bool client_handler::read_message(handler *h, buffer &buf) {
int plen = buf.length();
Log::d("read_message1");
if (serv->read_chunk(h, &buf)) {
Log::d("fd(" + inttostr(h->fd.get_fd()) + ") asked for disconnection");
disconnect();
return false;
}
Log::d("read_message2");
if (message_type == NOT_EVALUATED) {
// recalc message len
int lb = find_double_line_break(buf.string_data(), plen);
if (lb != -1) {
//Log::d("plen is " + inttostr(plen) + ", lb is " + inttostr(lb) + " in \n\"" + buf.string_data() + "\"");
std::string content_length_str;
int len;
if (extract_header(buf.string_data(), lb, "Content-Length", content_length_str)) {
len = strtoint(content_length_str);
message_type = VIA_CONTENT_LENGTH;
} else {
len = 0;
message_type = extract_header(buf.string_data(), lb, "Transfer-Encoding", content_length_str)
? VIA_TRANSFER_ENCODING : WITHOUT_BODY;
}
message_len = len + lb;
}
}
if (message_type != HTTPS_MODE) {
Log::d("read_message(" + inttostr(buf.length()) + ", " + inttostr(message_len) + ")");
}
if (message_type == NOT_EVALUATED) {
return false;
}
if (message_type == VIA_TRANSFER_ENCODING) {
while (buf.length() > message_len) {
/*Log::d("kek is " + inttostr((int) buf.string_data()[message_len - 1]) + " " +
inttostr((int) buf.string_data()[message_len]) + " " +
inttostr((int) buf.string_data()[message_len + 1]));*/
if (buf.string_data()[message_len] == '0') {
return true;
}
size_t linebreak = buf.string_data().find("\r\n", (size_t) message_len);
if (linebreak != std::string::npos) {
std::string chunklen = buf.string_data().substr((size_t) message_len, linebreak - message_len);
Log::d("Next chunk len is " + chunklen);
message_len += chunklen.length() + hextoint(chunklen) + 4;
} else {
break;
}
}
return false;
} else {
return buf.length() == message_len;
}
}
void
array_list_drop_last (array_list al)
{
array_list_header *h = extract_header (al);
JERRY_ASSERT (h->len > 0);
h->len--;
}
static enum okay
makeheader(FILE *fp, struct header *hp)
{
char *tempEdit;
FILE *nf;
int c;
if ((nf = Ftemp(&tempEdit, "Re", "w+", 0600, 1)) == NULL) {
perror(catgets(catd, CATSET, 66, "temporary mail edit file"));
Fclose(nf);
unlink(tempEdit);
Ftfree(&tempEdit);
return STOP;
}
unlink(tempEdit);
Ftfree(&tempEdit);
extract_header(fp, hp);
while ((c = getc(fp)) != EOF)
putc(c, nf);
if (fp != collf)
Fclose(collf);
Fclose(fp);
collf = nf;
if (check_from_and_sender(hp->h_from, hp->h_sender))
return STOP;
return OKAY;
}
void
array_list_set_last_element (array_list al, size_t index, void *elem)
{
array_list_header *h = extract_header (al);
JERRY_ASSERT (index != 0 && index <= h->len);
array_list_set_element (al, (size_t) (h->len - index), elem);
}
static string extrapolate_levin_description(const vector<DrtPred> &preds)
{
string description;
metric *d = metric_singleton::get_metric_instance();
vector<DrtPred>::const_iterator piter = preds.begin();
vector<DrtPred>::const_iterator pend = preds.end();
string lev_tmp;
for (; piter != pend; ++piter) {
string head_str = extract_header(*piter);
if (piter->is_verb()) {
lev_tmp = d->get_levin_verb(head_str);
if (lev_tmp.size()) {
description += lev_tmp;
description += "-";
}
} else {
lev_tmp = d->get_levin_noun(head_str);
if (lev_tmp.size()) {
description += lev_tmp;
description += "-";
}
}
}
description.erase(description.size() - 1);
