be passed up to the UAS.
UGear.cxx UGear.hxx \
UGear_command.cxx UGear_command.hxx \
UGear_main.cxx \
- UGear_opengc.hxx
+ UGear_opengc.hxx \
+ UGear_telnet.cxx UGear_telnet.hxx
UGsmooth_LDADD = \
-lsgio -lsgserial -lsgtiming -lsgmath -lsgbucket -lsgmisc -lsgdebug \
printf("command queue: %s\n", command.c_str());
cmd_queue.push( command );
}
+
+
+// create the global command channel manager
+UGCommand command_mgr;
+
};
+extern UGCommand command_mgr;
+
+
#endif // _FG_UGEAR_COMMAND_HXX
#include "UGear.hxx"
#include "UGear_command.hxx"
#include "UGear_opengc.hxx"
+#include "UGear_telnet.hxx"
SG_USING_STD(cout);
track.set_stargate_swap_mode();
}
+ UGTelnet telnet( 5402 );
+ telnet.open();
+
if ( infile.length() || flight_dir.length() ) {
if ( infile.length() ) {
// Load data from a stream log data file
return false;
}
- // create the command channel manager
- UGCommand command;
-
// add some test commands
- //command.add("ap,alt,1000");
- //command.add("home,158.0,32.5");
- //command.add("go,home");
- //command.add("go,route");
+ //command_mgr.add("ap,alt,1000");
+ //command_mgr.add("home,158.0,32.5");
+ //command_mgr.add("go,home");
+ //command_mgr.add("go,route");
while ( uavcom.is_enabled() ) {
// cout << "looking for next message ..." << endl;
// cout << "message id = " << id << endl;
count++;
+ telnet.process();
+
if ( id == GPS_PACKET ) {
if ( gpspacket.time > gps_time ) {
gps_time = gpspacket.time;
current_time = health_time;
printf("Received a health packet, sequence: %d\n",
healthpacket.command_sequence);
- command.update_cmd_sequence(healthpacket.command_sequence);
+ command_mgr.update_cmd_sequence(healthpacket.command_sequence);
} else {
cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
}
gps_status = 1.0;
}
- // Generate a ground station heart beat every 5 seconds
- if ( current_time >= command_heartbeat + 5 ) {
- command.add("hb");
+ // Generate a ground station heart beat every 4 seconds
+ if ( current_time >= command_heartbeat + 4 ) {
+ command_mgr.add("hb");
command_heartbeat = current_time;
}
// Command update @ 1hz
if ( current_time >= command_time + 1 ) {
- command.update(&uavcom);
+ command_mgr.update(&uavcom);
command_time = current_time;
}
--- /dev/null
+// \file props.cxx
+// Property server class.
+//
+// Written by Curtis Olson, started September 2000.
+// Modified by Bernie Bright, May 2002.
+//
+// Copyright (C) 2000 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+//
+// $Id$
+
+
+#include <simgear/structure/commands.hxx>
+#include <simgear/misc/strutils.hxx>
+
+#include <sstream>
+
+#include <plib/netChat.h>
+
+#include "UGear_command.hxx"
+#include "UGear_telnet.hxx"
+
+using std::stringstream;
+using std::ends;
+
+/**
+ * Props connection class.
+ * This class represents a connection to props client.
+ */
+class PropsChannel : public netChat
+{
+ netBuffer buffer;
+
+ /**
+ * Current property node name.
+ */
+ string path;
+
+ enum Mode {
+ PROMPT,
+ DATA
+ };
+ Mode mode;
+
+public:
+
+ /**
+ * Constructor.
+ */
+ PropsChannel();
+
+ /**
+ * Append incoming data to our request buffer.
+ *
+ * @param s Character string to append to buffer
+ * @param n Number of characters to append.
+ */
+ void collectIncomingData( const char* s, int n );
+
+ /**
+ * Process a complete request from the props client.
+ */
+ void foundTerminator();
+
+private:
+ /**
+ * Return a "Node no found" error message to the client.
+ */
+ void node_not_found_error( const string& node_name );
+};
+
+/**
+ *
+ */
+PropsChannel::PropsChannel()
+ : buffer(512),
+ path("/"),
+ mode(PROMPT)
+{
+ setTerminator( "\r\n" );
+}
+
+/**
+ *
+ */
+void
+PropsChannel::collectIncomingData( const char* s, int n )
+{
+ buffer.append( s, n );
+}
+
+/**
+ *
+ */
+void
+PropsChannel::node_not_found_error( const string& node_name )
+{
+ string error = "-ERR Node \"";
+ error += node_name;
+ error += "\" not found.";
+ push( error.c_str() );
+ push( getTerminator() );
+}
+
+/**
+ * We have a command.
