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Added version fallback behaviour #58

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merged 2 commits into from
Dec 17, 2024
Merged

Added version fallback behaviour #58

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65ec1db
Added version fallback system
qjgn Dec 16, 2024
7d1dadc
Whitespace fix
qjgn Dec 16, 2024
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93 changes: 68 additions & 25 deletions RTProtocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,38 @@ namespace
std::make_pair(CRTProtocol::EDegreeOfFreedom::TranslationY, "TranslationY"),
std::make_pair(CRTProtocol::EDegreeOfFreedom::TranslationZ, "TranslationZ")
};

struct RTVersion
{
int major = MAJOR_VERSION;
int minor = MINOR_VERSION;

// Returns a list of rt protocol version which are supported by the current SDK,
// including an initial version by the function argument. (The initial version is not checked for compatibility)
// The list is sorted high to low and contains only unique elements.
static std::vector<RTVersion> VersionList(const RTVersion& initial)
{
// Valid versions added from high to low
std::vector<RTVersion> versions {
{MAJOR_VERSION, MINOR_VERSION},
{1, 25},
{1, 24},
{1, 23},
};

// Remove higher versions
versions.erase(
std::remove_if(versions.begin(), versions.end(), [&](const RTVersion& v) {
return v.major > initial.major || (v.major == initial.major && v.minor >= initial.minor);
}),
versions.end()
);

versions.insert(versions.begin(), initial);

return versions;
}
};
}

unsigned int CRTProtocol::GetSystemFrequency() const
Expand Down Expand Up @@ -92,17 +124,15 @@ CRTProtocol::~CRTProtocol()
}
} // ~CRTProtocol


bool CRTProtocol::Connect(const char* pServerAddr, unsigned short nPort, unsigned short* pnUDPServerPort,
int nMajorVersion, int nMinorVersion, bool bBigEndian)
int nMajorVersion, int nMinorVersion, bool bBigEndian, bool bNegotiateVersion)
{
CRTPacket::EPacketType eType;
std::string tempStr;
std::string responseStr;

mbBigEndian = bBigEndian;
mbIsMaster = false;

mnMajorVersion = 1;
if ((nMajorVersion == 1) && (nMinorVersion == 0))
{
Expand All @@ -125,6 +155,7 @@ bool CRTProtocol::Connect(const char* pServerAddr, unsigned short nPort, unsigne
{
delete mpoRTPacket;
}

mpoRTPacket = new CRTPacket(nMajorVersion, nMinorVersion, bBigEndian);

if (mpoRTPacket == nullptr)
Expand Down Expand Up @@ -159,37 +190,49 @@ bool CRTProtocol::Connect(const char* pServerAddr, unsigned short nPort, unsigne
const std::string welcomeMessage("QTM RT Interface connected");
if (strncmp(welcomeMessage.c_str(), mpoRTPacket->GetCommandString(), welcomeMessage.size()) == 0)
{
// Set protocol version
if (SetVersion(nMajorVersion, nMinorVersion))
std::vector<RTVersion> versionList;
if (bNegotiateVersion)
{
// Set byte order.
// Unless we use protocol version 1.0, we have set the byte order by selecting the correct port.

if ((mnMajorVersion == 1) && (mnMinorVersion == 0))
versionList = RTVersion::VersionList({nMajorVersion, nMinorVersion});
}
else
{
versionList = std::vector<RTVersion>(1, {nMajorVersion, nMinorVersion});
}

for(RTVersion& version : versionList)
{
// Set protocol version
if (SetVersion(version.major, version.minor))
{
if (mbBigEndian)
{
tempStr = "ByteOrder BigEndian";
}
else
// Set byte order.
// Unless we use protocol version 1.0, we have set the byte order by selecting the correct port.
if ((mnMajorVersion == 1) && (mnMinorVersion == 0))
{
tempStr = "ByteOrder LittleEndian";
}
if (mbBigEndian)
{
tempStr = "ByteOrder BigEndian";
}
else
{
tempStr = "ByteOrder LittleEndian";
}

if (SendCommand(tempStr, responseStr))
{
return true;
if (SendCommand(tempStr, responseStr))
{
return true;
}
else
{
strcpy(maErrorStr, "Set byte order failed.");
}
}
else
{
strcpy(maErrorStr, "Set byte order failed.");
GetState(meState, true);
return true;
}
}
else
{
GetState(meState, true);
return true;
}
}
Disconnect();
return false;
Expand Down
2 changes: 1 addition & 1 deletion RTProtocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -674,7 +674,7 @@ class DLL_EXPORT CRTProtocol
~CRTProtocol();

bool Connect(const char* pServerAddr, unsigned short nPort = cDefaultBasePort, unsigned short* pnUDPServerPort = nullptr,
int nMajorVersion = MAJOR_VERSION, int nMinorVersion = MINOR_VERSION, bool bBigEndian = false);
int nMajorVersion = MAJOR_VERSION, int nMinorVersion = MINOR_VERSION, bool bBigEndian = false, bool bNegotiateVersion = true);
unsigned short GetUdpServerPort();
void Disconnect();
bool Connected() const;
Expand Down
20 changes: 14 additions & 6 deletions RigidBodyStreaming/RigidBodyStreaming.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,23 +36,31 @@ int main(int argc, char **argv)

const char serverAddr[] = "127.0.0.1";
const unsigned short basePort = 22222;
const int majorVersion = 1;
const int minorVersion = 19;
const bool bigEndian = false;

bool dataAvailable = false;
bool streamFrames = false;
unsigned short udpPort = 6734;
while (true)
{
if (!rtProtocol.Connected())
{
if (!rtProtocol.Connect(serverAddr, basePort, &udpPort, majorVersion, minorVersion, bigEndian))
if (!rtProtocol.Connect(serverAddr, basePort, &udpPort))
{
printf("rtProtocol.Connect: %s\n\n", rtProtocol.GetErrorString());
sleep(1);
sleep(1000);
continue;
}

unsigned int major, minor;
if(rtProtocol.GetVersion(major, minor))
{
printf("rtProtocol.Connect: RT Protocol Version %d.%d\n\n", major, minor);
}

std::string qtmVersion;
if(rtProtocol.GetQTMVersion(qtmVersion))
{
printf("rtProtocol.Connect: Connected to %s\n\n", qtmVersion.data());
}
}

if (!dataAvailable)
Expand Down