return description;
}
void
array_list_set_element (array_list al, size_t index, void *elem)
{
array_list_header *h = extract_header (al);
JERRY_ASSERT (index < h->len);
memcpy (data (al) + (index * h->element_size), elem, h->element_size);
}
void print_custom_header(buffer* buf) {
header msg_header = extract_header(buf);
fprintf(stdout, "Version: %d\n", msg_header.data[CST_VERSION]);
fprintf(stdout, "Command: %d\n", msg_header.data[CST_COMMAND]);
fprintf(stdout, "Sequence: %d\n", msg_header.data[CST_SEQUENCE]);
fprintf(stdout, "Total: %d\n", msg_header.data[CST_TOTAL_SIZE]);
fprintf(stdout, "Payload: %d\n", msg_header.data[CST_PAYLOAD_SIZE]);
}
void *
array_list_last_element (array_list al, size_t index)
{
array_list_header *h = extract_header (al);
if (index == 0 || index > h->len)
{
return NULL;
}
return array_list_element (al, (size_t) (h->len - index));
}
void print_header(buffer* buf) {
header msg_header = extract_header(buf);
fprintf(stdout, "Version: %d\n", msg_header.data[UP_VERSION]);
fprintf(stdout, "Password: %d\n", msg_header.data[UP_IDENTIFIER]);
fprintf(stdout, "Request: %d\n", msg_header.data[UP_CLIENT_REQUEST]);
fprintf(stdout, "Data: %d\n", msg_header.data[UP_REQUEST_DATA]);
fprintf(stdout, "Offset: %d\n", msg_header.data[UP_BYTE_OFFSET]);
fprintf(stdout, "Total: %d\n", msg_header.data[UP_TOTAL_SIZE]);
fprintf(stdout, "Payload: %d\n", msg_header.data[UP_PAYLOAD_SIZE]);
}
void *
array_list_element (array_list al, size_t index)
{
array_list_header *h = extract_header (al);
if (h->len <= index)
{
return NULL;
}
return data (al) + (index * h->element_size);
}
//-------------------------------------------------------------------------------------------------
Message *Message::factory(const F8MetaCntx& ctx, const f8String& from)
{
Message *msg(0);
f8String len, mtype;
if (extract_header(from, len, mtype))
{
const unsigned mlen(fast_atoi<unsigned>(len.c_str()));
const BaseMsgEntry *bme(ctx._bme.find_ptr(mtype));
if (!bme)
throw InvalidMessage(mtype);
msg = bme->_create();
#if defined PERMIT_CUSTOM_FIELDS
if (ctx._ube)
ctx._ube->post_msg_ctor(msg);
#endif
#if defined CODECTIMING
ostringstream gerr;
gerr << "decode(" << mtype << "):";
IntervalTimer itm;
#endif
msg->decode(from);
#if defined CODECTIMING
gerr << itm.Calculate();
GlobalLogger::log(gerr.str());
#endif
static_cast<body_length *>(msg->_header->_fields.find(Common_BodyLength)->second)->set(mlen);
Fields::const_iterator fitr(msg->_header->_fields.find(Common_MsgType));
static_cast<msg_type *>(fitr->second)->set(mtype);
#if defined POPULATE_METADATA
msg->check_set_rlm(fitr->second);
#endif
const char *pp(from.data() + from.size() - 7);
if (*pp != '1' || *(pp + 1) != '0') // 10=XXX^A
throw InvalidMessage(from);
if (!ctx.has_flag(F8MetaCntx::noverifychksum)) // permit chksum calculation to be skipped
{
const f8String chksum(pp + 3, 3);
static_cast<check_sum *>(msg->_trailer->_fields.find(Common_CheckSum)->second)->set(chksum);
const unsigned chkval(fast_atoi<unsigned>(chksum.c_str())), mchkval(calc_chksum(from, 0, from.size() - 7));
if (chkval != mchkval)
throw BadCheckSum(mchkval);
}
}
else
{
//cerr << "Message::factory throwing" << endl;
throw InvalidMessage(from);
}
return msg;
}
//-------------------------------------------------------------------------------------------------
