//////////////////////////////////////////////////////////////////////////
//CallBack function for the modem settings
//////////////////////////////////////////////////////////////////////////
BOOL ALMCALLBACK ModemSettingsProc (HWND hDlg, WORD message,
WORD wParam, LONG lParam)
{
CONN* conn ;
switch (message)
{
case WM_INITDIALOG:
AUtlCenterDialog(hDlg, 0);
conn = (CONN*)lParam ;
SetWindowLong(hDlg, DWL_USER, lParam) ;
conn->InitModemSettings(hDlg) ;
return FALSE ;
case WM_COMMAND: //!!PORT!!
conn = (CONN*)GetWindowLong(hDlg, DWL_USER) ;
switch(wParam)
{
case idRing:
case idDial:
case idRedial:
conn->ChangeModemSettings(hDlg) ;
return FALSE ;
case IDOK:
conn->SaveModemParams (hDlg) ;
EndDialog (hDlg, TRUE) ;
return TRUE ;
case IDCANCEL:
EndDialog (hDlg, FALSE) ;
return TRUE ;
}
}
return FALSE ;
}
int On_CS_Lost(Aris::Core::MSG &msg)
{
cout << "Control system connection lost" << endl;
sleep(3);
ControlSystem.StartServer("5690");
return 0;
}
/* connection event handler */
void conn_event_handler(int event_fd, short event, void *arg)
{
int error = 0;
socklen_t len = sizeof(int);
CONN *conn = (CONN *)arg;
if(conn)
{
if(event_fd == conn->fd)
{
if(conn->status == CONN_STATUS_READY)
{
if(getsockopt(conn->fd, SOL_SOCKET, SO_ERROR, &error, &len) != 0 || error != 0)
{
ERROR_LOGGER(conn->logger, "socket %d connecting failed, %s", strerror(errno));
conn->status = CONN_STATUS_CLOSED;
CONN_TERMINATE(conn);
return ;
}
conn->status = CONN_STATUS_CONNECTED;
}
if(event & E_CLOSE)
{
//DEBUG_LOGGER(conn->logger, "E_CLOSE:%d on %d START ", E_CLOSE, event_fd);
CONN_TERMINATE(conn);
//conn->push_message(conn, MESSAGE_QUIT);
//DEBUG_LOGGER(conn->logger, "E_CLOSE:%d on %d OVER ", E_CLOSE, event_fd);
}
if(event & E_READ)
{
//DEBUG_LOGGER(conn->logger, "E_READ:%d on %d START", E_READ, event_fd);
conn->read_handler(conn);
//conn->push_message(conn, MESSAGE_INPUT);
//DEBUG_LOGGER(conn->logger, "E_READ:%d on %d OVER ", E_READ, event_fd);
}
if(event & E_WRITE)
{
//conn->push_message(conn, MESSAGE_OUTPUT);
//DEBUG_LOGGER(conn->logger, "E_WRITE:%d on %d START", E_WRITE, event_fd);
conn->write_handler(conn);
//DEBUG_LOGGER(conn->logger, "E_WRITE:%d on %d OVER", E_WRITE, event_fd);
}
}
}
}
int On_CS_CMD_Received(Aris::Core::MSG &msg)
{
MSG Command(msg);
Command.SetMsgID(GetControlCommand);
PostMsg(Command);
MSG data(0,0);
ControlSystem.SendData(data);
return 0;
}
//MSG call back functions
int On_CS_Connected(Aris::Core::MSG &msg)
{
cout<<"Received Connection from Control System:"<<endl;
cout<<" Remote IP is: "<<msg.GetDataAddress()+sizeof(int)<<endl;
cout<<" Port is : "<<*((int*)msg.GetDataAddress()) << endl << endl;
Aris::Core::MSG data(0,0);
ControlSystem.SendData(data);
return 0;
}
int main()
{
time_t t = time(NULL);
tm* local = new tm;
char buf[26] = {0};
localtime_r(&t,local);
strftime(buf, 64, "%Y-%m-%d %H-%M-%S", local);
mkdir(buf,S_IRWXU | S_IRWXG);
chdir(buf);
visionsensor.viewcloud();
visionsensor.start();
#if ARIS_PLATFORM_==_PLATFORM_LINUX_
//char RemoteIp[] = "192.168.1.100";
