Abgabe

kawaii/remote.cpp

@@ -0,0 +1,123 @@
+#include <boost/asio.hpp>
+
+#include <sys/socket.h>
+#include <netdb.h>
+#include <cstdint>
+#include <thread>
+#include <atomic>
+#include <queue>
+#include <mutex>
+#include <chrono>
+#include <condition_variable>
+
+#include "engine.hpp"
+
+using namespace std;
+using boost::asio::ip::tcp;
+using boost::asio::io_service;
+
+template <typename T>
+class prodcon
+{
+private:
+	mutex mut;
+	condition_variable condition;
+	queue<T> q;
+public:
+	void push(T data)
+	{
+		unique_lock<mutex> lock(mut);
+		q.push(data);
+		condition.notify_one();
+	}
+	template<typename _Rep, typename _Period>
+	bool pop(T &result, const chrono::duration<_Rep, _Period> __rtime)
+	{
+		unique_lock<mutex> lock(mut);
+		bool success = condition.wait_for(lock, __rtime, [this] {return !this->q.empty();});
+		if (!success)
+			return false;
+		result = q.front();
+		q.pop();
+		return true;
+	}
+};
+
+class remote_server
+{
+private:
+	tcp::acceptor acceptor;
+	io_service &io;
+	thread engine_thread;
+	atomic<bool> stop_thread;
+	prodcon<pair<int8_t, int8_t>> commands;
+public:
+	remote_server(io_service &io_service);
+	void run();
+	void engine_loop();
+};
+
+int main()
+{
+	io_service io;
+	remote_server server(io);
+	server.run();
+	return 0;
+}
+
+remote_server::remote_server(io_service &io_service)
+	: acceptor(io_service),
+	  io(io_service),
+	  stop_thread(false)
+{
+	// Nothing to do
+}
+
+void remote_server::run()
+{
+	tcp::endpoint endpoint(tcp::v4(), 1337);
+	acceptor.open(endpoint.protocol());
+	acceptor.set_option(tcp::acceptor::reuse_address(true));
+	acceptor.bind(endpoint);
+	acceptor.listen(1);
+	while (true)
+	{
+		tcp::socket socket(io);
+		acceptor.accept(socket);
+		stop_thread = false;
+		engine_thread = thread(&remote_server::engine_loop, this);
+		while (true)
+		{
+			int8_t speed_left, speed_right;
+			socket.read_some(boost::asio::buffer(&speed_left, 1));
+			socket.read_some(boost::asio::buffer(&speed_right, 1));
+			commands.push(pair<int8_t, int8_t>(speed_left, speed_right));
+		}
+	}
+}
+
+void remote_server::engine_loop()
+{
+	engine left(
+			gpio(13, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON),
+			gpio(20, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON)
+			);
+	engine right(
+			gpio(19, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON),
+			gpio(26, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON)
+			);
+	while (!stop_thread)
+	{
+		pair<int8_t, int8_t> command;
+		if (commands.pop(command, 1s))
+		{
+			left.set_speed(command.first);
+			right.set_speed(command.second);
+		}
+		else
+		{
+			left.set_speed(0);
+			right.set_speed(0);
+		}
+	}
+}