Message *Message::factory(const F8MetaCntx& ctx, const f8String& from)
{
Message *msg(0);
f8String len, mtype;
if (extract_header(from, len, mtype))
{
const unsigned mlen(fast_atoi<unsigned>(len.c_str()));
const BaseMsgEntry *bme(ctx._bme.find_ptr(mtype));
if (!bme)
throw InvalidMessage(mtype);
msg = bme->_create();
#if defined PERMIT_CUSTOM_FIELDS
if (ctx._ube)
ctx._ube->post_msg_ctor(msg);
#endif
#if defined CODECTIMING
ostringstream gerr;
gerr << "decode(" << mtype << "):";
IntervalTimer itm;
#endif
msg->decode(from);
#if defined CODECTIMING
gerr << itm.Calculate();
GlobalLogger::log(gerr.str());
#endif
Fields::const_iterator fitr(msg->_header->_fields.find(Common_BodyLength));
static_cast<body_length *>(fitr->second)->set(mlen);
fitr = msg->_header->_fields.find(Common_MsgType);
static_cast<msg_type *>(fitr->second)->set(mtype);
#if defined POPULATE_METADATA
msg->check_set_rlm(fitr->second);
#endif
f8String chksum;
if (extract_trailer(from, chksum))
{
Fields::const_iterator fitr(msg->_trailer->_fields.find(Common_CheckSum));
static_cast<check_sum *>(fitr->second)->set(chksum);
const unsigned chkval(fast_atoi<unsigned>(chksum.c_str())), // chksum value
mchkval(calc_chksum(from, 0)); // chksum pos
if (chkval != mchkval)
throw BadCheckSum(mchkval);
}
}
else
{
//cerr << "Message::factory throwing" << endl;
throw InvalidMessage(from);
}
return msg;
}
/*
* Extract bmp pallet only
* data: raw data (pointer to data top)
* return: extracted pallet data
*/
cgdata *bmp_getpal(BYTE *data) {
cgdata *cg = g_new0(cgdata, 1);
bmp_header *bmp = extract_header(data);
cg->pal = g_new(Pallet256, 1);
getpal(cg->pal, data + bmp->bmpPp);
cg->type = ALCG_BMP8;
cg->pic = NULL;
cg->alpha = NULL;
g_free(bmp);
return cg;
}
static pair<DrtVect, DrtMgu> break_off_complements(DrtVect drtvect)
{
DrtMgu mgu;
for (int n = 0; n < drtvect.size(); ++n) {
string fref = extract_first_tag(drtvect.at(n));
string header = extract_header (drtvect.at(n));
if (drtvect.at(n).is_complement() && ref_is_verb(fref)) {
string old_ref = fref;
string new_ref = string("_[broken_off]_") + boost::lexical_cast<string>(n) + "_" + fref;
implant_first(drtvect.at(n), new_ref);
mgu.add(old_ref, new_ref);
}
}
return make_pair(drtvect, mgu);
}
//-------------------------------------------------------------------------------------------------
Message *Message::factory(const F8MetaCntx& ctx, const f8String& from)
{
Message *msg(0);
char mtype[MAX_MSGTYPE_FIELD_LEN] = {}, len[MAX_MSGTYPE_FIELD_LEN] = {};
if (extract_header(from, len, mtype))
{
const unsigned mlen(fast_atoi<unsigned>(len));
const BaseMsgEntry *bme(ctx._bme.find_ptr(mtype));
if (!bme)
throw InvalidMessage(mtype);
msg = bme->_create();
#if defined CODECTIMING
IntervalTimer itm;
#endif
msg->decode(from);
#if defined CODECTIMING
_decode_timings._cpu_used += itm.Calculate().AsDouble();
++_decode_timings._msg_count;
#endif
static_cast<body_length *>(msg->_header->_fields.find(Common_BodyLength)->second)->set(mlen);
Fields::const_iterator fitr(msg->_header->_fields.find(Common_MsgType));
static_cast<msg_type *>(fitr->second)->set(mtype);
#if defined POPULATE_METADATA
msg->check_set_rlm(fitr->second);
#endif
const char *pp(from.data() + from.size() - 7);
if (*pp != '1' || *(pp + 1) != '0') // 10=XXX^A
throw InvalidMessage(from);
