bool CNetSocket::Close(int flag /* = 2 */)
{
//清除发送缓冲区
memset(mszResendBuffer, 0, SEND_CATCH_LEN);
miResendLength = 0;
//清除发送队列
CAutoLock send_lock(moSendSection);
STRU_NET_DATA_INFO loNetDataInfo;
while(moSendList.PopFront(loNetDataInfo))
{
delete loNetDataInfo.buffer;
loNetDataInfo.buffer = NULL;
loNetDataInfo.length = 0;
}
//清除接收缓冲区
memset(mszRecvCache, 0, RECV_CATCH_LEN);
miRecvCacheLength = 0;
//清除接收队列
CAutoLock recv_lock(moRecvSection);
while(moRecvList.PopFront(loNetDataInfo))
{
delete loNetDataInfo.buffer;
loNetDataInfo.buffer = NULL;
loNetDataInfo.length = 0;
}
if(miSocket != -1)
{
shutdown(miSocket, flag);
CloseSocket(miSocket);
//TRACE(1, "CNetSocket::Close 关闭SOCKET: "<<miSocket);
moNetStat = COMMON_TCP_CLOSED;
miSocket = -1;
}
return true;
}
int main(int argc, char *argv[]) {
int opt;
struct sockaddr_can addr;
struct canfd_frame frame;
int running = 1;
int enable_canfd = 1;
int play_traffic = 1;
struct stat st;
SDL_Event event;
while ((opt = getopt(argc, argv, "Xdl:s:t:h?")) != -1) {
switch(opt) {
case 'l':
difficulty = atoi(optarg);
break;
case 's':
seed = atoi(optarg);
break;
case 't':
traffic_log = optarg;
break;
case 'd':
debug = 1;
break;
case 'X':
play_traffic = 0;
break;
case 'h':
case '?':
default:
usage(NULL);
break;
}
}
if (optind >= argc) usage("You must specify at least one can device");
if(stat(traffic_log, &st) == -1) {
char msg[256];
snprintf(msg, 255, "CAN Traffic file not found: %s\n", traffic_log);
usage(msg);
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
return 1;
}
addr.can_ifindex = ifr.ifr_ifindex;
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
door_id = DEFAULT_DOOR_ID;
signal_id = DEFAULT_SIGNAL_ID;
speed_id = DEFAULT_SPEED_ID;
if (seed) {
srand(seed);
door_id = (rand() % 2046) + 1;
signal_id = (rand() % 2046) + 1;
speed_id = (rand() % 2046) + 1;
door_pos = rand() % 9;
signal_pos = rand() % 9;
speed_pos = rand() % 8;
printf("Seed: %d\n", seed);
door_len = door_pos + 1;
signal_len = signal_pos + 1;
speed_len = speed_len + 2;
}
if(difficulty > 0) {
if (door_len < 8) {
door_len += rand() % (8 - door_len);
} else {
door_len = 0;
}
if (signal_len < 8) {
signal_len += rand() % (8 - signal_len);
} else {
signal_len = 0;
}
if (speed_len < 8) {
speed_len += rand() % (8 - speed_len);
} else {
speed_len = 0;
}
}
if(play_traffic) {
signal(SIGALRM,(void (*)(int))kill_child);
play_id = fork();
if((int)play_id == -1) {
printf("Error: Couldn't fork bg player\n");
exit(-1);
} else if (play_id != 0) {
play_can_traffic();
}
}
// GUI Setup
SDL_Window *window = NULL;
SDL_Surface *screenSurface = NULL;
if(SDL_Init ( SDL_INIT_VIDEO | SDL_INIT_JOYSTICK ) < 0 ) {
printf("SDL Could not initializes\n");
exit(40);
}
if( SDL_NumJoysticks() < 1) {
printf(" Warning: No joysticks connected\n");
} else {
if(SDL_IsGameController(0)) {
gGameController = SDL_GameControllerOpen(0);
if(gGameController == NULL) {
printf(" Warning: Unable to open game controller. %s\n", SDL_GetError() );
} else {
gJoystick = SDL_GameControllerGetJoystick(gGameController);
gHaptic = SDL_HapticOpenFromJoystick(gJoystick);
print_joy_info();
}
} else {
gJoystick = SDL_JoystickOpen(0);
if(gJoystick == NULL) {
printf(" Warning: Could not open joystick\n");
} else {
gHaptic = SDL_HapticOpenFromJoystick(gJoystick);
if (gHaptic == NULL) printf("No Haptic support\n");
print_joy_info();
}
}
}
window = SDL_CreateWindow("CANBus Control Panel", SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED, SCREEN_WIDTH, SCREEN_HEIGHT, SDL_WINDOW_SHOWN | SDL_WINDOW_RESIZABLE);
if(window == NULL) {
printf("Window could not be shown\n");
}
renderer = SDL_CreateRenderer(window, -1, 0);
SDL_Surface *image = IMG_Load(get_data("joypad.png"));
base_texture = SDL_CreateTextureFromSurface(renderer, image);
SDL_RenderCopy(renderer, base_texture, NULL, NULL);
SDL_RenderPresent(renderer);
int button, axis; // Used for checking dynamic joystick mappings
while(running) {
while( SDL_PollEvent(&event) != 0 ) {
switch(event.type) {
case SDL_QUIT:
running = 0;
break;
case SDL_WINDOWEVENT:
switch(event.window.event) {
case SDL_WINDOWEVENT_ENTER:
case SDL_WINDOWEVENT_RESIZED:
