TIMIQCurl.cpp

//=============================================================================
// TIMIQCurl.cpp
//=============================================================================
// abstraction.......TIMIQCurl Low level access to TIMIQ hardware
// class.............TIMIQCurl 
// original author...J. GOUNO - NEXEYA-FRANCE
//=============================================================================

// ============================================================================
// DEPENDENCIES
// ============================================================================
#include "TIMIQCurl.h"
#include <iostream>
#include <string.h>
#include <yat/utils/StringTokenizer.h>
#include <yat/utils/XString.h>

namespace TIMIQLib_ns {

// ============================================================================
// static variables & functions
// ============================================================================
//- timiq internal web buffer
static std::string m_timiq_internal_buff;	

// ----------------------------------------------------------------------------
// write callback functions
// @param buffer data , size*nmemb buffer size, void userp 
// @return size*nmemb buffer size
// ----------------------------------------------------------------------------
static size_t write_callback( char *buffer, size_t size, size_t nmemb, void* )
{
  // std::cout<<"static size_t write_callback <"<<size<<">  nmemb<"<<nmemb<<">"<<std::endl;
  for (size_t idx = 0; idx < size*nmemb; idx++ )
    m_timiq_internal_buff.push_back(buffer[idx]);
  
  return size*nmemb;
}

// ============================================================================
// TIMIQCurl::TIMIQCurl
// ============================================================================
TIMIQCurl::TIMIQCurl(const std::string& ip_address, const std::string& num_port)
{
  //std::cout << "TIMIQCurl constructor" << std::endl;
  m_base_addr = kHTTP_WEB_PROTOCOL + ip_address + ":"+ num_port;
	
  m_error_string = "";
	
  m_hw_curl = NULL; 
  m_thr_hw_curl = NULL;

  curl_global_init(CURL_GLOBAL_ALL);
}

// ============================================================================
// TIMIQCurl::~TIMIQCurl
// ============================================================================
TIMIQCurl::~TIMIQCurl ()
{
  if (m_hw_curl)
  {
    //- clean up
    curl_easy_cleanup(m_hw_curl);
    m_hw_curl = NULL;
  }

  if (m_thr_hw_curl)
  {
    //- clean up
    curl_easy_cleanup(m_thr_hw_curl);
    m_thr_hw_curl = NULL;
  }

  curl_global_cleanup();
}

// ============================================================================
// TIMIQCurl::write_data
// ============================================================================
E_timiq_errno_t TIMIQCurl::write_data(float& data)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
		
  char buff[kMAX_DATA_SIZE];
  memset(buff, 0, sizeof(buff));
  sprintf(buff, "%s=%2.3f", (char*)kTIMIQ_DATA_KEY.c_str(), data);
  std::string strbuff(buff);

  //- request to the web page
  //  http://address/set_data
  std::string str_url = m_base_addr + kTIMIQ_DATA_PAGE+ "?" + strbuff;
	
  if (this->write_i(str_url, strbuff))
    err_num = timiq_NO_ERROR;
		
  return err_num;
}

// ============================================================================
// TIMIQCurl::write_iValue
// ============================================================================
E_timiq_errno_t TIMIQCurl::write_iValue(float& iValue)
{
  std::cout << "TIMIQCurl::write_iValue() write iValue = " << iValue << std::endl; // soso traces
  E_timiq_errno_t err_num = timiq_internal_ERROR;
		 
  char buff[kMAX_DATA_SIZE];
  memset(buff, 0, sizeof(buff));
  sprintf(buff, "%s=%1.6f",  kTIMIQ_IVALUE_KEY.c_str() , iValue);
  std::string strbuff(buff);

  //- request to the web page 
  //  http://address/set_iValue
  std::string str_url = m_base_addr + kTIMIQ_IVALUE_PAGE + "?" + strbuff;

  if (this->write_i(str_url, strbuff))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}
			