if (!ctx.has_flag(F8MetaCntx::noverifychksum)) // permit chksum calculation to be skipped
{
const f8String chksum(pp + 3, 3);
static_cast<check_sum *>(msg->_trailer->_fields.find(Common_CheckSum)->second)->set(chksum);
const unsigned chkval(fast_atoi<unsigned>(chksum.c_str())), mchkval(calc_chksum(from, 0, from.size() - 7));
if (chkval != mchkval)
throw BadCheckSum(mchkval);
}
}
else
{
//cerr << "Message::factory throwing" << endl;
throw InvalidMessage(from);
}
return msg;
}
static pair<DrtVect, DrtMgu> break_off_specifications(DrtVect drtvect)
{
DrtMgu mgu;
for (int n = 0; n < drtvect.size(); ++n) {
string fref = extract_first_tag(drtvect.at(n));
string header = extract_header (drtvect.at(n));
if (drtvect.at(n).is_complement() && ref_is_name(fref)
&& header.find("@QUANTITY") == string::npos // these are properties of the predicate
&& header.find("@GENITIVE") == string::npos
) {
string old_ref = fref;
string new_ref = string("_[broken_off]_") + boost::lexical_cast<string>(n) + "_" + fref;
implant_first(drtvect.at(n), new_ref);
mgu.add(old_ref, new_ref);
}
}
return make_pair(drtvect, mgu);
}
/**
* Parses data into RTPMessage struct. Stores headers separately from the payload data
* and so the length variable is set accordingly.
*/
RTPMessage *msg_parse ( const uint8_t *data, int length )
{
RTPMessage *retu = calloc(1, sizeof (RTPMessage));
retu->header = extract_header ( data, length ); /* It allocates memory and all */
if ( !retu->header ) {
LOGGER_WARNING("Header failed to extract!");
free(retu);
return NULL;
}
uint16_t from_pos = retu->header->length;
retu->length = length - from_pos;
if ( GET_FLAG_EXTENSION ( retu->header ) ) {
retu->ext_header = extract_ext_header ( data + from_pos, length );
if ( retu->ext_header ) {
retu->length -= ( 4 /* Minimum ext header len */ + retu->ext_header->length * size_32 );
from_pos += ( 4 /* Minimum ext header len */ + retu->ext_header->length * size_32 );
} else { /* Error */
LOGGER_WARNING("Ext Header failed to extract!");
rtp_free_msg(NULL, retu);
return NULL;
}
} else {
retu->ext_header = NULL;
}
if ( length - from_pos <= MAX_RTP_SIZE )
memcpy ( retu->data, data + from_pos, length - from_pos );
else {
LOGGER_WARNING("Invalid length!");
rtp_free_msg(NULL, retu);
return NULL;
}
retu->next = NULL;
return retu;
}
/*
* Extract 24bit bmp, header, pallet and pixel
* data: raw data (pointer to data top)
* return: extracted image data and information
*/
cgdata *bmp16m_extract(BYTE *data) {
cgdata *cg = g_new0(cgdata, 1);
bmp_header *bmp = extract_header(data);
/* +10: margin for broken cg */
cg->pic = (BYTE *)g_new(WORD, (bmp->bmpXW + 10) * (bmp->bmpYW + 10));
extract_24bit(bmp, (WORD *)cg->pic, data + bmp->bmpDp);
cg->type = ALCG_BMP24;
cg->x = 0;
cg->y = 0;
cg->width = bmp->bmpXW;
cg->height = bmp->bmpYW;
cg->alpha = NULL;
cg->pal = NULL;
g_free(bmp);
return cg;
}
/*
* Extract 8bit bmp, header, pallet and pixel
* data: raw data (pointer to data top)
* return: extracted image data and information
*/
cgdata *bmp256_extract(BYTE *data) {
bmp_header *bmp = extract_header(data);
cgdata *cg = g_new0(cgdata, 1);
cg->pal = g_new(Pallet256, 1);
getpal(cg->pal, data + bmp->bmpPp);
/* +10: margin for broken cg */
cg->pic = g_new(BYTE, (bmp->bmpXW + 10) * (bmp->bmpYW + 10));
extract_8bit(bmp, cg->pic, data + bmp->bmpDp);
cg->type = ALCG_BMP8;
cg->x = 0;
