void TCPSOCKET_RECV_100K()
{
TCPSocket sock;
_tcpsocket_connect_to_chargen_srv(sock);
Timer timer;
timer.start();
rcv_n_chk_against_rfc864_pattern(sock);
timer.stop();
TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, sock.close());
printf("MBED: Time taken: %fs\n", timer.read());
}
void TCPSOCKET_OPEN_CLOSE_REPEAT()
{
SKIP_IF_TCP_UNSUPPORTED();
TCPSocket *sock = new TCPSocket;
if (!sock) {
TEST_FAIL();
}
for (int i = 0; i < 2; i++) {
TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, sock->open(NetworkInterface::get_default_instance()));
TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, sock->close());
}
delete sock;
}
void TCPSocket::accept(TCPSocket &client) {
struct sockaddr_in addr;
memset(&addr, 0, sizeof(addr));
addr.sin_family = AF_INET;
socklen_t len = sizeof(addr);
int s = ::accept(_sock, (struct sockaddr *)&addr, &len);
if (s == -1)
throw_net(("accept"));
client.close();
client._sock = s;
client._addr.ip = addr.sin_addr.s_addr;
client._addr.port = ntohs(addr.sin_port); //real port
}
void TCPSOCKET_RECV_100K_NONBLOCK()
{
TCPSocket sock;
_tcpsocket_connect_to_chargen_srv(sock);
sock.set_blocking(false);
sock.sigio(callback(_sigio_handler, Thread::gettid()));
Timer timer;
timer.start();
rcv_n_chk_against_rfc864_pattern_nonblock(sock);
timer.stop();
TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, sock.close());
printf("MBED: Time taken: %fs\n", timer.read());
}
void TCPSOCKET_RECV_100K_NONBLOCK()
{
TCPSocket sock;
nsapi_error_t err = _tcpsocket_connect_to_chargen_srv(sock);
if (err != NSAPI_ERROR_OK) {
TEST_FAIL();
return;
}
sock.set_blocking(false);
sock.sigio(callback(_sigio_handler, Thread::gettid()));
rcv_n_chk_against_rfc864_pattern_nonblock(sock);
TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, sock.close());
}
void runClient(const char * host, int port, const char * message)
{
printf("Setting up a client socket to %s:%d\n", host, port);
TCPSocket socket;
int err = socket.open(host, port);
if(err) {
const int msgSize = 128;
char msgBuf[msgSize] = "";
printf("%s cannot open client socket to %s:%d -> %s\n",
appname, host, port, strerror_s(msgBuf, msgSize, err));
return;
}
socket.setNoDelay(true);
char buf[1024];
for(int i = 0; i < iterations; i++) {
puts("Sending message");
sprintf(buf, "%s %d", message, i + 1);
int32_t len = strlen(buf) + 1;
socket.write( & len, 4);
socket.write(buf, len);
if(withreplies) {
len = 0;
socket.read( & len, 4);
bzero(buf, sizeof(buf));
socket.read(buf, len);
printf("Received reply \"%s\"\n", buf);
}
}
puts("Closing");
socket.close();
}
/**
* Test TCP data exchange via the asynchronous sigio() mechanism
*/
void test_tcp_echo_async()
{
TCPSocket sock;
SocketAddress host_address;
bool callback_triggered = false;
int x;
int size;
driver.disconnect();
TEST_ASSERT(do_connect(&driver) == 0);
TEST_ASSERT(
driver.gethostbyname(MBED_CONF_APP_ECHO_SERVER, &host_address) == 0);
host_address.set_port(MBED_CONF_APP_ECHO_TCP_PORT);
tr_debug("TCP: Server %s address: %s on port %d.",
MBED_CONF_APP_ECHO_SERVER, host_address.get_ip_address(),
host_address.get_port());
TEST_ASSERT(sock.open(&driver) == 0)
// Set up the async callback and set the timeout to zero
sock.sigio(callback(async_cb, &callback_triggered));
sock.set_timeout(0);
TEST_ASSERT(sock.connect(host_address) == 0);
// Test min, max, and some random sizes in-between
do_tcp_echo_async(&sock, 1, &callback_triggered);
do_tcp_echo_async(&sock, MBED_CONF_APP_TCP_MAX_PACKET_SIZE,
&callback_triggered);
sock.close();
drop_connection(&driver);