// ============================================================================
// TIMIQCurl::write_qValue
// ============================================================================
E_timiq_errno_t TIMIQCurl::write_qValue(float& qValue)
{
std::cout << "TIMIQCurl::write_qValue() write qValue = " << qValue << std::endl; // soso traces
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  char buff[kMAX_DATA_SIZE];
  memset(buff, 0, sizeof (buff));
  sprintf(buff, "%s=%1.6f", kTIMIQ_QVALUE_KEY.c_str(), qValue);
  std::string strbuff(buff);
	
  //- request to the web page
  //  http://address/set_qValue
  std::string str_url = m_base_addr + kTIMIQ_QVALUE_PAGE + "?" + strbuff;

  if (this->write_i(str_url, strbuff))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}

// ============================================================================
// TIMIQCurl::write_boardTemperature
// ============================================================================
E_timiq_errno_t TIMIQCurl::write_boardTemperature(float& boardTemperature)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  char buff[kMAX_DATA_SIZE];
  memset(buff, 0, sizeof (buff));
  sprintf(buff, "%s=%2.3f", kTIMIQ_BOARD_TEMPERATURE_KEY.c_str(),  boardTemperature);
  std::string strbuff(buff);

  //- request to the web page  
  //  http://address/set_boardTemperature.wsgi
  std::string str_url = m_base_addr + kTIMIQ_BOARD_TEMPERATURE_PAGE + "?" + strbuff;

  if (this->write_i(str_url, strbuff))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}
			
// ============================================================================
// TIMIQCurl::write_command
// ============================================================================
E_timiq_errno_t TIMIQCurl::write_command(E_timiq_cmd_t& cmd, bool thr)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  char buff[kMAX_DATA_SIZE];
  memset(buff, 0, sizeof(buff));
  sprintf(buff, "%s=%d", kTIMIQ_COMMAND_KEY.c_str(), (unsigned short)cmd);
  std::string strbuff(buff);
	
  //- request to the web page  
  //  http://address/set_command
  std::string str_url = m_base_addr + kTIMIQ_COMMAND_PAGE + "?" + strbuff;

  if (this->write_i(str_url, strbuff, thr))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}
		
// ============================================================================
// TIMIQCurl::read_data
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_data(float& data)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //  http://address/get_data.wsgi
  std::string str_url = m_base_addr + kTIMIQ_DATA_PAGE;
	
  if (this->read_float_i(str_url, kTIMIQ_DATA_KEY, data))
    err_num = timiq_NO_ERROR;

  return err_num;
}
	
// ============================================================================
// TIMIQCurl::read_iValue
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_iValue(float& iValue)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //  http://address/get_feedback.wsgi
  std::string str_url = m_base_addr + kTIMIQ_FEEDBACK_PAGE;

  if (this->read_float_i(str_url, kTIMIQ_IVALUE_KEY, iValue))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}

// ============================================================================
// TIMIQCurl::read_qValue
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_qValue(float& qValue)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //  http://address/get_feedback.wsgi
  std::string str_url = m_base_addr + kTIMIQ_FEEDBACK_PAGE;
	
  if (this->read_float_i(str_url, kTIMIQ_QVALUE_KEY, qValue))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}
		
// ============================================================================
// TIMIQCurl::read_mixerCosOutput
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_mixerCosOutput(float& mixerCosOutput)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //- http://address/get_feedback.wsgi
  std::string str_url = m_base_addr + kTIMIQ_FEEDBACK_PAGE;
	
  if (this->read_float_i(str_url, kTIMIQ_MIXER_COS_OUTPUT_KEY, mixerCosOutput))
    err_num = timiq_NO_ERROR;
		
  return err_num;
}
		
// ============================================================================
// TIMIQCurl::read_mixerSinOutput
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_mixerSinOutput(float& mixerSinOutput)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //- http://address/get_feedback.wsgi
  std::string str_url = m_base_addr + kTIMIQ_FEEDBACK_PAGE;

  if (this->read_float_i(str_url, kTIMIQ_MIXER_SIN_OUTPUT_KEY, mixerSinOutput))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}
		