cg->y = 0;
cg->width = bmp->bmpXW;
cg->height = bmp->bmpYW;
cg->alpha = NULL;
g_free(bmp);
return cg;
}
vector<DrtVect> solver::updateCurrentLayer(const Level ¤t_layer, DrtVect question)
{
path_memory mem_tmp = current_layer.getMemory();
vector<DrtVect> qvect = current_layer.getData();
DrtMgu upg = get_all_levels_upg(mem_tmp);
qvect / upg;
question /upg;
k_->addTemporary(question);
for (int m = 0; m < qvect.size(); ++m) {
DrtVect drtvect = qvect.at(m);
for (int n = 0; n < drtvect.size(); ++n) {
string fref = extract_first_tag(drtvect.at(n));
string head = extract_header(drtvect.at(n));
vector<string> all_names;
if (drtvect.at(n).is_name())
all_names = k_->getNounNames(fref);
else if (drtvect.at(n).is_verb())
all_names = k_->getVerbNames(fref);
if (all_names.size() == 0)
continue;
if (head == "[*]" || head == "[what]" || head == "person" || head == "place"
//|| head == "time"
) {
string new_name = all_names.at(0);
if (new_name == "[any]")
new_name = "[*]";
implant_header(drtvect.at(n), new_name);
}
}
qvect.at(m) = drtvect;
}
k_->clearAllTemporary();
return qvect;
}
array_list
array_list_append (array_list al, void *element)
{
array_list_header *h = extract_header (al);
if ((h->len + 1) * h->element_size + sizeof (array_list_header) > h->size)
{
size_t size = mem_heap_recommend_allocation_size (h->size + h->element_size);
JERRY_ASSERT (size > h->size);
uint8_t* new_block_p = (uint8_t*) mem_heap_alloc_block (size, MEM_HEAP_ALLOC_SHORT_TERM);
memcpy (new_block_p, h, h->size);
memset (new_block_p + h->size, 0, size - h->size);
mem_heap_free_block ((uint8_t *) h);
h = (array_list_header *) new_block_p;
h->size = size;
al = (array_list) h;
}
memcpy (data (al) + (h->len * h->element_size), element, h->element_size);
h->len++;
return al;
}
void client_handler::handle(const epoll_event &e) {
if (!(e.events & EPOLLOUT) || (e.events & EPOLLIN) || !output_buffer.empty()) {
Log::d("Client handler: " + eetostr(e));
}
if (e.events & EPOLLOUT) {
if (serv->write_chunk(this, output_buffer) && message_type != HTTPS_MODE) {
Log::d("Finished resending host response to client");
if (message_type == PRE_HTTPS_MODE) {
message_type = HTTPS_MODE;
std::string hostname;
extract_header(input_buffer.string_data(), input_buffer.length(), "Host", hostname);
input_buffer.clear();
output_buffer.clear();
serv->modify_handler(this, EPOLLIN | EPOLLOUT);
resolve_host_ip(hostname, EPOLLIN | EPOLLOUT);
} else {
input_buffer.clear();
message_len = -1;
message_type = NOT_EVALUATED;
serv->modify_handler(this, EPOLLIN);
}
}
}
if (e.events & EPOLLIN) {
if (read_message(this, input_buffer) && message_type != HTTPS_MODE) {
std::string data = input_buffer.string_data();
serv->modify_handler(this, 0);
std::string hostname;
if (extract_header(data, (int) data.length(), "Host", hostname)) {
if (message_type == WITHOUT_BODY && extract_method(data) == "CONNECT") {
//output_buffer.set("HTTP/1.0 404 Fail\r\nProxy-agent: BotHQ-Agent/1.2\r\n\r\n");
output_buffer.set("HTTP/1.0 200 OK\r\nProxy-agent: BotHQ-Agent/1.2\r\n\r\n");
serv->modify_handler(this, EPOLLOUT);
message_type = PRE_HTTPS_MODE;
Log::d("entering HTTPS_MODE");
} else {
if (message_type == WITHOUT_BODY && extract_method(data) == "GET") {
// modifying status line
size_t from = data.find(hostname) + hostname.length();