tr_debug("TCP packets of size up to %d byte(s) echoed asynchronously and successfully.",
MBED_CONF_APP_TCP_MAX_PACKET_SIZE);
}
int main() {
#ifdef OS_WIN32
WSAData wsaData;
int nCode;
assert( WSAStartup(MAKEWORD(2, 2), &wsaData) == 0);
#endif
int sock = socket(AF_INET, SOCK_STREAM, 0);
TCPServerSocket server (sock);
TCPSocketAddress localAddr("127.0.0.1", 10001);
if (server.bind(&localAddr)) {
std::cout << server.getLastError().getErrorString() << std::endl;
return -1;
}
if (server.listen(10)) {
perror("While listening");
return -2;
}
TCPSocketAddress *addr = 0;
server.poll(IODevice::POLL_READ,-1);
TCPSocket *socket = (TCPSocket *)(server.accept((SocketAddress **)&addr));
if (socket == NULL) {
std::cout << server.getLastError() << std::endl;
return -3;
}
std::cout << "Get remote "<<socket->getPeerAddress()->getReadable()<<std::endl;
socket->close();
server.close();
return 0;
}
void ConnectThread::run()
{
QHostInfo addr = QHostInfo::fromName(mAddress);
if (addr.error() != QHostInfo::NoError) {
Q_EMIT error(addr.errorString());
return;
}
QHostAddress actualAddr;
QList<QHostAddress> addresses = addr.addresses();
for (QList<QHostAddress>::const_iterator iter = addresses.begin();
iter != addresses.end(); ++ iter) {
if (iter->protocol() == QAbstractSocket::IPv4Protocol) {
actualAddr = *iter;
break;
}
}
if (actualAddr.isNull()) {
Q_EMIT error(tr("无法解析域名: 找不到'%1'的IPv4地址").arg(mAddress));
return;
}
// Begin connection
{
std::string addr = actualAddr.toString().toStdString();
TCPSocketAddress remote (addr,mPort);
IOVideoSource *src = 0;
Error rc;
TCPSocket *ctrl = new TCPSocket (::socket(AF_INET, SOCK_STREAM, 0));
TCPSocket *data = new TCPSocket (::socket(AF_INET, SOCK_STREAM, 0));
ctrl->setBlockingMode(false);
data->setBlockingMode(false);
ctrl->connect(&remote);
do {
rc = ctrl->poll(IODevice::POLL_WRITE,200);
if (rc.isSuccess()) break;
else if (rc.getErrorType() == Error::ERR_TIMEOUT) continue;
else {
rc.setErrorString("无法连接到远端服务器");
goto connect_ctrl_failed;
}
}while(!mShouldStop);
data->connect(&remote);
do {
rc = data->poll(IODevice::POLL_WRITE,200);
if (rc.isSuccess()) break;
else if (rc.getErrorType() == Error::ERR_TIMEOUT) continue;
else {
rc.setErrorString("无法连接到远端服务器");
goto connect_data_failed;
}
}while(!mShouldStop);
ctrl->setBlockingMode(true);
data->setBlockingMode(true);
src = new IOVideoSource(ctrl,data);
rc = src->init();
if (rc.isError()) {
rc.setErrorString("初始化视频源失败，原因为：" + rc.getErrorString());
goto init_video_source_failed;
}
mVideoSource = src;
Q_EMIT success();
return;
init_video_source_failed:
delete src;
connect_data_failed:
connect_ctrl_failed:
ctrl->close();
data->close();
delete ctrl;
delete data;
Q_EMIT error(QString::fromStdString(rc.getErrorString()));
}
}
// --------------------------------------------------------------------------
// ARDrone::getConfig()
// Description : Get current configurations of AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::getConfig(void)
{
// Open the IP address and port
TCPSocket sockConfig;
if (!sockConfig.open(ip, ARDRONE_CONFIG_PORT)) {
CVDRONE_ERROR("TCPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_CONFIG_PORT, __FILE__, __LINE__);
return 0;
}
// Send requests
UDPSocket tmpCommand;
tmpCommand.open(ip, ARDRONE_COMMAND_PORT);
tmpCommand.sendf("AT*CTRL=%d,5,0\r", seq++);
tmpCommand.sendf("AT*CTRL=%d,4,0\r", seq++);
msleep(500);
tmpCommand.close();
// Receive data
char buf[4096] = {'\0'};
int size = sockConfig.receive((void*)&buf, sizeof(buf));
// Received something
if (size > 0) {