// ============================================================================
// TIMIQCurl::read_boardTemperature
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_boardTemperature(float& boardTemperature)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //- http://address/get_feedback.wsgi
  std::string str_url = m_base_addr + kTIMIQ_FEEDBACK_PAGE;

  if (this->read_float_i(str_url, kTIMIQ_BOARD_TEMPERATURE_KEY, boardTemperature))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}

// ============================================================================
// TIMIQCurl::read_state_and_status
// ============================================================================
E_timiq_errno_t TIMIQCurl::read_state_and_status(std::string& status, E_timiq_code_t& codeRet)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
	
  //- request to the web page  
  //- http://address/get_state.wsgi
  std::string str_url = m_base_addr + kTIMIQ_STATE_PAGE;

  if (this->read_state_and_status_i(str_url, status, codeRet))
    err_num = timiq_NO_ERROR;
	
  return err_num;
}

// ============================================================================
// TIMIQCurl::connect_i
// ============================================================================
E_timiq_errno_t TIMIQCurl::connect_i(bool thr)
{
  E_timiq_errno_t err_num = timiq_internal_ERROR;
  m_error_string = "";

  // according to flag, initialize "standard" or "threaded" curl reference
  if (thr)
  {
    // use threaded reference
    try
    {
      if (!m_thr_hw_curl)
      {
        m_thr_hw_curl = curl_easy_init();
				
        if (m_thr_hw_curl) 
        {
          err_num = timiq_NO_ERROR;
        }
        else
        { 
          m_error_string = "INTERNAL_ERROR\n"; 
          m_error_string += "TIMIQ WebServer access is not available, null pointer detected for threaded ref!\n"; 
          m_error_string += "TIMIQCurl::connect()"; 
        }
      }
      else
      { 
        m_error_string = "TIMIQ WebServer access allows only single session for threaded ref!\n"; 
        m_error_string += "TIMIQCurl::connect()"; 
      }	
    }
    catch (...)
    {
      m_error_string = "TIMIQCurl::connect: exception while initializing Webserver for threaded ref...";
      m_thr_hw_curl = NULL;
    }
  }
  else
  {
    // use non threaded reference
    try
    {
      if (!m_hw_curl)
      {
        m_hw_curl = curl_easy_init();
 				
        if (m_hw_curl) 
        {
          err_num = timiq_NO_ERROR;
        }
        else
        { 
          m_error_string = "INTERNAL_ERROR\n"; 
          m_error_string += "TIMIQ WebServer access is not available, null pointer detected for standard ref!\n"; 
          m_error_string += "TIMIQCurl::connect()"; 
        }
      }
      else
      { 
        m_error_string = "TIMIQ WebServer access allows only single session for standard ref!\n"; 
        m_error_string += "TIMIQCurl::connect()"; 
      }	
    }
    catch (...)
    {
      m_error_string = "TIMIQCurl::connect: exception while initializing Webserver for standard ref...";
      m_hw_curl = NULL;
    }
  }
  
  return err_num;
}

// ============================================================================
// TIMIQCurl::write_i
// ============================================================================
bool TIMIQCurl::write_i(std::string& url, std::string& strData, bool thr)
{
  //- CURL easy return code
  CURLcode result;
	
  m_error_string = "";

#if !defined (_SIMULATION_)	
  //- no connection is possible
  if (this->connect_i(thr) != timiq_NO_ERROR)
    return false;
	
  try
  {
    result = send_to_webserver_i(url, thr);
  }	
  catch (...)
  {
    m_error_string = "TIMIQCurl::write_i: exception while writing data on" + url;
    return false;
  }
	