redraw_screen();
break;
}
case SDL_KEYDOWN:
switch(event.key.keysym.sym) {
case SDLK_UP:
throttle = 1;
break;
case SDLK_LEFT:
turning = -1;
break;
case SDLK_RIGHT:
turning = 1;
break;
case SDLK_LSHIFT:
lock_enabled = 1;
if(unlock_enabled) send_lock(CAN_DOOR1_LOCK | CAN_DOOR2_LOCK | CAN_DOOR3_LOCK | CAN_DOOR4_LOCK);
break;
case SDLK_RSHIFT:
unlock_enabled = 1;
if(lock_enabled) send_unlock(CAN_DOOR1_LOCK | CAN_DOOR2_LOCK | CAN_DOOR3_LOCK | CAN_DOOR4_LOCK);
break;
case SDLK_a:
if(lock_enabled) {
send_lock(CAN_DOOR1_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR1_LOCK);
}
break;
case SDLK_b:
if(lock_enabled) {
send_lock(CAN_DOOR2_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR2_LOCK);
}
break;
case SDLK_x:
if(lock_enabled) {
send_lock(CAN_DOOR3_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR3_LOCK);
}
break;
case SDLK_y:
if(lock_enabled) {
send_lock(CAN_DOOR4_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR4_LOCK);
}
break;
}
kk_check(event.key.keysym.sym);
break;
case SDL_KEYUP:
switch(event.key.keysym.sym) {
case SDLK_UP:
throttle = -1;
break;
case SDLK_LEFT:
case SDLK_RIGHT:
turning = 0;
break;
case SDLK_LSHIFT:
lock_enabled = 0;
break;
case SDLK_RSHIFT:
unlock_enabled = 0;
break;
}
break;
case SDL_JOYAXISMOTION:
axis = event.jaxis.axis;
if(axis == gAxisLeftH) {
ud(event.jaxis.value);
} else if(axis == gAxisLeftV) {
turn(event.jaxis.value);
} else if(axis == gAxisR2) {
accelerate(event.jaxis.value);
} else if(axis == gAxisRightH ||
axis == gAxisRightV ||
axis == gAxisL2 ||
axis == gJoyX ||
axis == gJoyY ||
axis == gJoyZ) {
// Do nothing, the axis is known just not connected
} else {
if (debug) printf("Unkown axis: %d\n", event.jaxis.axis);
}
break;
case SDL_JOYBUTTONDOWN:
button = event.jbutton.button;
if(button == gButtonLock) {
lock_enabled = 1;
if(unlock_enabled) send_lock(CAN_DOOR1_LOCK | CAN_DOOR2_LOCK | CAN_DOOR3_LOCK | CAN_DOOR4_LOCK);
} else if(button == gButtonUnlock) {
unlock_enabled = 1;
if(lock_enabled) send_unlock(CAN_DOOR1_LOCK | CAN_DOOR2_LOCK | CAN_DOOR3_LOCK | CAN_DOOR4_LOCK);
} else if(button == gButtonA) {
if(lock_enabled) {
send_lock(CAN_DOOR1_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR1_LOCK);
}
kk_check(SDLK_a);
} else if (button == gButtonB) {
if(lock_enabled) {
send_lock(CAN_DOOR2_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR2_LOCK);
}
kk_check(SDLK_b);
} else if (button == gButtonX) {
if(lock_enabled) {
send_lock(CAN_DOOR3_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR3_LOCK);
}
kk_check(SDLK_x);
} else if (button == gButtonY) {
if(lock_enabled) {
send_lock(CAN_DOOR4_LOCK);
} else if(unlock_enabled) {
send_unlock(CAN_DOOR4_LOCK);
}
kk_check(SDLK_y);
} else if (button == gButtonStart) {
kk_check(SDLK_RETURN);
} else {
if(debug) printf("Unassigned button: %d\n", event.jbutton.button);
}
break;
case SDL_JOYBUTTONUP:
button = event.jbutton.button;
if(button == gButtonLock) {
lock_enabled = 0;
} else if(button == gButtonUnlock) {
unlock_enabled = 0;
} else {
//if(debug) printf("Unassigned button: %d\n", event.jbutton.button);
}
break;
case SDL_JOYDEVICEADDED:
// Only use the first controller
if(event.cdevice.which == 0) {
gJoystick = SDL_JoystickOpen(0);
if(gJoystick) {
gHaptic = SDL_HapticOpenFromJoystick(gJoystick);
print_joy_info();
}
}
break;
case SDL_JOYDEVICEREMOVED:
if(event.cdevice.which == 0) {
SDL_JoystickClose(gJoystick);
gJoystick = NULL;
}
break;
case SDL_CONTROLLERDEVICEADDED:
// Only use the first controller
if(gGameController == NULL) {
gGameController = SDL_GameControllerOpen(0);
gJoystick = SDL_GameControllerGetJoystick(gGameController);
gHaptic = SDL_HapticOpenFromJoystick(gJoystick);
print_joy_info();
}
break;
case SDL_CONTROLLERDEVICEREMOVED:
if(event.cdevice.which == 0) {
SDL_GameControllerClose(gGameController);
gGameController = NULL;
}
break;
}
}
currentTime = SDL_GetTicks();
checkAccel();
checkTurn();
SDL_Delay(5);
}
kill_child(SIGKILL);
close(s);
SDL_DestroyTexture(base_texture);
SDL_FreeSurface(image);
SDL_GameControllerClose(gGameController);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
SDL_Quit();
}
