Added support for NAT, resolved #69

modules/camera/include/ifm3d/camera/camera.h

@@ -25,6 +25,7 @@ namespace ifm3d
   extern IFM3D_CAMERA_EXPORT const std::string DEFAULT_IP;
   extern IFM3D_CAMERA_EXPORT const std::uint16_t DEFAULT_XMLRPC_PORT;
   extern IFM3D_CAMERA_EXPORT const int DEFAULT_PCIC_PORT;
+  extern IFM3D_CAMERA_EXPORT const std::uint16_t DEFAULT_NAT_PCIC_PORT;
   extern IFM3D_CAMERA_EXPORT const std::string DEFAULT_PASSWORD;
   extern IFM3D_CAMERA_EXPORT const int MAX_HEARTBEAT;
   extern IFM3D_CAMERA_EXPORT const std::size_t SESSION_ID_SZ;

modules/camera/src/libifm3d_camera/camera.cpp

@@ -28,6 +28,7 @@
 const std::string ifm3d::DEFAULT_PASSWORD = "";
 const std::uint16_t ifm3d::DEFAULT_XMLRPC_PORT = 80;
 const int ifm3d::DEFAULT_PCIC_PORT = 50010;
+const std::uint16_t ifm3d::DEFAULT_NAT_PCIC_PORT = 0;
 const std::string ifm3d::DEFAULT_IP = std::getenv("IFM3D_IP") == nullptr ?
                                         "192.168.0.69" :
                                         std::string(std::getenv("IFM3D_IP"));

modules/framegrabber/include/ifm3d/fg/frame_grabber.h

@@ -32,9 +32,14 @@ namespace ifm3d
      * @param[in] cam The camera instance to grab frames from
      * @param[in] mask A bitmask encoding the image acquisition schema
      *                 to stream in from the camera.
+     * @param[in] nat_pcic_port Port for devices behind NAT router,
+     *                          user must provide this value according to there
+     *                          NAT router configuration.
      */
-    FrameGrabber(ifm3d::Camera::Ptr cam,
-                 std::uint16_t mask = ifm3d::DEFAULT_SCHEMA_MASK);
+    FrameGrabber(
+      ifm3d::Camera::Ptr cam,
+      std::uint16_t mask = ifm3d::DEFAULT_SCHEMA_MASK,
+      const std::uint16_t nat_pcic_port = ifm3d::DEFAULT_NAT_PCIC_PORT);
 
     /**
      * Cleans up resources held by the framegrabbing thread object and blocks

modules/framegrabber/src/libifm3d_framegrabber/frame_grabber.cpp

@@ -13,8 +13,10 @@
 #include <ifm3d/camera/err.h>
 #include <frame_grabber_impl.hpp>
 
-ifm3d::FrameGrabber::FrameGrabber(ifm3d::Camera::Ptr cam, std::uint16_t mask)
-  : pImpl(new ifm3d::FrameGrabber::Impl(cam, mask))
+ifm3d::FrameGrabber::FrameGrabber(ifm3d::Camera::Ptr cam,
+                                  std::uint16_t mask,
+                                  const std::uint16_t nat_pcic_port)
+  : pImpl(new ifm3d::FrameGrabber::Impl(cam, mask, nat_pcic_port))
 { }
 
 ifm3d::FrameGrabber::~FrameGrabber() = default;

modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp

@@ -46,7 +46,9 @@ namespace ifm3d
   class FrameGrabber::Impl
   {
   public:
-    Impl(ifm3d::Camera::Ptr cam, std::uint16_t mask);
+    Impl(ifm3d::Camera::Ptr cam,
+         std::uint16_t mask,
+         const std::uint16_t& nat_pcic_port);
     ~Impl();
 
     virtual void SWTrigger();
@@ -133,11 +135,15 @@ namespace ifm3d
 //-------------------------------------
 // ctor/dtor
 //-------------------------------------
-ifm3d::FrameGrabber::Impl::Impl(ifm3d::Camera::Ptr cam, std::uint16_t mask)
+ifm3d::FrameGrabber::Impl::Impl(ifm3d::Camera::Ptr cam,
+                                std::uint16_t mask,
+                                const std::uint16_t& nat_pcic_port)
   : cam_(cam),
     mask_(mask),
     cam_ip_(this->cam_->IP()),
-    cam_port_(ifm3d::DEFAULT_PCIC_PORT),
+    cam_port_(nat_pcic_port == ifm3d::DEFAULT_NAT_PCIC_PORT ?
+                ifm3d::DEFAULT_PCIC_PORT :
+                nat_pcic_port),
     io_service_(),
     sock_(io_service_),
     pcic_ready_(false)
@@ -151,8 +157,11 @@ ifm3d::FrameGrabber::Impl::Impl(ifm3d::Camera::Ptr cam, std::uint16_t mask)
       try
         {
           this->cam_ip_ = this->cam_->IP();
-          this->cam_port_ =
-            std::stoi(this->cam_->DeviceParameter("PcicTcpPort"));
+          if (cam_port_ != nat_pcic_port)
+            {
+              this->cam_port_ =
+                std::stoi(this->cam_->DeviceParameter("PcicTcpPort"));
+            }
         }
       catch (const ifm3d::error_t& ex)
         {