  //- check the result
  //----------------------------
  if (result != CURLE_OK)
  {
    //- HTTP error 
    m_error_string = m_timiq_internal_buff;
    return false;		
  }
  else
  //- check the data returned
  {
#else	
    m_timiq_internal_buff = "\ncommand=1\n";
    m_timiq_internal_buff += "command=2\n";
    m_timiq_internal_buff += "command=3\n";
    m_timiq_internal_buff += "iValue=-0.000001\n";
    m_timiq_internal_buff += "qValue=-0.000002";	
#endif

    std::size_t found = m_timiq_internal_buff.find(strData);	
    if (found != std::string::npos)
    {
      m_error_string = "OK";
      return true;
    }
    else
    {
      //- otherwise error
      m_error_string = m_timiq_internal_buff;	
    }
#if !defined (_SIMULATION_)	
  }
#endif	

  return false;
}

// ============================================================================
// TIMIQCurl::read_float_i
// ============================================================================
bool TIMIQCurl::read_float_i(const std::string& url, const std::string& strData, float& value)
{
  // std::cout <<"TIMIQCurl::read_float_i"<<std::endl;
  //- CURL easy return code
  CURLcode result;
	
  m_error_string = "";

#if !defined (_SIMULATION_)	
  //- no connection is possible
  if (this->connect_i() != timiq_NO_ERROR)
    return false;

  try
  {
    result = send_to_webserver_i(url);
  }	
  catch (...)
  {
    m_error_string = "TIMIQCurl::read_float_i: exception while reading data on " + url;
    return false;
  }
	
  //- check the result
  //----------------------------
  if (result != CURLE_OK)
  {
    //- HTTP error 
    char buff[kMAX_DATA_SIZE];
    memset(buff, 0, sizeof(buff));
    sprintf (buff, "TIMIQCurl::read_float_i - CURL code error <%d>",result);
    m_error_string = buff;	
    return false;		
  }
  else
  //- check the data returned	
  {
#else
    m_timiq_internal_buff = "\niValue=-0.000001\n";
    m_timiq_internal_buff += "qValue=0.000002\n";
    m_timiq_internal_buff += "mixerSinOutput=3.100000\n";
    m_timiq_internal_buff += "mixerCosOutput=0.154600\n";
    m_timiq_internal_buff += "boardTemperature=20.154";
#endif	
		
    std::size_t index = m_timiq_internal_buff.find(strData);	
    if (index != std::string::npos)
    {
      //- extract substring from index 
      std::string l_subStr = m_timiq_internal_buff.substr(index);
			
      //- parse "="
      yat::StringTokenizer tokfloatStr (l_subStr, "=");
      try
      {
        //- field  
        std::string fieldStr = tokfloatStr.next_token();

        //- value
        std::string floatStr =  tokfloatStr.next_token();
				
        //- convert data to float 
        value = (float)yat::XString<float>::to_num(floatStr);						
      }
      catch(...)
      {
        m_error_string = "TIMIQCurl::read_float_i: exception while converting data from " + url;
        m_error_string += m_timiq_internal_buff;
        return false;
      }
			
      //- success
      m_error_string = "OK";
      return true;
    }
		
    //- otherwise error
    m_error_string = m_timiq_internal_buff;
#if !defined (_SIMULATION_)			
  }
#endif

  return false;
}

// ============================================================================
// TIMIQCurl::read_state_and_status_i
// ============================================================================
bool TIMIQCurl::read_state_and_status_i(const std::string& url, std::string& status, E_timiq_code_t& codeRet)
{
  //- CURL easy return code
  CURLcode result;
	
  m_error_string = "";

#if !defined (_SIMULATION_)		
  //- no connection is possible
  if (this->connect_i() != timiq_NO_ERROR)
    return false;

  try
  {
    result = send_to_webserver_i(url);
  }	
  catch (...)
  {
    m_error_string = "TIMIQCurl::read_status_i: exception while reading TimIQ status on " + url;
    return false;
  }
	
  //- check the result
  //----------------------------
  if (result != CURLE_OK)
  {
    //- HTTP error
    char buff[kMAX_DATA_SIZE];
    memset(buff, 0, sizeof(buff));
    sprintf (buff, "TIMIQCurl::read_state_and_status_i - CURL code error <%d>",result);
    m_error_string = buff;	
    return false;		
  }
  else
  //- check the data returned
  {
#else
    m_timiq_internal_buff="message=System up and running\n";
    m_timiq_internal_buff+="state=OK\n";
    m_timiq_internal_buff+="code=1\n";
#endif
    bool b_found = true;
		