// Clear config struct
memset(&config, 0, sizeof(ARDRONE_CONFIG));
// Parsing configurations
char *token = strtok(buf, "\n");
if (token != NULL) parse(token, &config);
while (token != NULL) {
token = strtok(NULL, "\n");
if (token != NULL) parse(token, &config);
}
}
#if 0
// For debug
printf("general.num_version_config = %d\n", config.general.num_version_config);
printf("general.num_version_mb = %d\n", config.general.num_version_mb);
printf("general.num_version_soft = %s\n", config.general.num_version_soft);
printf("general.drone_serial = %s\n", config.general.drone_serial);
printf("general:soft_build_date = %s\n", config.general.soft_build_date);
printf("general:motor1_soft = %f\n", config.general.motor1_soft);
printf("general:motor1_hard = %f\n", config.general.motor1_hard);
printf("general:motor1_supplier = %f\n", config.general.motor1_supplier);
printf("general:motor2_soft = %f\n", config.general.motor2_soft);
printf("general:motor2_hard = %f\n", config.general.motor2_hard);
printf("general:motor2_supplier = %f\n", config.general.motor2_supplier);
printf("general:motor3_soft = %f\n", config.general.motor3_soft);
printf("general:motor3_hard = %f\n", config.general.motor3_hard);
printf("general:motor3_supplier = %f\n", config.general.motor3_supplier);
printf("general:motor4_soft = %f\n", config.general.motor4_soft);
printf("general:motor4_hard = %f\n", config.general.motor4_hard);
printf("general:motor4_supplier = %f\n", config.general.motor4_supplier);
printf("general.ardrone_name = %s\n", config.general.ardrone_name);
printf("general.flying_time = %d\n", config.general.flying_time);
printf("general.navdata_demo = %s\n", config.general.navdata_demo ? "true" : "false");
printf("general.com_watchdog = %d\n", config.general.com_watchdog);
printf("general.video_enable = %s\n", config.general.video_enable ? "true" : "false");
printf("general.vision_enable = %s\n", config.general.vision_enable ? "true" : "false");
printf("general.vbat_min = %d\n", config.general.vbat_min);
printf("general.localtime = %d\n", config.general.localtime);
printf("general.navdata_options = %d\n", config.general.navdata_options);
printf("control:accs_offset = {%f, %f, %f}\n", config.control.accs_offset[0], config.control.accs_offset[1], config.control.accs_offset[2]);
printf("control:accs_gains = { %f %f %f %f %f %f %f %f %f }\n", config.control.accs_gains[0], config.control.accs_gains[1], config.control.accs_gains[2], config.control.accs_gains[3], config.control.accs_gains[4], config.control.accs_gains[5], config.control.accs_gains[6], config.control.accs_gains[7], config.control.accs_gains[8]);
printf("control:gyros_offset = { %f %f %f }\n", config.control.gyros_offset[0], config.control.gyros_offset[1], config.control.gyros_offset[2]);
printf("control:gyros_gains = { %f %f %f }\n", config.control.gyros_gains[0], config.control.gyros_gains[1], config.control.gyros_gains[2]);
printf("control:gyros110_offset = { %f %f }\n", config.control.gyros110_offset[0], config.control.gyros110_offset[1]);
printf("control:gyros110_gains = { %f %f }\n", config.control.gyros110_gains[0], config.control.gyros110_gains[1]);
printf("control:magneto_offset = { %f %f %f }\n", config.control.magneto_offset[0], config.control.magneto_offset[1], config.control.magneto_offset[2]);
printf("control:magneto_radius = %f\n", config.control.magneto_radius);
printf("control:gyro_offset_thr_x = %f\n", config.control.gyro_offset_thr_x);
printf("control:gyro_offset_thr_y = %f\n", config.control.gyro_offset_thr_y);