Log::d("from is " + inttostr(from) + ", hostname is " + hostname);
data = "GET " +
input_buffer.string_data().substr(from, input_buffer.string_data().length() - from);
input_buffer.clear();
input_buffer.put(data.c_str(), data.length());
Log::d("new query is: \"\n" + input_buffer.string_data() + "\"");
Log::d("First line is \"" +
input_buffer.string_data().substr(0, input_buffer.string_data().find("\r\n")) + "\"");
}
resolve_host_ip(hostname, EPOLLOUT);
}
} else {
//TODO: send correspond answer
Log::fatal("Client headers do not contain 'host' header");
//exit(-1);
}
}
}
}
/* void protocol1
* buffer* recv_buffer - buffer containing the message sent by the client to the proxy
* server_stat* status - status and general information from the server
* Processes the recv_buf as the class protocol dictates
*/
void protocol1(buffer* recv_buf, server_stat* status){
struct timeval timeout;
struct timeval timeout_0;
// timeouts
timeout.tv_sec = 1;
timeout.tv_usec = 0;
timeout_0.tv_sec = 0;
timeout_0.tv_usec = 0;
timeout_setup(status->udp_sock, timeout);
// giant mess of conditionals
fprintf(stdout, "\tversion 1 protocol\n");
int error = 0;
header msg_header = extract_header(recv_buf);
if (status->connected == 0) {
if (check_pass(&msg_header, 0)) {
if (get_command(&msg_header) == CONNECT) {
fprintf(stdout, "\tReplying with password\n");
status->connected = 1;
msg_header.data[1] = status->password;
insert_header(recv_buf, msg_header);
if (udp_send(recv_buf, status) < 0) {
fprintf(stderr, "sendto()\n");
}
} else {
fprintf(stderr, "ERROR: Unexpected Command\n");
error = -2;
}
} else {
fprintf(stderr, "ERROR: Incorrect Password\n");
}
} else if (status->connected == 1) {
if (check_pass(&msg_header, status->password)) {
if (get_command(&msg_header) == CONNECT) {
status->connected = 2;
timeout_setup(status->udp_sock, timeout_0);
fprintf(stdout, "\tConnected to a client\n");
} else {
fprintf(stderr, "ERROR: Unexpected Command\n");
error = -2;
}
} else {
fprintf(stderr, "ERROR: Incorrect Password\n");
error = -2;
}
} else {
if (!check_pass(&msg_header, status->password)) {
fprintf(stderr, "ERROR: Incorrect Password\n");
error = -2;
} else {
fprintf(stdout, "\t\tReceived Message:\n");
print_header(recv_buf);
switch (get_command(&msg_header)) {
case CONNECT:
fprintf(stderr, "ERROR: Unexpected Command\n");
error = -2;
break;
case QUIT:
quit(recv_buf, status);
timeout_setup(status->udp_sock, timeout_0);
break;
default:
error = request_command(recv_buf, status);
break;
}
}
}
if (error == -2) {
fprintf(stderr, "ERROR: Invalid client request\n");
send_error(status, CLIENT_ERROR);
} else if (error == -1) {
fprintf(stderr, "ERROR: Problem with http response\n");
send_error(status, HTTP_ERROR);
}
}
/* void request_image
* buffer* recv_buffer - buffer containing the message sent by the client to the proxy
* server_stat* status - status and general information from the server
* Sends an acknowledgement to the client
* Requests "stuff" from the robot
* Forwards data from robot to client
* Returns -2 if error processing client request
* -1 if error in http response
* 1 if successful
*/
int request_command(buffer* recv_buf, server_stat* status) {
unsigned char http_message[1000]; // used to hold http message from robot
buffer* http_data = create_buffer(BUFFER_LEN);
int n;
header request_header; // header from the client
