Merge branch 'main' of ssh://dev-gitea.ftewa.ti.unibw-hamburg.de:12000/hwinkel/SimControl

CMakeLists.txt

@@ -28,6 +28,7 @@ IF(NOT TARGET SimCore)
 ENDIF()
 
 IF(NOT TARGET KubeControl)
+  set(TEST_KUBECONTROL_LIBRARY OFF CACHE BOOL "disable testing")
   add_subdirectory(libs/KubeControl EXCLUDE_FROM_ALL)
 ENDIF()
 

Dockerfile

@@ -21,7 +21,7 @@ RUN apt-get -y install tcpdump nano netcat-openbsd
 
 
 # install all used libs
-RUN apt-get -y install libsodium23 libuuid1 libstdc++5 libcurl4
+RUN apt-get -y install libsodium23 libuuid1 libstdc++5 libcurl4 libcurl4-gnutls-dev
 
 # copy all custom buld libs
 COPY build/libs/SimCore/libs/whisper-com/libs/libzmq/lib/libzmq.so.5  /usr/lib/

buildDocker.sh

@@ -0,0 +1,6 @@
+cd build/
+make -j8
+cd ..   
+TAG="kmaster.ti.unibw-hamburg.de:30808/simcontrol:latest"
+docker build --pull --rm -f "Dockerfile" -t ${TAG} "."
+docker image push ${TAG}

include/SimControl/SimControl.hpp

@@ -55,8 +55,15 @@ class SimControl{
 
 
     void startShip(std::string name);
+    void updateShip(nlohmann::json request);
+    void deleteShip(nlohmann::json request);
+
     void startWebApp(); 
 
+    void startWebsocketServer();
+    void HandleWebsocketMessages(std::shared_ptr<ix::ConnectionState> connectionState, ix::WebSocket &websocket, const ix::WebSocketMessagePtr &msg);
+    void HandleBroadcastMessage(std::string msg); 
+
     std::unique_ptr<kubecontrol::PodController> PodController_;
     std::unique_ptr<TrackList> Tracklist_;
 
@@ -73,11 +80,8 @@ class SimControl{
     int port = 9999;
     std::string host = "0.0.0.0";
     std::shared_ptr<ix::WebSocketServer> WebsocketServer_ = nullptr;   
-    void startWebsocketServer();
-    void HandleWebsocketMessages(std::shared_ptr<ix::ConnectionState> connectionState, ix::WebSocket &websocket, const ix::WebSocketMessagePtr &msg);
 
     std::shared_ptr<WHISPER::InternalUDPListener> BroadcastListener_;  
-    void HandleBroadcastMessage(std::string msg); 
 
 
 

include/SimControl/Tracklist.hpp

@@ -20,6 +20,10 @@ namespace SimControl
             void addTrack(std::shared_ptr<SimCore::SimTrack> Track);
             std::shared_ptr<SimCore::SimTrack> getTrack(SimCore::Identifier);
             
+            
+            std::shared_ptr<SimCore::SimTrack> getTrackBySringID(std::string ID);
+
+
             void getJsonTRackList(nlohmann::json &message);
             
 

src/SimControl/SimControl.cpp

@@ -137,7 +137,7 @@ namespace SimControl {
     auto track = SimCore::SimTrack::unpack(msg);
     if (track != nullptr) 
     {
-      LOG_S(INFO)<<"Track received";
+      // LOG_S(INFO)<<"Track received";
       Tracklist_->addTrack(std::move(track));
     }
 
@@ -165,7 +165,7 @@ namespace SimControl {
   }
   void SimControl::HandleWebsocketMessages(std::shared_ptr<ix::ConnectionState> connectionState, ix::WebSocket &websocket, const ix::WebSocketMessagePtr &msg)
   {
-    LOG_S(INFO) << "Remote ip: " << connectionState->getRemoteIp();
+    // LOG_S(INFO) << "Remote ip: " << connectionState->getRemoteIp();
     
     if (msg->type == ix::WebSocketMessageType::Open)
     {
@@ -195,7 +195,7 @@ namespace SimControl {
         // LOG_S(INFO)<< "Received: " << msg->str << std::endl;
         try {
           nlohmann::json j = nlohmann::json::parse(msg->str);
-          LOG_S(INFO)<< "Received: " << j["Data"].get<std::string>() << std::endl;
+          // LOG_S(INFO)<< "Received: " << j["Data"].get<std::string>() << std::endl;
 
