AREXPORT void ArNetServer::runOnce(void)
{
ArSocket acceptingSocket;
ArSocket *socket;
char *str;
std::list<ArSocket *> removeList;
std::list<ArSocket *>::iterator it;
ArArgumentBuilder *args = NULL;
std::string command;
if (!myOpened)
{
return;
}
lock();
// get any new sockets that want to connect
while (myServerSocket.accept(&acceptingSocket) && acceptingSocket.getFD() >= 0)
{
acceptingSocket.setNonBlock();
// see if we want more sockets
if (!myMultipleClients && (myConns.size() > 0 ||
myConnectingConns.size() > 0))
{
// we didn't want it, so politely tell it to go away
acceptingSocket.writeString("Conn refused.");
acceptingSocket.writeString(
"Only client allowed and it is already connected.");
acceptingSocket.close();
ArLog::log(ArLog::Terse, "ArNetServer not taking multiple clients and another client tried to connect from %s.", acceptingSocket.getIPString());
}
else
{
// we want the client so we put it in our list of connecting
// sockets, which means that it is waiting to give its password
socket = new ArSocket;
socket->setLogWriteStrings(myLoggingDataSent);
socket->transfer(&acceptingSocket);
socket->writeString("Enter password:"******"Client connecting from %s.",
socket->getIPString());
}
}
// now we read in data from our connecting sockets and see if
// they've given us the password
for (it = myConnectingConns.begin(); it != myConnectingConns.end(); ++it)
{
socket = (*it);
// read in what the client has to say
if ((str = socket->readString()) != NULL)
{
if (str[0] == '\0')
continue;
// now see if the word matchs the password
if (myPassword == str)
{
ArLog::log(ArLog::Normal,
"Client from %s gave password and connected.",
socket->getIPString());
myConns.push_front(socket);
removeList.push_front(socket);
internalGreeting(socket);
}
else
{
socket->close();
myDeleteList.push_front(socket);
ArLog::log(ArLog::Terse,
"Client from %s gave wrong password and is being disconnected.",
socket->getIPString());
}
}
// if we couldn't read a string it means we lost a connection
else
{
ArLog::log(ArLog::Normal,
"Connection to %s lost.", socket->getIPString());
socket->close();
myDeleteList.push_front(socket);
}
}
// now we clear out the ones we want to remove from our connecting
// clients list
while ((it = removeList.begin()) != removeList.end())
{
socket = (*it);
myConnectingConns.remove(socket);
removeList.pop_front();
}
// now we read in data from our connecting sockets and see if
// they've given us the password
for (it = myConns.begin(); it != myConns.end() && myOpened; ++it)
{
socket = (*it);
// read in what the client has to say
while ((str = socket->readString()) != NULL)
{
// if this is null then there wasn't anything said
if (str[0] == '\0')
break;
// make sure we read something
// set up the arguments and then call the function for the
// argument
args = new ArArgumentBuilder;
args->addPlain(str);
//args->log();
parseCommandOnSocket(args, socket);
delete args;
args = NULL;
}
// if str was NULL we lost connection
if (str == NULL)
{
ArLog::log(ArLog::Normal,
"Connection to %s lost.", socket->getIPString());
socket->close();
myDeleteList.push_front(socket);
}
}
// now we delete the ones we want to delete (we could do this above
// but then it wouldn't be symetrical with above)
while ((it = myDeleteList.begin()) != myDeleteList.end())
{
socket = (*it);
myConnectingConns.remove(socket);
myConns.remove(socket);
socket->close();
delete socket;
myDeleteList.pop_front();
}
if (myWantToClose)
{
close();
}
unlock();
}
/// This should be its own thread here
void *ArCentralManager::runThread(void *arg)
{
std::list<ArSocket *>::iterator sIt;
std::list<std::string>::iterator nIt;
std::list<ArCentralForwarder *>::iterator fIt;
ArSocket *socket;
std::string robotName;
ArCentralForwarder *forwarder;
ArNetPacket *packet;
std::list<ArNetPacket *> addPackets;
std::list<ArNetPacket *> remPackets;
threadStarted();
while (getRunning())
{
int numForwarders = 0;
int numClients = 0;
myDataMutex.lock();
// this is where the original code to add forwarders was before we
// changed the unique behavior to drop old ones...