modules/pcicclient/include/ifm3d/pcicclient/pcicclient.h

@@ -32,8 +32,11 @@ namespace ifm3d
      * thread
      *
      * @param[in] cam The camera instance to grab frames from
+     * @param[in] nat_pcic_port pcic port for NAT configuartion
      */
-    PCICClient(ifm3d::Camera::Ptr cam);
+    PCICClient(
+      ifm3d::Camera::Ptr cam,
+      const std::uint16_t nat_pcic_port = ifm3d::DEFAULT_NAT_PCIC_PORT);
 
     /**
      * Cleans up any resources held by the receive thread object and

modules/pcicclient/src/libifm3d_pcicclient/pcicclient.cpp

@@ -12,8 +12,9 @@
 #include <ifm3d/camera/err.h>
 #include <pcicclient_impl.hpp>
 
-ifm3d::PCICClient::PCICClient(ifm3d::Camera::Ptr cam)
-  : pImpl(new ifm3d::PCICClient::Impl(cam))
+ifm3d::PCICClient::PCICClient(ifm3d::Camera::Ptr cam,
+                              const std::uint16_t nat_pcic_port)
+  : pImpl(new ifm3d::PCICClient::Impl(cam, nat_pcic_port))
 { }
 
 ifm3d::PCICClient::~PCICClient() = default;

modules/pcicclient/src/libifm3d_pcicclient/pcicclient_impl.hpp

@@ -43,7 +43,7 @@ namespace ifm3d
   class PCICClient::Impl
   {
   public:
-    Impl(ifm3d::Camera::Ptr cam);
+    Impl(ifm3d::Camera::Ptr cam, const std::uint16_t& nat_pcic_port);
     ~Impl();
 
     /**
@@ -404,7 +404,8 @@ const std::string ifm3d::PCICClient::Impl::init_command =
 //-------------------------------------
 // ctor/dtor
 //-------------------------------------
-ifm3d::PCICClient::Impl::Impl(ifm3d::Camera::Ptr cam)
+ifm3d::PCICClient::Impl::Impl(ifm3d::Camera::Ptr cam,
+                              const std::uint16_t& nat_pcic_port)
   : cam_(cam),
     connected_(false),
     io_service_(),
@@ -419,7 +420,15 @@ ifm3d::PCICClient::Impl::Impl(ifm3d::Camera::Ptr cam)
   try
     {
       this->cam_ip_ = this->cam_->IP();
-      this->cam_port_ = std::stoi(this->cam_->DeviceParameter("PcicTcpPort"));
+      if (nat_pcic_port == ifm3d::DEFAULT_NAT_PCIC_PORT)
+        {
+          this->cam_port_ = nat_pcic_port;
+        }
+      else
+        {
+          this->cam_port_ =
+            std::stoi(this->cam_->DeviceParameter("PcicTcpPort"));
+        }
     }
   catch (const ifm3d::error_t& ex)
     {

modules/swupdater/include/ifm3d/swupdater/swupdater.h

@@ -9,9 +9,13 @@
 #include <memory>
 #include <vector>
 #include <ifm3d/camera/camera.h>
+#include <ifm3d/swupdater/swupdater_export.h>
 
 namespace ifm3d
 {
+  /* const for the swupdate recovery port value */
+  extern IFM3D_SWUPDATER_EXPORT const std::uint16_t SWUPDATER_RECOVERY_PORT;
+
   class SWUpdater
   {
   public:
@@ -34,9 +38,13 @@ namespace ifm3d
      * @param cam Camera object to manipulate
      *
      * @param cb Opitonal user-defined callback to handle status updates
+     *
+     * @param swupdate_recovery_port swupate recovery port for the device
      */
     SWUpdater(ifm3d::Camera::Ptr cam,
-              const ifm3d::SWUpdater::FlashStatusCb& cb = {});
+              const ifm3d::SWUpdater::FlashStatusCb& cb = {},
+              const std::uint16_t swupdate_recovery_port =
+                ifm3d::SWUPDATER_RECOVERY_PORT);
 
     virtual ~SWUpdater();
 

modules/swupdater/src/libifm3d_swupdater/swupdater.cpp

@@ -9,9 +9,14 @@
 #include <ifm3d/camera/err.h>
 #include <swupdater_impl.hpp>
 
+const std::uint16_t ifm3d::SWUPDATER_RECOVERY_PORT = 8080;
+
 ifm3d::SWUpdater::SWUpdater(ifm3d::Camera::Ptr cam,
-                            const ifm3d::SWUpdater::FlashStatusCb& cb)
-  : pImpl(new ifm3d::SWUpdater::Impl(cam, cb))
+                            const ifm3d::SWUpdater::FlashStatusCb& cb,
+                            const std::uint16_t swupdate_recovery_port)
+  : pImpl(new ifm3d::SWUpdater::Impl(cam,
+                                     cb,
+                                     std::to_string(swupdate_recovery_port)))
 { }
 