printf("control:gyro_offset_thr_z = %f\n", config.control.gyro_offset_thr_z);
printf("control:pwm_ref_gyros = %d\n", config.control.pwm_ref_gyros);
printf("control:osctun_value = %d\n", config.control.osctun_value);
printf("control:osctun_test = %s\n", config.control.osctun_test ? "true" : "false");
printf("control:altitude_max = %d\n", config.control.altitude_max);
printf("control:altitude_min = %d\n", config.control.altitude_min);
printf("control:outdoor = %s\n", config.control.outdoor ? "true" : "false");
printf("control:flight_without_shell = %s\n", config.control.flight_without_shell ? "true" : "false");
printf("control:autonomous_flight = %s\n", config.control.autonomous_flight ? "true" : "false");
printf("control:flight_anim = %d,%d\n", config.control.flight_anim[0], config.control.flight_anim[1]);
printf("control:control_level = %d\n", config.control.control_level);
printf("control:euler_angle_max = %f\n", config.control.euler_angle_max);
printf("control:control_iphone_tilt = %f\n", config.control.control_iphone_tilt);
printf("control:control_vz_max = %f\n", config.control.control_vz_max);
printf("control:control_yaw = %f\n", config.control.control_yaw);
printf("control:manual_trim = %s\n", config.control.manual_trim ? "true" : "false");
printf("control:indoor_euler_angle_max = %f\n", config.control.indoor_euler_angle_max);
printf("control:indoor_control_vz_max = %f\n", config.control.indoor_control_vz_max);
printf("control:indoor_control_yaw = %f\n", config.control.indoor_control_yaw);
printf("control:outdoor_euler_angle_max = %f\n", config.control.outdoor_euler_angle_max);
printf("control:outdoor_control_vz_max = %f\n", config.control.outdoor_control_vz_max);
printf("control:outdoor_control_yaw = %f\n", config.control.outdoor_control_yaw);
printf("control:flying_mode = %d\n", config.control.flying_mode);
printf("control:hovering_range = %d\n", config.control.hovering_range);
printf("network:ssid_single_player = %s\n", config.network.ssid_single_player);
printf("network:ssid_multi_player = %s\n", config.network.ssid_multi_player);
printf("network:wifi_mode = %d\n", config.network.wifi_mode);
printf("network:wifi_rate = %d\n", config.network.wifi_rate);
printf("network:owner_mac = %s\n", config.network.owner_mac);
printf("pic:ultrasound_freq = %d\n", config.pic.ultrasound_freq);
printf("pic:ultrasound_watchdog = %d\n", config.pic.ultrasound_watchdog);
printf("pic:pic_version = %d\n", config.pic.pic_version);
printf("video:camif_fps = %d\n", config.video.camif_fps);
printf("video:camif_buffers = %d\n", config.video.camif_buffers);
printf("video:num_trackers = %d\n", config.video.num_trackers);
printf("video:video_storage_space = %d\n", config.video.video_storage_space);
printf("video:video_on_usb = %s\n", config.video.video_on_usb ? "true" : "false");
printf("video:video_file_index = %d\n", config.video.video_file_index);
printf("video:bitrate = %d\n", config.video.bitrate);
printf("video:bitrate_ctrl_mode = %d\n", config.video.bitrate_ctrl_mode);
printf("video:bitrate_storage = %d\n", config.video.bitrate_storage);
printf("video:codec_fps = %d\n", config.video.codec_fps);
printf("video:video_codec = %d\n", config.video.video_codec);
printf("video:video_slices = %d\n", config.video.video_slices);
printf("video:video_live_socket = %d\n", config.video.video_live_socket);
printf("video:max_bitrate = %d\n", config.video.max_bitrate);
printf("video:video_channel = %d\n", config.video.video_channel);