char RemoteIp[] = "127.0.0.1";
#endif
CONN VisualSystem;
pVisualSystem = &VisualSystem;
/*注册所有的消息函数*/
Aris::Core::RegisterMsgCallback(VisualSystemDataNeeded, OnVisualSystemDataNeeded);
Aris::Core::RegisterMsgCallback(VisualSystemLost, OnVisualSystemLost);
Aris::Core::RegisterMsgCallback(NeedUpperControl, OnUpperControl);
Aris::Core::RegisterMsgCallback(NeedStepUp, OnStepUp);
Aris::Core::RegisterMsgCallback(NeedStepDown, OnStepDown);
Aris::Core::RegisterMsgCallback(NeedStepOver, OnStepOver);
/*设置所有CONN类型的回调函数*/
VisualSystem.SetCallBackOnReceivedData(OnConnDataReceived);
VisualSystem.SetCallBackOnLoseConnection(OnConnectionLost);
/*连接服务器*/
VisualSystem.Connect(RemoteIp, "5691");
//VisualSystem.Connect(RemoteIp, "5688");
/*开始消息循环*/
Aris::Core::RunMsgLoop();
}
CONN *http_newconn(int id, char *ip, int port, int is_ssl)
{
CONN *conn = NULL;
if(running_status && ip && port > 0)
{
if(is_ssl) service->session.is_use_SSL = 1;
if((conn = service->newconn(service, -1, -1, ip, port, NULL)))
{
conn->c_id = id;
conn->start_cstate(conn);
//service->newtransaction(service, conn, id);
//usleep(10);
}
else
{
FATAL_LOGGER(logger, "new_conn(%s:%d) falied, %s", ip, port, strerror(errno));
}
}
return conn;
}
//////////////////////////////////////////////////////////////////////////
//Callback function for the connection parameters setting
//////////////////////////////////////////////////////////////////////////
BOOL ALMCALLBACK CntObjProc(HWND hDlg, WORD message,
WORD wParam, LONG lParam)
{
CONN* conn ;
switch (message)
{
case WM_INITDIALOG:
AUtlCenterDialog(hDlg, 0);
conn = (CONN*)lParam ;
SetWindowLong(hDlg, DWL_USER, lParam) ;
conn->InitCntDialog(hDlg) ;
return FALSE ;
case WM_COMMAND: //!!PORT!!
conn = (CONN*)GetWindowLong(hDlg, DWL_USER) ;
switch(wParam)
{
case idModem:
conn->SelectModem (hDlg) ;
return TRUE ;
case idModemS:
conn->ModemSettings (hDlg) ;
return FALSE ;
case IDOK:
conn->SaveCntConfigure (hDlg) ; //Save ring times ,redial times and phonenumber
EndDialog (hDlg, TRUE) ;
return TRUE ;
case IDCANCEL:
EndDialog (hDlg, FALSE) ;
return TRUE ;
}
}
return FALSE ;
}
//MSG callback functions
int OnControlCommandNeeded(Aris::Core::MSG &msg)
{
int cmd;
cout<<"Commands:"<<endl;
cout<<"1.Eanble"<<endl<<"2.Disable"<<endl<<"3.Home"<<endl<<"4.Home to standstill"<<endl<<"5.Forward"<<endl<<"6.Back"<<endl<<"7.AUTO Calibration"<<endl<<"8.Turn left"<<endl<<"9.Turn right"<<endl;
cout<<"Please enter your command: ";
cin>>cmd;
while(cmd!=1&&cmd!=2&&cmd!=3&&cmd!=4&&cmd!=5&&cmd!=6&&cmd!=7&&cmd!=8&&cmd!=9)
{
cout<<"Not valid command ID,enter again : ";
cin>>cmd;
}
cmd=cmd-1;
MSG data;
data.SetMsgID(cmd);
ControlSysClient.SendData(data);
return 0;
}
int On_VS_Lost(Aris::Core::MSG &msg)
{
cout << "Visual system connection lost" << endl;
VisionSystem.StartServer("5691");
return 0;
}
int On_VS_Capture(Aris::Core::MSG &msg)
{
Aris::Core::MSG visionmsg(msg);
VisionSystem.SendData(visionmsg);
return 0;
}
int On_VS_Capture(Aris::Core::MSG &msg)
{
MSG data(0,0);
VisionSystem.SendData(data);
return 0;
}
