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Update the NMEA client support program #310

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Merged
merged 1 commit into from
Aug 29, 2022
Merged

Update the NMEA client support program #310

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162 changes: 110 additions & 52 deletions Firmware/Tools/NMEA_Client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,62 +20,120 @@ main (
)
{
int bytesRead;
int nmeaSocket;
struct sockaddr_in serverIpAddress;
int bytesWritten;
int displayHelp;
struct sockaddr_in rtkServerIpAddress;
int rtkSocket;
int status;
struct sockaddr_in vespucciServerIpAddress;
int vespucciSocket;

do {
displayHelp = 1;
status = 0;
if ((argc < 2) || (argc > 3))
{
status = -1;
break;
}

// Display the help text
if (argc != 2)
{
printf ("%s serverIpAddress\n", argv[0]);
return -1;
}

// Initialize the server address
memset (&serverIpAddress, '0', sizeof(serverIpAddress));
serverIpAddress.sin_family = AF_INET;
serverIpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
serverIpAddress.sin_port = htons(1958);
if (inet_pton (AF_INET, argv[1], &serverIpAddress.sin_addr) <= 0)
{
perror ("ERROR - Invalid IPv4 address!\n");
return -2;
}

//Create the socket
nmeaSocket = socket(AF_INET, SOCK_STREAM, 0);
if (nmeaSocket < 0)
{
perror ("ERROR - Unable to create the client socket!\n");
return -3;
}

if (connect (nmeaSocket, (struct sockaddr *)&serverIpAddress, sizeof(serverIpAddress)) < 0)
{
perror("Error : Failed to connect to NMEA server!\n");
return -4;
}

// Read the NMEA data from the client
while ((bytesRead = read (nmeaSocket, rxBuffer, sizeof(rxBuffer)-1)) > 0)
{
// Zero terminate the NMEA string
rxBuffer[bytesRead] = 0;

// Output the NMEA buffer
if (fputs ((char *)rxBuffer, stdout) == EOF)
// Initialize the RTK server address
memset (&rtkServerIpAddress, '0', sizeof(rtkServerIpAddress));
rtkServerIpAddress.sin_family = AF_INET;
rtkServerIpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
rtkServerIpAddress.sin_port = htons(1958);
if (inet_pton (AF_INET, argv[1], &rtkServerIpAddress.sin_addr) <= 0)
{
perror ("ERROR - Invalid RTK server IPv4 address!\n");
status = -2;
break;
}

if (argc == 3)
{
perror ("ERROR - Failed to write to stdout!\n");
return -5;
// Initialize the Vespucci server address
memset (&vespucciServerIpAddress, '0', sizeof(vespucciServerIpAddress));
vespucciServerIpAddress.sin_family = AF_INET;
vespucciServerIpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
vespucciServerIpAddress.sin_port = htons(1958);
if (inet_pton (AF_INET, argv[2], &vespucciServerIpAddress.sin_addr) <= 0)
{
perror ("ERROR - Invalid Vespucci IPv4 address!\n");
status = -3;
break;
}
displayHelp = 0;

//Create the vespucci socket
vespucciSocket = socket(AF_INET, SOCK_STREAM, 0);
if (vespucciSocket < 0)
{
perror ("ERROR - Unable to create the Vespucci client socket!\n");
status = -4;
break;
}

if (connect (vespucciSocket, (struct sockaddr *)&vespucciServerIpAddress, sizeof(vespucciServerIpAddress)) < 0)
{
perror("Error : Failed to connect to Vespucci NMEA server!\n");
status = -5;
break;
}
}
displayHelp = 0;

//Create the RTK socket
rtkSocket = socket(AF_INET, SOCK_STREAM, 0);
if (rtkSocket < 0)
{
perror ("ERROR - Unable to create the RTK client socket!\n");
status = -6;
break;
}
}

if (bytesRead < 0)
{
perror ("ERROR - Failed reading from NMEA server!\n");
return -6;
}
if (connect (rtkSocket, (struct sockaddr *)&rtkServerIpAddress, sizeof(rtkServerIpAddress)) < 0)
{
perror("Error : Failed to connect to RTK NMEA server!\n");
status = -7;
break;
}

// Read the NMEA data from the RTK server
while ((bytesRead = read (rtkSocket, rxBuffer, sizeof(rxBuffer)-1)) > 0)
{
// Zero terminate the NMEA string
rxBuffer[bytesRead] = 0;

// Output the NMEA buffer
if (fputs ((char *)rxBuffer, stdout) == EOF)
{
perror ("ERROR - Failed to write to stdout!\n");
status = -8;
break;
}

// Forward the NMEA data to the Vespucci server
if (argc == 3)
{
if ((bytesWritten = write (vespucciSocket, rxBuffer, bytesRead)) != bytesRead)
{
perror ("ERROR - Failed to write to Vespucci socket");
status = -9;
break;
}
}
}

if (bytesRead <= 0)
{
perror ("ERROR - Failed reading from NMEA server!\n");
status = -10;
}
} while (0);

// Display the help text
if (displayHelp)
printf ("%s RtkServerIpAddress [VespucciServerIpAddress]\n", argv[0]);

// Successful execution
return 0;
return status;
}