printf("leds:leds_anim = %d,%d,%d\n", config.leds.leds_anim[0], config.leds.leds_anim[1], config.leds.leds_anim[2]);
printf("detect:enemy_colors = %d\n", config.detect.enemy_colors);
printf("detect:enemy_without_shell = %d\n", config.detect.enemy_without_shell);
printf("detect:groundstripe_colors = %d\n", config.detect.groundstripe_colors);
printf("detect:detect_type = %d\n", config.detect.detect_type);
printf("detect:detections_select_h = %d\n", config.detect.detections_select_h);
printf("detect:detections_select_v_hsync = %d\n", config.detect.detections_select_v_hsync);
printf("detect:detections_select_v = %d\n", config.detect.detections_select_v);
printf("syslog:output = %d\n", config.syslog.output);
printf("syslog:max_size = %d\n", config.syslog.max_size);
printf("syslog:nb_files = %d\n", config.syslog.nb_files);
printf("custom:application_desc = %s\n", config.custom.application_desc);
printf("custom:profile_desc = %s\n", config.custom.profile_desc);
printf("custom:session_desc = %s\n", config.custom.session_desc);
printf("custom:application_id = %s\n", config.custom.application_id);
printf("custom:profile_id = %s\n", config.custom.profile_id);
printf("custom:session_id = %s\n", config.custom.session_id);
printf("userbox:userbox_cmd = %d\n", config.userbox.userbox_cmd);
printf("gps:latitude = %f\n", config.gps.latitude);
printf("gps:longitude = %f\n", config.gps.longitude);
printf("gps:altitude = %f\n", config.gps.altitude);
#endif
// Finalize
sockConfig.close();
return 1;
}
void Done()
{
gSocket.close();
cout << "closed connection to " << gHost << ":" << gPort << "\n";
}
TCPSocket*
ModuleMap::getMapLoadingSocket( uint32 mapID,
uint32 loadMapRequestType,
const char* handshake,
byte zoomlevel,
MapSafeVector* loadedMaps,
uint32* mapVersion,
uint32* generatorVersion )
{
uint32 mapVersionToUse = MAX_UINT32;
uint32 generatorVersionToUse = MAX_UINT32;
if ( mapVersion != NULL && generatorVersion != NULL ) {
// Set the versions to use to the ones sent in
mapVersionToUse = *mapVersion;
generatorVersionToUse = *generatorVersion;
// Set the ones sent in to MAX_UINT32 to detect errors
*mapVersion = MAX_UINT32;
*generatorVersion = MAX_UINT32;
}
DatagramReceiver receiver(8000, DatagramReceiver::FINDFREEPORT);
mc2dbg4 << here << " localport " << receiver.getPort() << endl;
uint32 mapip = MultiCastProperties::getNumericIP( MODULE_TYPE_MAP, true );
uint16 mapport = MultiCastProperties::getPort( MODULE_TYPE_MAP, true );
// check map set
uint32 mapSet = Properties::getMapSet();
if (mapSet != MAX_UINT32) {
// code also exists in PacketContainer.cpp, move to utility function?
mc2dbg4 << "[ModuleMap] going to change IP and port due to mapSet being set. "
"mapSet: " << mapSet << ", IP before: " << prettyPrintIP(mapip)
<< ", port before: " << mapport << endl;
mapip = mapip + (mapSet << 8);
mapport = mapport | (mapSet << 13);
mc2dbg4 << "[ModuleMap] changed IP and port. IP now: " << prettyPrintIP(mapip)
<< ", port now: " << mapport << endl;
}
uint32 status = StringTable::NOT;
int maxRetries = 10;
int nbrRetries = 0;
Packet _pack(65536); // For receiving the mapreply
DatagramSender sock;
const int originalwaittime = 2500000; // Wait 2.5 seconds.
const int mapnotfoundwaittime = 2500000; // Wait 2.5 seconds.
int waittime = originalwaittime;
TCPSocket* TCPsock = NULL;
while ( status != StringTable::OK && nbrRetries++ <= maxRetries ) {
if ( nbrRetries > 1 ) {
mc2log << info << here << " Retrying " << nbrRetries - 1
<< " of " << maxRetries << endl;
}
if(loadedMaps != NULL)
loadedMaps->jobThreadIsAlive(); // reset Jthread timeout clock.
