Implemented first version of Chm30Utility

CanDriver/driver/CANBlastDriver/CANBlasterDriver.cpp

@@ -0,0 +1,137 @@
+/*
+
+  Copyright (c) 2022 Ethan Zonca
+
+  This file is part of cangaroo.
+
+  cangaroo 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.
+
+  cangaroo 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 cangaroo.  If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+
+#include "CANBlasterDriver.h"
+#include "CANBlasterInterface.h"
+#include <core/Backend.h>
+
+#include <errno.h>
+#include <cstring>
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <QCoreApplication>
+#include <QDebug>
+#include <QtNetwork/QUdpSocket>
+#include <QNetworkDatagram>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QList>
+
+CANBlasterDriver::CANBlasterDriver(Backend &backend)
+  : CanDriver(backend)
+{
+}
+
+CANBlasterDriver::~CANBlasterDriver() {
+}
+
+bool CANBlasterDriver::update() {
+
+    deleteAllInterfaces();
+
+    // TODO: Listen for multicast packets for discovery of canblaster servers
+    QUdpSocket udpSocket;
+    QHostAddress groupAddress;
+    groupAddress.setAddress("239.255.43.21");
+    udpSocket.bind(QHostAddress::AnyIPv4, 20000, QUdpSocket::ShareAddress);
+    udpSocket.joinMulticastGroup(groupAddress);
+
+    // Record start time
+    struct timeval start_time;
+    gettimeofday(&start_time,NULL);
+
+    fprintf(stderr, "CANblaster: start listen\r\n");
+
+    QList<QString> detected_servers;
+
+    while(1)
+    {
+        while (udpSocket.hasPendingDatagrams())
+        {
+            QNetworkDatagram res = udpSocket.receiveDatagram(1024);
+            if(res.isValid())
+            {
+                QByteArray asd = res.data();
+                qDebug() << asd;
+                QJsonDocument document = QJsonDocument::fromJson(res.data());
+                QJsonObject rootObj = document.object();
+
+
+                if(rootObj.length() == 2 &&
+                   rootObj["protocol"].toString() == "CANblaster" &&
+                   rootObj["version"].toInt() == 1)
+                {
+                    if(!detected_servers.contains(res.senderAddress().toString()))
+                        detected_servers.append(res.senderAddress().toString());
+                }
+                else
+                {
+                    fprintf(stderr, "Invalid CANblaster server. Protocol: %s  Version: %d \r\n", rootObj["protocol"].toString().toStdString().c_str(), rootObj["version"].toInt());
+                }
+            }
+        }
+
+        struct timeval tv;
+        gettimeofday(&tv,NULL);
+
+        // Iterate until timer expires
+        if(tv.tv_sec - start_time.tv_sec > 2)
+            break;
+    }
+    fprintf(stderr, "CANblaster: stop listen\r\n");
+
+    fprintf(stderr, "Found %d servers: \r\n", detected_servers.length());
+    int interface_cnt = 0;
+
+    for(QString server: detected_servers)
+    {
+        fprintf(stderr, "  - %s\r\n", server.toStdString().c_str());
+        createOrUpdateInterface(interface_cnt++, server, false);
+    }
+
+
+    return true;
+}
+
+QString CANBlasterDriver::getName() {
+    return "CANblaster";
+}
+
+
+
+CANBlasterInterface *CANBlasterDriver::createOrUpdateInterface(int index, QString name, bool fd_support) {
+
+    foreach (CanInterface *intf, getInterfaces()) {
+        CANBlasterInterface *scif = dynamic_cast<CANBlasterInterface*>(intf);
+		if (scif->getIfIndex() == index) {
+			scif->setName(name);
+            return scif;
+		}
+	}
+
+
+    CANBlasterInterface *scif = new CANBlasterInterface(this, index, name, fd_support);
+    addInterface(scif);
+    return scif;
+}