Added UDP server

Added new command line options to setup server and station id

.vscode/settings.json

@@ -0,0 +1,69 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "asn_application.h": "c",
+        "basicvehiclecontainerhighfrequency.h": "c"
+    }
+}

tools/socktap/CMakeLists.txt

@@ -14,11 +14,13 @@ add_executable(socktap
     application.cpp
     benchmark_application.cpp
     cam_application.cpp
+    #its_lci.cpp
     dcc_passthrough.cpp
     ethernet_device.cpp
     hello_application.cpp
     link_layer.cpp
     main.cpp
+    #gps_position_provider.cpp
     positioning.cpp
     raw_socket_link.cpp
     router_context.cpp
@@ -87,9 +89,12 @@ if(SOCKTAP_WITH_COHDA_LLC)
     target_sources(socktap PRIVATE cohda.cpp cohda_link.cpp)
 endif()
 
-find_package(GPS QUIET)
+find_package(GPS)
+message(Found "${GPS}")
+message(GPS found: "${GPS_FOUND}")
 option(SOCKTAP_WITH_GPSD "Enable gpsd positioning for socktap" ${GPS_FOUND})
 if(SOCKTAP_WITH_GPSD)
+    message(Configuring GPS)
     find_package(GPS REQUIRED)
     target_compile_definitions(socktap PUBLIC "SOCKTAP_WITH_GPSD")
     target_link_libraries(socktap PUBLIC GPS::GPS)

tools/socktap/cam_application.cpp

@@ -19,7 +19,57 @@ using namespace std::chrono;
 CamApplication::CamApplication(PositionProvider& positioning, Runtime& rt) :
     positioning_(positioning), runtime_(rt), cam_interval_(seconds(1))
 {
-    schedule_timer();
+    this->send_to_server = false;
+    schedule_timer();    
+
+    this->station_id = 1;
+    this->server_port = 9000;
+    this->serverIP = strdup("192.168.1.124");
+}
+
+int CamApplication::createSocket(){
+    // Creating socket file descriptor 
+    if ( (this->sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0 ) { 
+        perror("socket creation failed"); 
+        return -1;
+    } 
+    printf("socket created\n");
+
+    memset(&this->servaddr, 0, sizeof(this->servaddr)); 
+
+    // Filling server information 
+    this->servaddr.sin_family = AF_INET; 
+    this->servaddr.sin_port = htons(this->server_port); 
+    this->servaddr.sin_addr.s_addr = inet_addr(this->serverIP); 
+    return 0;
+}
+
+int CamApplication::closeSocket(){
+    return close(this->sockfd);
+}
+
+void CamApplication::setSendToServer(bool send_to_server){
+    this->send_to_server = send_to_server;
+}
+
+void CamApplication::setServerPort(int serverPort){
+    this->server_port = serverPort;
+}
+
+void CamApplication::setServerIP(const char * serverIP){
+    this->serverIP = serverIP;
+}
+
+void CamApplication::setStationID(int station_id){
+    this->station_id = station_id;
+}
+
+int  CamApplication::sendToServer(u_int64_t* dataToSend, int size){
+    int sent = sendto(this->sockfd, (const u_int64_t *)dataToSend, size, 
+        MSG_CONFIRM, (const struct sockaddr *) &this->servaddr,  
+            sizeof(this->servaddr)); 
+        std::cout<<"Sending message to UDP Server:" << this->serverIP << " " << this->server_port <<std::endl; 
+    return sent;
 }
 
 void CamApplication::set_interval(Clock::duration interval)
@@ -44,6 +94,14 @@ CamApplication::PortType CamApplication::port()
     return btp::ports::CAM;
 }
 
+int decodeCAM(const asn1::Cam& recvd, char* message){
+    const ItsPduHeader_t& header = recvd->header;
+    const CoopAwareness_t& cam = recvd->cam;
+    const BasicContainer_t& basic = cam.camParameters.basicContainer;
+    int size = sprintf(message, "%ld;%ld;%ld",header.stationID,basic.referencePosition.longitude,basic.referencePosition.latitude);
+    return strlen(message);
+}
+
 void CamApplication::indicate(const DataIndication& indication, UpPacketPtr packet)
 {
     asn1::PacketVisitor<asn1::Cam> visitor;
@@ -54,6 +112,14 @@ void CamApplication::indicate(const DataIndication& indication, UpPacketPtr pack
         std::cout << "Received CAM contains\n";
         print_indented(std::cout, *cam, "  ", 1);
     }
+
+    if(cam && send_to_server){
+        std::cout << "sending to udp server" << std::endl;
+        char message [100];
+        int size = decodeCAM(*cam, message);
+        this->sendToServer((u_int64_t*)message, size);
+    }
+
 }
 