buffer* response; // buffer to send to client
struct timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = 500000;
fprintf(stdout, "\tProcessing request\n");
// acknowledgement of command to client
udp_send(recv_buf, status);
// create the http request
memset(http_message, '\0', 1000);
request_header = extract_header(recv_buf);
switch (request_header.data[UP_CLIENT_REQUEST]) {
case IMAGE:
fprintf(stdout, "\t\tContacting image port\n");
snprintf((char*)http_message, 100, "GET /snapshot?topic=/robot_%d/image?width=600?height=500 HTTP/1.1\r\n\r\n", status->r_stat.id);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, IMAGE_PORT);
break;
case GPS:
fprintf(stdout, "\t\tContacting gps port\n");
snprintf((char*)http_message, 100, "GET /state?id=%s HTTP/1.1\r\n\r\n", status->r_stat.name);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, GPS_PORT);
break;
case LASERS:
fprintf(stdout, "\t\tContacting lasers port\n");
snprintf((char*)http_message, 100, "GET /state?id=%s HTTP/1.1\r\n\r\n", status->r_stat.name);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, LASERS_PORT);
break;
case dGPS:
fprintf(stdout, "\t\tContacting dgps port\n");
snprintf((char*)http_message, 100, "GET /state?id=%s HTTP/1.1\r\n\r\n", status->r_stat.name);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, dGPS_PORT);
break;
case MOVE:
fprintf(stdout, "\t\tContacting move port\n");
snprintf((char*)http_message, 100, "GET /twist?id=%s&lx=%d HTTP/1.1\r\n\r\n", status->r_stat.name, request_header.data[UP_REQUEST_DATA]);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, GPS_PORT);
break;
case TURN:
fprintf(stdout, "\t\tContacting turn port\n");
snprintf((char*)http_message, 100, "GET /twist?id=%s&az=%d HTTP/1.1\r\n\r\n", status->r_stat.name, request_header.data[UP_REQUEST_DATA]);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, GPS_PORT);
break;
case STOP:
fprintf(stdout, "\t\tContacting stop port\n");
snprintf((char*)http_message, 100, "GET /twist?id=%s&lx=0&az=0 HTTP/1.1\r\n\r\n", status->r_stat.name);
status->r_stat.http_sock = tcp_connect(status->r_stat.hostname, GPS_PORT);
break;
default:
fprintf(stderr, "ERROR: Invalid client request\n");
return -2;
break;
}
// send the http request
fprintf(stdout, "\t\tWriting request to server\n");
timeout_setup(status->r_stat.http_sock, timeout);
write(status->r_stat.http_sock, (char*)http_message, strlen((char*)http_message));
// read http message into a buffer
fprintf(stdout, "\t\tReceiving reply from server\n");
memset(http_message, '\0', 1000);
while ((n = read(status->r_stat.http_sock, (char*)http_message, 1000)) > 0) {
fprintf(stdout, "\t\t\tReceived %d bytes\n", n);
append_buffer(http_data, (unsigned char*)http_message, n);
memset(http_message, '\0', 1000);
}
fprintf(stdout, "\t\tTotal bytes received: %d\n", http_data->len);
// see what we go
fprintf(stdout, "\t\tAssembled Message:\n%s\n", http_data->data);
// check for '200 OK'
char ret_code[4];
memcpy(ret_code, http_data->data + 9, 3); // HTTP/1.1 <ret_code> ~~~~
ret_code[3] = '\0';
if (atoi(ret_code) != 200) {
fprintf(stderr, "ERROR: bad http request\n");
response = create_message(0, status->password,
HTTP_ERROR, 0, 0, 0, 0);
udp_send(response, status);
return 0;
}
// send it to client
int http_header_len = http_get_data(http_data->data) - http_data->data;