MapRequestPacket reqpack( uint16(1), // reqID
uint16(1), // PacketID
byte(loadMapRequestType), // Type of module
mapID, // mapID
zoomlevel, // Well, zoomlevel.
mapVersionToUse,
generatorVersionToUse
);
reqpack.setOriginIP( NetUtility::getLocalIP() );
reqpack.setOriginPort( receiver.getPort() );
reqpack.setResendNbr((byte) nbrRetries-1);
// Send request to open TCP connection between local and mapmodule
if (!(sock.send(&reqpack, mapip, mapport))) {
mc2log << error << here << " could not send - retrying"
<< endl;
continue; // Go another round in the loop.
}
mc2dbg4 << "After send!" << endl;
// Receive packet with ip and port to a mapModule
if (!(receiver.receive(&_pack, waittime))) {
mc2log << error << here << " error receiving ack - retrying"
<< endl;
waittime = originalwaittime;
continue; // Go another round in the loop.
}
bool timeout = false;
while ( _pack.getSubType() == Packet::PACKETTYPE_ACKNOWLEDGE &&
! timeout ) {
AcknowledgeRequestReplyPacket* ackPack =
static_cast<AcknowledgeRequestReplyPacket*>(&_pack);
uint32 packtime =
((AcknowledgeRequestReplyPacket*)&_pack)->getETA() * 1000;
mc2log << info << "Got ack with " << packtime << " us delay" << endl;
if ( ackPack->getStatus() != StringTable::OK ) {
return NULL;
}
timeout = !receiver.receive(&_pack, packtime);
}
if ( timeout ) {
mc2log << error << "Got timeout after receiving ack-pack" << endl;
continue; // Go around again
}
if ( _pack.getSubType() != Packet::PACKETTYPE_MAPREPLY ) {
mc2log << error << "Got packet with subtype "
<< _pack.getSubTypeAsString()
<< " when expecting loadmapreply" << endl;
continue; // Please try again.
}
MapReplyPacket* pack = (MapReplyPacket *)&_pack;
status = pack->getStatus();
if ( status != StringTable::OK || pack->getMapID() != mapID ) {
mc2log << warn << "Got status \""
<< StringTable::getString(
StringTable::stringCode(pack->getStatus()),
StringTable::ENGLISH)
<< "\"-retrying. Wanted map = "
<< mapID
<< ", got reply for map = " << pack->getMapID() << endl;
if ( status == StringTable::MAPNOTFOUND ) {
// Wait longer if map not found ( loading? )
waittime = mapnotfoundwaittime;
}
if ( mapID != pack->getMapID() ) {
status = StringTable::NOT; // Keep the loop running.
}
continue; // Go another round in the loop.
}
if ( mapVersion != NULL && generatorVersion != NULL ) {
// Set the versions so that we know what we are caching.
mc2dbg8 << "[ModuleMap]: Version from packet "
<< hex << pack->getMapVersion() << ":"
<< pack->getGeneratorVersion() << dec << endl;
*mapVersion = pack->getMapVersion();
*generatorVersion = pack->getGeneratorVersion();
// Check if new map is needed.
if ( ! pack->newMapNeeded(mapVersionToUse,
generatorVersionToUse) ) {
// Same version. Use the cached map.
return NULL;
}
}
TCPsock = new TCPSocket;
mc2dbg4 << here << " opening socket" << endl;
TCPsock->open();
uint32 ip = pack->getReplyIP();
uint16 port = pack->getReplyPort();
if ( ! TCPsock->connect(ip, port ) ) {
mc2log << error << "Couldn't connect to " << ip
<< ":" << port << " - retrying" << endl;
// Set status to not ok.
status = StringTable::NOT;
TCPsock->close();
delete TCPsock;
TCPsock = NULL;
continue; // Please try again.
}
// Handshaking
mc2dbg4 << "Starting handshake" << endl;
int length = strlen(handshake) + 1;
if ( TCPsock->writeAll( (byte*)handshake, length ) != length ) {
mc2log << error << here << " handshake failed " << endl;
status = StringTable::NOT;
TCPsock->close();
delete TCPsock;
TCPsock = NULL;
continue; // Please try again.
} else {
mc2dbg4 << "done" << endl;
}
}
return TCPsock; // Should be NULL if we failed
}