ADD: added functionality to show the position in a simtrack of a connected ship

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.1 FATAL_ERROR)
-project (EntitiyManager VERSION 0.1.0 LANGUAGES CXX C)
+project (SimControlApplication VERSION 0.1.0 LANGUAGES CXX C)
 set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
 include(defaultOptions)
 
@@ -58,6 +58,11 @@ target_link_libraries(SimControlApplication
   SimControl
 )
 
+
+add_custom_command(TARGET SimControlApplication POST_BUILD
+      COMMAND ${CMAKE_COMMAND} -E copy_directory
+      ${CMAKE_CURRENT_SOURCE_DIR}/libs/EntityLibrary/libs/KubeControl/docs $<TARGET_FILE_DIR:${PROJECT_NAME}>/docs)
+
 # target_include_directories(EntitiyManagerApplication
 #   PRIVATE
 #   src)

include/SimControl/SimControl.hpp

@@ -2,6 +2,9 @@
 #define __SIMCONTROL__
 
 #include "DirectCommunicationClient.hpp"
+#include "SimCore/Identifier.hpp"
+#include "crossguid/guid.hpp"
+#include "kubecontrol/PodController.hpp"
 #include <iostream>
 
 
@@ -9,6 +12,7 @@
 #include <cstdint>
 #include <memory>
 #include <string>
+#include <sys/types.h>
 #include <thread>
 #include <mutex>
 #include <queue>
@@ -22,15 +26,23 @@ namespace SimControl {
 class SimControl{
    
     public: 
-        SimControl( std::string addr, ushort port);
+        SimControl(ushort CommandPort);
         ~SimControl();
+        void stop();
         
     private:
-
+    const SimCore::Identifier ID_;
+    ushort CommandPort_;
     void MainFunction_();
 
     void HandleMessage(std::string msg);
 
+    std::unique_ptr<kubecontrol::PodController> PodController_;
+
+
+    std::thread MainThread_;    
+    std::atomic<bool> stopMainThread_ = false;
+
     std::unique_ptr<DirectCommunication::DirectCommunicationClient> TCPClient_;    
 
          

src/SimControl/SimControl.cpp

@@ -1,3 +1,10 @@
+#include "Orders/MoveOrder.hpp"
+#include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SimTrack.hpp"
+#include "WHISPER/Messages/Message.hpp"
+#include "crossguid/guid.hpp"
+#include "kubecontrol/KubePod.hpp"
+#include "kubecontrol/PodController.hpp"
 #include <SimControl/SimControl.hpp>
 
 
@@ -5,35 +12,96 @@
 #include <loguru.hpp>
 #include <memory>
 #include <string>
+#include <thread>
 
 
 namespace SimControl {
 
 
-          SimControl::SimControl( std::string addr, ushort port)
+  SimControl::SimControl( ushort CommandPort):CommandPort_(CommandPort),ID_(SimCore::Identifier(xg::newGuid()))
   {
+    PodController_ = std::make_unique<kubecontrol::PodController>("docs/config");
 
-            TCPClient_ = std::make_unique<DirectCommunication::DirectCommunicationClient>(port,addr);    
+    TCPClient_ = std::make_unique<DirectCommunication::DirectCommunicationClient>(30200,"192.168.252.6");    
     TCPClient_->registerMessageCallback(std::bind(&SimControl::HandleMessage,this,std::placeholders::_1));
     TCPClient_->sendMessage("Hello Server");
 
+    this->stopMainThread_ = false;
+    MainThread_ = std::thread(&SimControl::MainFunction_,this);
+
   }
 
   SimControl::~SimControl()
   {
+    this->stopMainThread_ = true;
+
     TCPClient_ = nullptr;
 
   }
 
+  void SimControl::stop()
+  {
+    this->stopMainThread_ = true;
+    TCPClient_.reset();
+
+    
+  }
+  
   void SimControl::HandleMessage(std::string msg)
   {
+  TCPClient_->sendMessage("Hello Server") ;
+  // LOG_S(INFO)<<msg;
+  auto simtrack = SimCore::SimTrack::unpack(msg);
+  if (simtrack != nullptr) 
+  {
+    LOG_S(INFO)<< "own ship data received";
+    auto OwnShipPos = std::make_shared<SimCore::Position>(simtrack->getPosition());  
+    LOG_S(INFO)<< " pos: Lat= "<< OwnShipPos->getGeodesicPos().x() << "Lon= "<< OwnShipPos->getGeodesicPos().y();
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
 
-          LOG_S(INFO)<<msg;
 
   }
 
 
 
+  void SimControl::MainFunction_()
+  {   
+      
+      kubecontrol::KubePod ShipPod1("hamburg","ship1","ship:latest");
+      ShipPod1.setEnvironmentVar("ENTITY_ID", "ship1");
+      ShipPod1.setEnvironmentVar("ENTITY_NAME", "hamburg");
+      ShipPod1.setEnvironmentVar("POS_LAT", "\"55\"");
+      ShipPod1.setEnvironmentVar("POS_LONG", "\"8\"");
+      ShipPod1.setEnvironmentVar("POS_HEIGHT", "\"0\"");
+      ShipPod1.setEnvironmentVar("GROUNDTRUTH_PORT", "\"8000\"");
+      ShipPod1.setEnvironmentVar("COMMAND_PORT", "\"5555\"");
+
+      ShipPod1.createYAML();
+
+
+      Orders::MoveOrder order(this->ID_,WHISPER::SourceType::SIMCOMTROLER);
+      order.Speed.setValue(5.14444);
+      TCPClient_->sendMessage(order.buildMessage().serialize());
+
+
+    // std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+      // TCPClient_->disconnect();
+      // TCPClient_.reset();
+    
+    while (!stopMainThread_) 
+    {
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+
+    }
+    // std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+    TCPClient_->disconnect();
+    LOG_S(INFO)<<"main func stopped";
+  }
+
+
+
 
 
 }

src/main.cpp

@@ -1,3 +1,4 @@
+#include "Orders/MoveOrder.hpp"
 #include <cstdlib>
 #include <iostream>
 #include <csignal>
@@ -32,26 +33,37 @@ int main()
     sigIntHandler.sa_flags = 0;
     sigaction(SIGINT, &sigIntHandler, NULL);
 
-    ushort port = 3500;
-    // SimControl::SimControl sc("127.0.0.1",5557);
+    const char* CommandPortChar = "31371";
+    if (std::getenv("COMMAND_PORT") != nullptr) {
+          CommandPortChar = std::getenv("COMMAND_PORT");
+    }
+    ushort commandPort_ = (unsigned short)strtol(CommandPortChar,NULL,0);
 
 
-    DirectCommunication::DirectCommunicationClient client(port,"127.0.0.1");
+    const char *ServerAddress = nullptr;
+
+    ServerAddress = std::getenv("SERVER_IP");
+    if (ServerAddress == nullptr) {
+      ServerAddress = "127.0.0.1";
+    }
+
+    LOG_S(INFO)<<ServerAddress;
+
+    ushort port = 8000;
+    SimControl::SimControl sc(commandPort_);
+
 
-    client.sendMessage("Hello Server");
 
     while (running) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(500));
-    client.sendMessage("Hello Server");
-
-      std::string MessageString = client.getLatestMessage(); 
-      LOG_S(INFO)<<MessageString;
-      std::this_thread::sleep_for(std::chrono::milliseconds(500));
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
 
     } 
 
+    std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+    sc.stop();
+
     LOG_S(INFO)<<"end app";
-    std::exit(0);
     return 0;
+    std::exit(0);
 }