           if (j["Data"] == "COP") 
           {
@@ -204,12 +204,17 @@ namespace SimControl {
               response["Data"] = "COP";
               Tracklist_->getJsonTRackList(response);
               // response.merge_patch(Tracklist_->getJsonTRackList());
-              LOG_S(INFO)<<response;
+              // LOG_S(INFO)<<response;
               websocket.send(response.dump());
             }
-          }else if (true) 
+          }else if (j["Data"] == "Entity") 
           {
             
+            updateShip(j);
+ 
+            
+          
+              
           }
 
 
@@ -227,6 +232,10 @@ namespace SimControl {
 
 
 
+  
+
+
+
   void SimControl::startShip(std::string name)
   {
     std::string uuid = name;
@@ -244,6 +253,52 @@ namespace SimControl {
     PodController_->startPod(ShipPod1);
 
   }
+
+  void SimControl::updateShip(nlohmann::json request)
+  {
+     // if (j["Type"] == ) {
+            // statements
+            // }
+      LOG_S(INFO)<< "Entity values:" << request;
+      auto track = Tracklist_->getTrackBySringID(request["ID"].get<std::string>());
+      Orders::MoveOrder moveOrder(track->getIdentifier());
+      if(track != nullptr)
+      {
+        LOG_S(INFO)<<request["Speed"].get<std::string>();
+        LOG_S(INFO)<<request["Course"].get<std::string>();
+
+        moveOrder.Speed.setValue(std::stod(request["Speed"].get<std::string>()));
+        moveOrder.Course.setValue(std::stod(request["Course"].get<std::string>()));
+      }
+      
+      if(request["SetPosition"].get<bool>() == true) 
+      {
+      LOG_S(INFO)<<"setting new position";
+      SimCore::Position pos;
+      LOG_S(INFO)<<"LAT: "<<request["Position"][0].get<double>();
+      LOG_S(INFO)<<"LON: "<<request["Position"][1].get<double>();
+
+      pos.setGeodesicPos(request["Position"][0].get<double>(),request["Position"][1].get<double>(), request["Height"].get<double>());
+      moveOrder.setPosition(pos);
+
+      }
+
+      auto info = PodController_->getPodsInfo(request["ID"].get<std::string>());
+      if(info != nullptr)
+      {
+        LOG_S(INFO)<<"PODS Info: " <<info->ToJson();
+        DirectCommunication::DirectCommunicationClient client(std::stoi(CommandPort_),info->Ip);
+        client.sendMessage(moveOrder.buildMessage().serialize());
+        // client.disconnect();
+      }
+
+  }
+
+  void SimControl::deleteShip(nlohmann::json request)
+  {
+
+  }
+
     void SimControl::startWebApp()
     {
 

src/SimControl/Tracklist.cpp

@@ -31,6 +31,15 @@ namespace SimControl
                return it->second;
             }
 
+            std::shared_ptr<SimCore::SimTrack> TrackList::getTrackBySringID(std::string ID)
+            {
+                std::lock_guard<std::mutex> lock(mx_);
+
+               auto it =  TrackStore_.find(ID);
+               return it->second;
+            }
+
+
            void TrackList::getJsonTRackList(nlohmann::json &message)
             {
                 std::lock_guard<std::mutex> lock(mx_);
@@ -42,7 +51,9 @@ namespace SimControl
                     j["Name"] = it->second->Name.getValue();
                     j["Course"] = it->second->Course.getValue();
                     j["Speed"] = it->second->Speed.getValue();
+                    j["External"] = false;
                     j["Position"] = {it->second->getPosition().getGeodesicPos()[SimCore::LATITUDE], it->second->getPosition().getGeodesicPos()[SimCore::LONGITUDE]};
+                    j["Height"] = it->second->getPosition().getGeodesicPos()[SimCore::HEIGHT];
                     j["Type"] = SimCore::Kind::EntityKindMap[it->second->EntityKind.getValue()];
                     j["Side"] = SimCore::Side::EntitySideMap[it->second->EntitySide.getValue()];