    //- key word: message
    std::size_t found = m_timiq_internal_buff.find(kTIMIQ_MESSAGE_KEY);	
    b_found = (found != std::string::npos);
			
    //- key word: state
    found = m_timiq_internal_buff.find(kTIMIQ_STATE_KEY);	
    b_found &=(found != std::string::npos);
			
    //- key word: code
    found = m_timiq_internal_buff.find(kTIMIQ_CODE_KEY);	
    b_found &=(found != std::string::npos);
			
    if (b_found)
    {
      //- extract the code value
      std::string strCode = m_timiq_internal_buff.substr(found);
			
      //- parse "="
      yat::StringTokenizer tokKeyword (strCode, "=");
      try
      {
        //- field
        std::string fieldStr = tokKeyword.next_token();
		
        //- value
        codeRet = (E_timiq_code_t) tokKeyword.next_int_token();	
      }
      catch(...)
      {
        m_error_string = "TIMIQCurl::read_state_and_status_i: exception while converting code from " + url;
        m_error_string += m_timiq_internal_buff;
        return false;
      }
		
      status = m_timiq_internal_buff;
      m_error_string = "OK";

      return true;
    }
		
    //- otherwise error
    m_error_string = m_timiq_internal_buff;
		
#if !defined (_SIMULATION_)	
  }
#endif

  return false;
}

// ============================================================================
// TIMIQCurl::send_to_webserver_i
// ============================================================================
CURLcode TIMIQCurl::send_to_webserver_i(const std::string& url, bool thr)
{
  std::cout << "TIMIQCurl::send_to_webserver_i() entering... thr? " << thr << " - url = " << url << std::endl; // soso traces

  CURLcode result;
	
  //- clean the timiq buffer data before perform
  m_timiq_internal_buff.clear();

  // according to flag, use "standard" or "threaded" curl reference
  if (thr)
  {
    // use threaded reference

    /* ask libcurl to set options */
    curl_easy_setopt(m_thr_hw_curl, CURLOPT_URL, url.c_str());
    curl_easy_setopt(m_thr_hw_curl, CURLOPT_PROXY, "");
    curl_easy_setopt(m_thr_hw_curl, CURLOPT_WRITEFUNCTION, &write_callback);
	
    /* complete within 1500 ms */
    curl_easy_setopt(m_thr_hw_curl, CURLOPT_TIMEOUT_MS, 30000L); // High timeout for threaded actions

    /* ask libcurl to show us the verbose output */
    // curl_easy_setopt(hm_thr_hw_curl, CURLOPT_VERBOSE, 1L);
	
    //- perform the query
    result = curl_easy_perform(m_thr_hw_curl);
	
std::cout << "TIMIQCurl::send_to_webserver_i() curl_easy_perform rend la main pour url = " << url << std::endl; // soso traces

    //- clean up
    curl_easy_cleanup(m_thr_hw_curl);
    m_thr_hw_curl = NULL;
  }
  else
  {
    // use non threaded reference

    /* ask libcurl to set options */
    curl_easy_setopt(m_hw_curl, CURLOPT_URL, url.c_str());
    curl_easy_setopt(m_hw_curl, CURLOPT_PROXY, "");
    curl_easy_setopt(m_hw_curl, CURLOPT_WRITEFUNCTION, &write_callback);
	
    /* complete within 1500 ms */
    curl_easy_setopt(m_hw_curl, CURLOPT_TIMEOUT_MS, 1500L);

    /* ask libcurl to show us the verbose output */
    // curl_easy_setopt(m_hw_curl, CURLOPT_VERBOSE, 1L);
	
    //- perform the query
    result = curl_easy_perform(m_hw_curl);
	
    //- clean up
    curl_easy_cleanup(m_hw_curl);
    m_hw_curl = NULL;
  }

  return result;
}

}