN
+#define INET6_ADDRSTRLEN 46
+#endif
+
+void GsServer::waitNet(unsigned millis){
+  Sleep(millis);
+}
+#else
+#include <unistd.h>
+#include <netinet/in.h>
+#include <netdb.h>
+#include <arpa/inet.h>
+#include <sys/wait.h>
+void GsServer::waitNet(unsigned millis){
+    usleep(millis * 1000);
+}
+#endif
+
+
+GsServer::GsServer(messagebox *myMessageBox): networkListener(this,myMessageBox){
+    this->myMessageBox = myMessageBox;
+    port = 27015;
+    target = QHostAddress::LocalHost;
+}
+
+GsServer::~GsServer(){
+
+}
+
+void GsServer::openServer(){
+    running = true;
+}
+
+void GsServer::openServer(QHostAddress target, unsigned int port){
+    this->target = target;
+    this->port = port;
+    openServer();
+}
+
+void GsServer::startServer(){
+    std::cout << "Server starting..." << std::endl;
+    if (running == false){
+        std::cout << "Need to open server before it can start" << std::endl;
+        return;
+    }
+    this->start();
+    networkListener.start();
+}
+
+void GsServer::closeServer(){
+
+}
+
+void GsServer::run(){
+    running = true;
+
+    Protocol::ActionPacket setHome;
+    setHome.SetAction(Protocol::ActionType::SetHome);
+
+    Protocol::ActionPacket start;
+    start.SetAction(Protocol::ActionType::Start);
+
+    sendPacket(&setHome,0);
+    sendPacket(&start,1);
+
+    while (running){
+        if (!outPackets.isEmpty()){
+            sendNextPacket();
+        }
+        QThread::msleep(2000);
+    }
+}
+
+void GsServer::sendPacket(Protocol::Packet* packet){
+    sendPacket(packet,DEFAULT_PRIORITY);
+}
+
+void GsServer::sendPacket(Protocol::Packet* packet, unsigned int priority){
+    outPackets.enqueue(packet,priority);
+}
+
+void GsServer::sendNextPacket() {
+    printf("sending message!\n");
+
+    Protocol::Packet* packet = outPackets.getNextPacket();
+    QByteArray datagram;
+    QDataStream out(&datagram, QIODevice::WriteOnly);
+    out.setVersion(QDataStream::Qt_4_3);
+
+    // Allocate storage for the packet in the for of u_int8_t
+    unsigned char storage[PACKET_LENGTH];
+
+    // Convert the packet into bytes and store into storage
+    size_t packet_size = packet->GetBytes(storage, PACKET_LENGTH);
+
+    // Send bytes inside storage to out datastream
+    for(size_t i =0; i < packet_size; i++) {
+        out << storage[i];
+    }
+
+    // Send datagram through UDP socket
+    outSocket.writeDatagram(datagram, target, port);
+
+
+    //TEST CODE TO SIMULATE INCOMING ACK PACKETS
+    //COMMENT OUT TO USE ACTUAL ACK PACKETS
+
+    ///@todo implement actual ack packet transfer from message box to outPackets.recievAckPacket(AckPacket)
+
+    Protocol::AckPacket *ack = new Protocol::AckPacket;
+    ack->set_timestamp(packet->get_timestamp());
+    outPackets.recieveAckPacket(ack);
+
+    //END TEST CODE
+}

GS ACK Request/gsserver.h

@@ -0,0 +1,146 @@
+#ifndef GSSERVER_H
+#define GSSERVER_H
+
+#include <QQueue>
+#include <QPair>
+#include <QThread>
+#include <QUdpSocket>
+#include "serverqueue.h"
+//#include "net.h"
+#include "networklistener.h"
+#include "messagebox.h"
+
+#define DEFAULT_PRIORITY 10
+
+const static QString UAV_IP_ADDRESS = "localhost";
+
+
+/**
+  GsServer is the server object for the ground station. The current
+  implementation will be changing, but this is the first working version.
+
+  I will be cleaning the code and making frequent implementation changes in
+  the near future. The functions and variables however will probably remain
+  stable.
+
+  @author Jordan Dickson
+  @date 1-29-1016
+  @version 2.0
+*/
+class GsServer : public QThread{
+    //Q_OBJECT
+public:
+    /**
+     Creates a new server hosted on the localhost (127.0.0.1) on port 3495.
+
+     @param myMessageBox the messagebox used for outgoing packets
+     */
+    GsServer(messagebox *myMessageBox);
+
+    /**
+      Destructor for GsServer
+     */
+    ~GsServer();
+
+    /**
+      Override run to implement thread as a server.
+     */
+    void run();
+
+    void startServer();
+
+    /**
+      Opens ther server by hosting it on the default port and listening for
+      connections.
+     */
+    void openServer();
+
+    /**
+      Opens ther server by hosting it on a socket and listening for
+      connections.
+     */
+    void openServer(QHostAddress target, unsigned int port);
+
+    /**
+      Closes the server by dropping all current connections and ending the
+      listener thread.
+     */
+    void closeServer();
+
+    /**
+      waits for a specified number of milliseconds
+
+      @param millis the number of milliseconds to wait
+    */
+    void waitNet(unsigned millis);
+
+    /**
+     * @brief sendPacket adds a packet to the send queue for this server. The
+     * default priority is 10. The packet will be sent as soon as the socket
+     * is free for sending. Lowest prioirty is sent first.
+     * @param packet the packet to be added into the send queue
+     * @author Jordan Dickson
+     * @date Feb 5 2016
+     */
+    void sendPacket(Protocol::Packet* packet);
+
+    /**
+     * @brief sendPacket adds a packet to the send queue for this server. The
+     * packet will be sent as soon as the socket is free for sending. Lowest
+     * priority is sent first.
+     * @param packet the packet to be added into the send queue
+     * @param priority the priority of the packet (lowest number sent first)
+     * @date Feb 5 2016
+     */
+    void sendPacket(Protocol::Packet* packet, unsigned int priority);
+
+    /**
+     file descriptor for the UAV. Used to send information over the network.
+     */
+    int uav_fd;
+
+    /**
+     the maximum size of a packet that will be sent by this server.
+     */
+    unsigned char maxPackSize = 255;
+
+    /**
+      The NetworkListener used by this server to process incoming signals.
+    */
+    NetworkListener networkListener;
+
+private:
+
+    bool running;
+
+    /* Alvin Truong added on 16-1-27*/
+    const static int PACKET_LENGTH = 1000;
+    const static int SEND_PORT = 20715;
+    const static int LISTEN_PORT = 20715;
+    static int NUM_RECV_PACKETS;
+
+
+     /**
+       Stores the port number of this server.
+     */
+     unsigned short port;
+
+     /**
+       Sends the most significant datagram.
+     */
+     void sendNextPacket();
+
+     /**
+      * @brief myMessageBox is the messagebox from mapexecution that will be used for
+      * outgoing packets.
+      */
+     messagebox *myMessageBox;
+
+     QUdpSocket outSocket;
+
+     QHostAddress target;
+
+     ServerQueue outPackets;
+};
+#endif // GSSERVER_H
+