 void CamApplication::schedule_timer()
@@ -69,7 +135,7 @@ void CamApplication::on_timer(Clock::time_point)
     ItsPduHeader_t& header = message->header;
     header.protocolVersion = 2;
     header.messageID = ItsPduHeader__messageID_cam;
-    header.stationID = 1; // some dummy value
+    header.stationID = this->station_id; // some dummy value
 
     const auto time_now = duration_cast<milliseconds>(runtime_.now().time_since_epoch());
     uint16_t gen_delta_time = time_now.count();
@@ -80,7 +146,7 @@ void CamApplication::on_timer(Clock::time_point)
     auto position = positioning_.position_fix();
 
     if (!position.confidence) {
-        std::cerr << "Skipping CAM, because no good position is available, yet." << std::endl;
+        std::cerr << "Skipping CAM, because no good position is available, yet." << position.confidence << std::endl;
         return;
     }
 

tools/socktap/cam_application.hpp

@@ -5,26 +5,48 @@
 #include <vanetza/common/clock.hpp>
 #include <vanetza/common/position_provider.hpp>
 #include <vanetza/common/runtime.hpp>
+#include <stdlib.h> 
+#include <unistd.h> 
+#include <string.h> 
+#include <sys/types.h> 
+#include <sys/socket.h> 
+#include <arpa/inet.h> 
+#include <netinet/in.h> 
 
 class CamApplication : public Application
 {
 public:
     CamApplication(vanetza::PositionProvider& positioning, vanetza::Runtime& rt);
+
     PortType port() override;
     void indicate(const DataIndication&, UpPacketPtr) override;
     void set_interval(vanetza::Clock::duration);
     void print_received_message(bool flag);
     void print_generated_message(bool flag);
-
+    void setSendToServer(bool send_to_server);
+    void setServerPort(int serverPort);
+    void setServerIP(const char * serverIP);
+    void setStationID(int station_id);
+    int createSocket();
 private:
     void schedule_timer();
     void on_timer(vanetza::Clock::time_point);
+
+    int closeSocket();
+    int sendToServer(u_int64_t* dataToSend, int size);
+
 
     vanetza::PositionProvider& positioning_;
     vanetza::Runtime& runtime_;
     vanetza::Clock::duration cam_interval_;
     bool print_rx_msg_ = false;
     bool print_tx_msg_ = false;
+    bool send_to_server = false;
+    int sockfd; 
+    int server_port;
+    const char* serverIP;
+    struct sockaddr_in servaddr; 
+    int station_id;
 };
 
 #endif /* CAM_APPLICATION_HPP_EUIC2VFR */

tools/socktap/its_lci.cpp

@@ -0,0 +1,29 @@
+#include "its_lci.hpp"
+#include <vanetza/btp/ports.hpp>
+#include <vanetza/asn1/cam.hpp>
+#include <vanetza/asn1/packet_visitor.hpp>
+#include <vanetza/facilities/cam_functions.hpp>
+#include <boost/units/cmath.hpp>
+#include <boost/units/systems/si/prefixes.hpp>
+#include <chrono>
+#include <exception>
+#include <functional>
+#include <iostream>
+
+// This is a very simple CA application sending CAMs at a fixed rate.
+
+using namespace vanetza;
+using namespace vanetza::facilities;
+using namespace std::chrono;
+
+ITC_LCI_Application::ITC_LCI_Application(PositionProvider& positioning, Runtime& rt) :
+    positioning_(positioning), runtime_(rt), cam_interval_(seconds(1))
+{
+    int i = 0;
+    printf("hellow %d", i);
+}
+
+void ITC_LCI_Application::indicate(const DataIndication& indication, UpPacketPtr packet)
+{
+
+}

