network_sensor_enumerator.cpp

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/*
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Analog Devices, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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#include "network_sensor_enumerator.h"
#include "connections/network/network.h"
#include "connections/network/network_depth_sensor.h"
 
#ifdef USE_GLOG
#include <glog/logging.h>
#else
#include <aditof/log.h>
#endif
 
using namespace aditof;
 
NetworkSensorEnumerator::NetworkSensorEnumerator(const std::string &ip)
    : m_ip(ip) {}
 
NetworkSensorEnumerator::~NetworkSensorEnumerator() = default;
 
Status NetworkSensorEnumerator::searchSensors() {
    Status status = Status::OK;
 
    extern std::vector<std::string> m_connectionList;
    int sensorIndex = -1, i = 0;
    for (i = 0; i < m_connectionList.size(); i++) {
        if (m_connectionList.at(i) == m_ip) {
            sensorIndex = i;
            break;
        }
    }
 
    if (sensorIndex == -1) {
        sensorIndex = m_connectionList.size();
        m_connectionList.emplace_back(m_ip);
    }
 
    LOG(INFO) << "Looking for sensors over network: " << m_ip;
 
    std::unique_ptr<Network> net(new Network(sensorIndex));
 
    if (net->ServerConnect(m_ip) != 0) {
        LOG(WARNING) << "Server Connect Failed";
        net.reset(nullptr);
        return Status::UNREACHABLE;
    }
 
    net->send_buff[sensorIndex].set_func_name("FindSensors");
    net->send_buff[sensorIndex].set_expect_reply(true);
 
    if (net->SendCommand() != 0) {
        LOG(WARNING) << "Send Command Failed";
        return Status::INVALID_ARGUMENT;
    }
 
    if (net->recv_server_data() != 0) {
        LOG(WARNING) << "Receive Data Failed";
        return Status::GENERIC_ERROR;
    }
 
    if (net->recv_buff[sensorIndex].server_status() !=
        payload::ServerStatus::REQUEST_ACCEPTED) {
        LOG(WARNING) << "API execution on Target Failed";
        return Status::GENERIC_ERROR;
    }
 
    const payload::ServerResponse &msg = net->recv_buff[sensorIndex];
    const payload::SensorsInfo &pbSensorsInfo = msg.sensors_info();
 
    m_imageSensorsInfo = pbSensorsInfo.image_sensors().name();
 
    m_kernelVersion = msg.card_image_version().kernelversion();
    m_sdVersion = msg.card_image_version().sdversion();
    m_uBootVersion = msg.card_image_version().ubootversion();
 
    status = static_cast<Status>(net->recv_buff[sensorIndex].status());
 
    return status;
}
 
Status NetworkSensorEnumerator::getDepthSensors(
    std::vector<std::shared_ptr<DepthSensorInterface>> &depthSensors) {
 
    depthSensors.clear();
 
    auto sensor =
        std::make_shared<NetworkDepthSensor>(m_imageSensorsInfo, m_ip);
    depthSensors.emplace_back(sensor);
 
    return Status::OK;
}
 
aditof::Status
NetworkSensorEnumerator::getUbootVersion(std::string &uBootVersion) const {
    uBootVersion = m_uBootVersion;
    return aditof::Status::OK;
}
 
aditof::Status
NetworkSensorEnumerator::getKernelVersion(std::string &kernelVersion) const {
    kernelVersion = m_kernelVersion;
    return aditof::Status::OK;
}
 
aditof::Status
NetworkSensorEnumerator::getSdVersion(std::string &sdVersion) const {
    sdVersion = m_sdVersion;
    return aditof::Status::OK;
}