int a = 0;
while ((a + http_header_len) < http_data->len) {
response = create_message(request_header.data[UP_VERSION],
request_header.data[UP_IDENTIFIER],
request_header.data[UP_CLIENT_REQUEST],
request_header.data[UP_REQUEST_DATA],
a,
(http_data->len - http_header_len),
((http_data->len - (a + http_header_len)) > UP_MAX_PAYLOAD ? UP_MAX_PAYLOAD:(http_data->len - (a + http_header_len))));
append_buffer(response, http_data->data + a + http_header_len, UP_MAX_PAYLOAD);
fprintf(stdout, "\n\t\tAssembled packet:\n");
print_header(response);
fprintf(stdout, "%s\n", response->data + UP_HEADER_LEN);
fprintf(stdout, "\t\tSending packet\n");
udp_send(response, status);
fprintf(stdout, "\t\tPacket sent\n");
delete_buffer(response);
a += 272;
}
fprintf(stdout, "\t\tRequest complete!\n");
memset(http_message, '\0', 1000);
delete_buffer(http_data);
return 1;
}
/*
* Main function
*/
int main(int argc, char** argv) {
struct timeval t_out;
int i, iflag, hflag, nflag, pflag;
server_stat status;
char *port;
char usage[100];
snprintf(usage, 100, "Usage: %s -i <robot_id> -n <robot-name> -h <http_hostname> -p <udp_port>", argv[0]);
status.r_stat.hostname[0] = '\0';
if (argc != 9) {
fprintf(stderr, "%s\n", usage);
return -1;
}
// read in the required arguments
iflag = hflag = pflag = 0;
for (i = 1; i < argc; i+=2) {
if (strcmp(argv[i], "-n") == 0) {
status.r_stat.id = atoi(argv[i + 1]);
iflag = 1;
} else if (strcmp(argv[i], "-h") == 0) {
strncpy(status.r_stat.hostname, argv[i + 1], BUFFER_LEN - 1);
hflag = 1;
} else if (strcmp(argv[i], "-p") == 0) {
port = argv[i + 1];
pflag = 1;
} else if (strcmp(argv[i], "-i") == 0) {
status.r_stat.name = argv[i + 1];
nflag = 1;
}else {
fprintf(stderr, "%s\n", usage);
return -1;
}
}
if (!(iflag && hflag && nflag && pflag)) {
fprintf(stderr, "%s\n", usage);
return -1;
}
// set up the udp socket
status.udp_sock = udp_server(port);
// timeouts
t_out.tv_sec = 60;
t_out.tv_usec = 0;
timeout_setup(status.udp_sock, t_out);
// execution loop
srand(time(NULL));
status.size = sizeof(status.cliaddr);
status.password = rand() + 1;
status.connected = 0;
buffer* recv_buf = create_buffer(BUFFER_LEN);
for (;;) {
timeout_setup(status.udp_sock, t_out);
unsigned char temp[BUFFER_LEN];
memset(temp, '\0', BUFFER_LEN);
int f = 10000;
if ((f = recvfrom(status.udp_sock, temp, BUFFER_LEN, 0,
(struct sockaddr *)(&status.cliaddr), &status.size)) < 0) {
if (status.connected != 0) {
buffer* quit_buf = create_message(0, status.password, QUIT, 0, 0, 0, 0);
quit(quit_buf, &status);
fprintf(stdout, "Waiting for a connection\n");
}
} else {
// decipher message
clear_buffer(recv_buf);
append_buffer(recv_buf, temp, f);
header msg_header = extract_header(recv_buf);
fprintf(stdout, "\nMessage received\n");
fprintf(stdout, "\tMessage size: %d\n", f);
// send to correct protocol
void (*protocol_func)(buffer*, server_stat*);
protocol_func = check_version(&msg_header) ? &protocol1:&protocol2;
protocol_func(recv_buf, &status);
}
if (status.connected != 0) {
fprintf(stdout, "Waiting for a message\n");
}
fflush(stdout);
fflush(stderr);
}
return 0;
}
size_t
array_list_len (array_list al)
{
array_list_header *h = extract_header (al);
return h->len;
}
void
array_list_free (array_list al)
{
array_list_header *h = extract_header (al);
mem_heap_free_block ((uint8_t *) h);
}