tools/socktap/its_lci.hpp

@@ -0,0 +1,23 @@
+#ifndef ITC_LCI_HPP
+#define ITC_LCI_HPP
+
+#include "application.hpp"
+#include <vanetza/common/clock.hpp>
+#include <vanetza/common/position_provider.hpp>
+#include <vanetza/common/runtime.hpp>
+
+class ITC_LCI_Application : public Application
+{
+public:
+    ITC_LCI_Application(vanetza::PositionProvider& positioning, vanetza::Runtime& rt);
+    PortType port() override;
+    void indicate(const DataIndication&, UpPacketPtr) override;
+
+private:
+
+    vanetza::PositionProvider& positioning_;
+    vanetza::Runtime& runtime_;
+    vanetza::Clock::duration cam_interval_;
+};
+
+#endif

tools/socktap/link_layer.cpp

@@ -77,7 +77,7 @@ create_link_layer(boost::asio::io_service& io_service, const EthernetDevice& dev
         if (vm.count("tcp-connect")) {
             for (const std::string& ip_port : vm["tcp-connect"].as<std::vector<std::string>>()) {
                 auto ip_port_pair = parse_ip_port(ip_port);
-                if (ip_port_pair.has_value()) {
+                if (ip_port_pair.is_initialized()) {
                     tcp->connect(ip::tcp::endpoint(ip_port_pair.value().first, ip_port_pair.value().second));
                 }
             }
@@ -86,7 +86,7 @@ create_link_layer(boost::asio::io_service& io_service, const EthernetDevice& dev
         if (vm.count("tcp-accept")) {
             for (const std::string& ip_port : vm["tcp-accept"].as<std::vector<std::string>>()) {
                 auto ip_port_pair = parse_ip_port(ip_port);
-                if (ip_port_pair.has_value()) {
+                if (ip_port_pair.is_initialized()) {
                     tcp->accept(ip::tcp::endpoint(ip_port_pair.value().first, ip_port_pair.value().second));
                 }
             }

tools/socktap/main.cpp

@@ -1,6 +1,7 @@
 #include "ethernet_device.hpp"
 #include "benchmark_application.hpp"
 #include "cam_application.hpp"
+//#include "its_lci.hpp"
 #include "hello_application.hpp"
 #include "link_layer.hpp"
 #include "positioning.hpp"
@@ -35,7 +36,11 @@ int main(int argc, const char** argv)
         ("print-rx-cam", "Print received CAMs")
         ("print-tx-cam", "Print generated CAMs")
         ("benchmark", "Enable benchmarking")
-        ("applications,a", po::value<std::vector<std::string>>()->default_value({"ca"}, "ca")->multitoken(), "Run applications [ca,hello,benchmark]")
+        ("send-to-server", "Send V2X data to server")
+        ("server-ip",po::value<std::string>()->default_value("192.168.1.124"), "Server IP")
+        ("server-port", po::value<unsigned>()->default_value(9000), "Server Port")
+        ("station-id", po::value<unsigned>()->default_value(1), "Station ID")
+        ("applications,a", po::value<std::vector<std::string>>()->default_value({"ca"}, "ca")->multitoken(), "Run applications [ca,de,hello,benchmark]")
         ("non-strict", "Set MIB parameter ItsGnSnDecapResultHandling to NON_STRICT")
     ;
     add_positioning_options(options);
@@ -149,8 +154,25 @@ int main(int argc, const char** argv)
                 ca->set_interval(std::chrono::milliseconds(vm["cam-interval"].as<unsigned>()));
                 ca->print_received_message(vm.count("print-rx-cam") > 0);
                 ca->print_generated_message(vm.count("print-tx-cam") > 0);
+                ca->setStationID(vm["station-id"].as<unsigned>());
+                if(vm.count("send-to-server") > 0){
+                    ca->setServerIP(vm["server-ip"].as<std::string>().data());
+                    ca->setServerPort(vm["server-port"].as<unsigned>());
+
+                    ca->createSocket();
+                    ca->setSendToServer(true);
+                }
                 apps.emplace(app_name, std::move(ca));
-            } else if (app_name == "hello") {
+            } /*
+            else if (app_name == "DE") {
+                std::unique_ptr<ITC_LCI_Application> de {
+                    new ITC_LCI_Application(*positioning, trigger.runtime())
+                };
+                //ca->set_interval(std::chrono::milliseconds(vm["cam-interval"].as<unsigned>()));
+                //ca->print_received_message(vm.count("print-rx-cam") > 0);
+                //ca->print_generated_message(vm.count("print-tx-cam") > 0);
+                apps.emplace(app_name, std::move(de));
+            }*/ else if (app_name == "hello") {
                 std::unique_ptr<HelloApplication> hello {
                     new HelloApplication(io_service, std::chrono::milliseconds(800))
                 };