+ *
+ */
+void
+PropsChannel::foundTerminator()
+{
+ const char* cmd = buffer.getData();
+ SG_LOG( SG_IO, SG_INFO, "processing command = \"" << cmd << "\"" );
+
+ vector<string> tokens = simgear::strutils::split( cmd );
+
+ if (!tokens.empty()) {
+ string command = tokens[0];
+
+ if ( command == "send" ) {
+ command_mgr.add( tokens[1] );
+ } else if ( command == "quit" ) {
+ close();
+ shouldDelete();
+ return;
+ } else if ( command == "data" ) {
+ mode = DATA;
+ } else if ( command == "prompt" ) {
+ mode = PROMPT;
+ } else {
+ const char* msg = "\
+Valid commands are:\r\n\
+\r\n\
+data switch to raw data mode\r\n\
+prompt switch to interactive mode (default)\r\n\
+quit terminate connection\r\n\
+send <command> send <command> to UAS\r\n";
+ push( msg );
+ }
+ }
+
+ if (mode == PROMPT) {
+ string prompt = "> ";
+ push( prompt.c_str() );
+ }
+
+ buffer.remove();
+}
+
+/**
+ *
+ */
+UGTelnet::UGTelnet( const int port_num ):
+ enabled(false)
+{
+ port = port_num;
+}
+
+/**
+ *
+ */
+UGTelnet::~UGTelnet()
+{
+}
+
+/**
+ *
+ */
+bool
+UGTelnet::open()
+{
+ if (enabled ) {
+ printf("This shouldn't happen, but the telnet channel is already in use, ignoring\n" );
+ return false;
+ }
+
+ netChannel::open();
+ netChannel::bind( "", port );
+ netChannel::listen( 5 );
+ printf("Telnet server started on port %d\n", port );
+
+ enabled = true;
+
+ return true;
+}
+
+/**
+ *
+ */
+bool
+UGTelnet::close()
+{
+ SG_LOG( SG_IO, SG_INFO, "closing UGTelnet" );
+ return true;
+}
+
+/**
+ *
+ */
+bool
+UGTelnet::process()
+{
+ netChannel::poll();
+ return true;
+}
+
+/**
+ *
+ */
+void
+UGTelnet::handleAccept()
+{
+ netAddress addr;
+ int handle = netChannel::accept( &addr );
+ printf("Telent server accepted connection from %s:%d\n",
+ addr.getHost(), addr.getPort() );
+ PropsChannel* channel = new PropsChannel();
+ channel->setHandle( handle );
+}
--- /dev/null
+// \file UGear_telnet.hxx
+// telnet server class.
+//
+// Adapted from FlightGear props.hxx/cxx code
+// Written by Curtis Olson, started September 2000.
+// Modified by Bernie Bright, May 2002.
+//
+// Copyright (C) 2000 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+//
+// $Id$
+
+
+#ifndef _UG_TELNET_HXX
+#define _UG_TELNET_HXX
+
+#include <string>
+#include <vector>
+
+using std::string;
+using std::vector;
+
+#include <plib/netChannel.h>
+
+
+/**
+ * Telent server class.
+ * This class provides a telnet-like server for remote access to
+ * FlightGear properties.
+ */
+class UGTelnet: netChannel
+{
+
+private:
+
+ /**
+ * Server port to listen on.
+ */
+ int port;
+ bool enabled;
+
+public:
+
+ /**
+ * Create a new TCP server.
+ *
+ * @param tokens Tokenized configuration parameters
+ */
+ UGTelnet( const int port_num );
+
+ /**
+ * Destructor.
+ */
+ ~UGTelnet();
+
+ /**
+ * Start the telnet server.
+ */
+ bool open();
+
+ /**
+ * Process network activity.
+ */
+ bool process();
+
+ /**
+ *
+ */
+ bool close();
+
+ /**
+ * Accept a new client connection.
+ */
+ void handleAccept();
+
+};
+
+#endif // _UG_TELNET_HXX
+
projects / flightgear.git / commitdiff