 ifm3d::SWUpdater::~SWUpdater() = default;

modules/swupdater/src/libifm3d_swupdater/swupdater_impl.hpp

@@ -24,7 +24,6 @@ namespace ifm3d
   const std::string SWUPDATER_REBOOT_URL_SUFFIX = "/reboot_to_live";
   const std::string SWUPDATER_STATUS_URL_SUFFIX = "/getstatus.json";
   const std::string SWUPDATER_CHECK_RECOVERY_URL_SUFFIX = "/id.lp";
-  const std::string SWUPDATER_RECOVERY_PORT = "8080";
   const std::string SWUPDATER_FILENAME_HEADER = "X_FILENAME: swupdate.swu";
   const std::string SWUPDATER_CONTENT_TYPE_HEADER =
     "Content-Type: application/octet-stream";
@@ -45,7 +44,9 @@ namespace ifm3d
   class SWUpdater::Impl
   {
   public:
-    Impl(ifm3d::Camera::Ptr cam, const ifm3d::SWUpdater::FlashStatusCb& cb);
+    Impl(ifm3d::Camera::Ptr cam,
+         const ifm3d::SWUpdater::FlashStatusCb& cb,
+         const std::string& swupdate_recovery_port);
     ~Impl() = default;
 
     void RebootToRecovery();
@@ -218,16 +219,17 @@ namespace ifm3d
 // ctor
 //-------------------------------------
 ifm3d::SWUpdater::Impl::Impl(ifm3d::Camera::Ptr cam,
-                             const ifm3d::SWUpdater::FlashStatusCb& cb)
+                             const ifm3d::SWUpdater::FlashStatusCb& cb,
+                             const std::string& swupdate_recovery_port)
   : cam_(cam),
     cb_(cb),
-    upload_url_("http://" + cam->IP() + ":" + SWUPDATER_RECOVERY_PORT +
+    upload_url_("http://" + cam->IP() + ":" + swupdate_recovery_port +
                 SWUPDATER_UPLOAD_URL_SUFFIX),
-    reboot_url_("http://" + cam->IP() + ":" + SWUPDATER_RECOVERY_PORT +
+    reboot_url_("http://" + cam->IP() + ":" + swupdate_recovery_port +
                 SWUPDATER_REBOOT_URL_SUFFIX),
-    status_url_("http://" + cam->IP() + ":" + SWUPDATER_RECOVERY_PORT +
+    status_url_("http://" + cam->IP() + ":" + swupdate_recovery_port +
                 SWUPDATER_STATUS_URL_SUFFIX),
-    check_recovery_url_("http://" + cam->IP() + ":" + SWUPDATER_RECOVERY_PORT +
+    check_recovery_url_("http://" + cam->IP() + ":" + swupdate_recovery_port +
                         SWUPDATER_CHECK_RECOVERY_URL_SUFFIX)
 { }
 

modules/tools/src/libifm3d_tools/swupdater/swupdate_app.cpp

@@ -34,7 +34,9 @@ ifm3d::SWUpdateApp::SWUpdateApp(int argc,
     ("r,reboot","Reboot from recovery mode to productive mode",
      cxxopts::value<bool>()->default_value("false"))
     ("q,quiet","Disable status output",
-     cxxopts::value<bool>()->default_value("false"));
+     cxxopts::value<bool>()->default_value("false"))
+    ("swupdate-port","port for swupdate",
+     cxxopts::value<unsigned short>()->default_value("8080"));
 
   // clang-format on
   this->_Parse(argc, argv);
@@ -52,11 +54,16 @@ ifm3d::SWUpdateApp::Run()
   auto const check = (*this->vm_)["check"].as<bool>();
   auto const recovery_reboot = (*this->vm_)["reboot"].as<bool>();
   auto const quiet = (*this->vm_)["quiet"].as<bool>();
+  auto const swupdate_port =
+    (*this->vm_)["swupdate-port"].as<unsigned short>();
 
   ifm3d::SWUpdater::Ptr swupdater;
   if (quiet)
     {
-      swupdater = std::make_shared<ifm3d::SWUpdater>(this->cam_);
+      swupdater = std::make_shared<ifm3d::SWUpdater>(
+        this->cam_,
+        [](float p, const std::string& msg) -> void {},
+        swupdate_port);
     }
   else
     {
@@ -90,7 +97,8 @@ ifm3d::SWUpdateApp::Run()
             {
               std::cout << msg << std::endl;
             }
-        });
+        },
+        swupdate_port);
     }
 
   if (check)