static int
process_server_input(int fd, struct xmpp *xmpp)
{
char buf[BUF_BYTES];
int n, remain;
do {
n = io_recv(sizeof(buf), buf, &remain, &fd);
if (n <= 0)
return -1;
if (xmpp_process_input(n, buf, xmpp, xmpp))
return -1;
} while (remain > 0);
return 0;
}
ssize_t buffer_recv(struct buffer *buf, int sockfd, size_t size, int flags)
{
size_t count;
ssize_t len;
void *end;
end = buffer_end(buf);
count = buffer_remaining(buf);
if (count > size)
count = size;
len = io_recv(sockfd, end, count, flags);
if (len < 0)
return len;
buf->end += len;
return len;
}
static int
process_server_input(int fd, struct xmpp *xmpp)
{
char buf[DATA_BUF];
int n, remain;
do {
n = io_recv(sizeof(buf), buf, &remain, &fd);
if (n < 0) {
print_msg(0, "", "; error: reading from socket (remain: %d)\n", remain);
return -1;
}
log_printf(20, "; processing state: '%d' buf: '%.*s'\n", xmpp->xml.state,
n, buf);
if (xmpp_process_input(n, buf, xmpp, xmpp)) {
print_msg(0, "", "; error: processing xmpp xml\n");
log_printf(20, "; state: '%d' buf: '%.*s'\n", xmpp->xml.state, n, buf);
return -1;
}
} while (remain > 0);
return 0;
}
static int tcp_server_client_recv(object_t parent)
{
return io_recv(parent);
}
void
PX4IO::task_main()
{
ASSERT(_fd == -1);
log("ready");
/* open the serial port */
_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
_exit(errno);
}
/* protocol stream */
_io_stream = hx_stream_init(_fd, &PX4IO::rx_callback_trampoline, this);
perf_counter_t pc_tx_bytes = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
hx_stream_set_counters(_io_stream, pc_tx_bytes, pc_rx_bytes, pc_rx_errors);
/* poll descriptor(s) */
struct pollfd fds[1];
fds[0].fd = _fd;
fds[0].events = POLLIN;
/* loop handling received serial bytes */
while (!_task_should_exit) {
/* sleep waiting for data, but no more than 100ms */
int ret = ::poll(&fds[0], 1, 100);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}
/* if we timed out waiting, we should send an update */
if (ret == 0)
_send_needed = true;
/* if we have new data from IO, go handle it */
if ((ret > 0) && (fds[0].revents & POLLIN))
io_recv();
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
}
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_fd);
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