std::list<ArCentralForwarder *> connectedRemoveList;
std::list<ArCentralForwarder *> unconnectedRemoveList;
for (fIt = myForwarders.begin(); fIt != myForwarders.end(); fIt++)
{
forwarder = (*fIt);
numForwarders++;
if (forwarder->getServer() != NULL)
numClients += forwarder->getServer()->getNumClients();
bool connected = forwarder->isConnected();
bool removed = false;
if (!forwarder->callOnce(myHeartbeatTimeout, myUdpHeartbeatTimeout,
myRobotBackupTimeout, myClientBackupTimeout))
{
if (connected)
{
ArLog::log(ArLog::Normal, "Will remove forwarder from %s",
forwarder->getRobotName());
connectedRemoveList.push_back(forwarder);
removed = true;
}
else
{
ArLog::log(ArLog::Normal, "Failed to connect to forwarder from %s",
forwarder->getRobotName());
unconnectedRemoveList.push_back(forwarder);
removed = true;
}
}
if (!connected && !removed && forwarder->isConnected())
{
ArLog::log(ArLog::Normal, "Adding forwarder %s",
forwarder->getRobotName());
ArTime *newTime = new ArTime;
newTime->setSec(0);
myUsedPorts[forwarder->getPort()] = newTime;
std::multimap<int, ArFunctor1<ArCentralForwarder *> *>::iterator it;
for (it = myForwarderAddedCBList.begin();
it != myForwarderAddedCBList.end();
it++)
{
if ((*it).second->getName() == NULL ||
(*it).second->getName()[0] == '\0')
ArLog::log(ArLog::Normal, "Calling unnamed add functor at %d",
-(*it).first);
else
ArLog::log(ArLog::Normal, "Calling %s add functor at %d",
(*it).second->getName(), -(*it).first);
(*it).second->invoke(forwarder);
}
ArLog::log(ArLog::Normal, "Added forwarder %s",
forwarder->getRobotName());
ArNetPacket *sendPacket = new ArNetPacket;
sendPacket->strToBuf("");
sendPacket->uByte2ToBuf(forwarder->getPort());
sendPacket->strToBuf(forwarder->getRobotName());
sendPacket->strToBuf("");
sendPacket->strToBuf(
forwarder->getClient()->getTcpSocket()->getIPString());
addPackets.push_back(sendPacket);
// MPL added this at the same time as the changes for the deadlock that happened down below
//myClientServer->broadcastPacketTcp(&sendPacket, "clientAdded");
}
}
while ((fIt = connectedRemoveList.begin()) != connectedRemoveList.end())
{
forwarder = (*fIt);
ArLog::log(ArLog::Normal, "Removing forwarder %s",
forwarder->getRobotName());
std::multimap<int, ArFunctor1<ArCentralForwarder *> *>::iterator it;
for (it = myForwarderRemovedCBList.begin();
it != myForwarderRemovedCBList.end();
it++)
{
if ((*it).second->getName() == NULL ||
(*it).second->getName()[0] == '\0')
ArLog::log(ArLog::Normal, "Calling unnamed remove functor at %d",
-(*it).first);
else
ArLog::log(ArLog::Normal, "Calling %s remove functor at %d",
(*it).second->getName(), -(*it).first);
(*it).second->invoke(forwarder);
}
ArLog::log(ArLog::Normal, "Called forwarder removed for %s",
forwarder->getRobotName());
ArNetPacket *sendPacket = new ArNetPacket;
sendPacket->strToBuf("");
sendPacket->uByte2ToBuf(forwarder->getPort());
sendPacket->strToBuf(forwarder->getRobotName());
sendPacket->strToBuf("");
sendPacket->strToBuf(
forwarder->getClient()->getTcpSocket()->getIPString());
// MPL making this just push packets into a list to broadcast at the end since this was deadlocking
//myClientServer->broadcastPacketTcp(&sendPacket, "clientRemoved");
remPackets.push_back(sendPacket);
if (myUsedPorts.find(forwarder->getPort()) != myUsedPorts.end() &&
myUsedPorts[forwarder->getPort()] != NULL)
myUsedPorts[forwarder->getPort()]->setToNow();
myForwarders.remove(forwarder);
delete forwarder;
connectedRemoveList.pop_front();
ArLog::log(ArLog::Normal, "Removed forwarder");
}
while ((fIt = unconnectedRemoveList.begin()) !=
unconnectedRemoveList.end())
{
forwarder = (*fIt);
ArLog::log(ArLog::Normal, "Removing unconnected forwarder %s",
forwarder->getRobotName());
if (myUsedPorts.find(forwarder->getPort()) != myUsedPorts.end() &&
myUsedPorts[forwarder->getPort()] != NULL)
myUsedPorts[forwarder->getPort()]->setToNow();
myForwarders.remove(forwarder);
delete forwarder;
unconnectedRemoveList.pop_front();
ArLog::log(ArLog::Normal, "Removed unconnected forwarder");
}
// this code was up above just after the lock before we changed
// the behavior for unique names
while ((sIt = myClientSockets.begin()) != myClientSockets.end() &&
(nIt = myClientNames.begin()) != myClientNames.end())
{
socket = (*sIt);
robotName = (*nIt);
myClientSockets.pop_front();
myClientNames.pop_front();
ArLog::log(ArLog::Normal,
"New forwarder for socket from %s with name %s",
socket->getIPString(), robotName.c_str());
forwarder = new ArCentralForwarder(myClientServer, socket,
robotName.c_str(),
myClientServer->getTcpPort() + 1,
&myUsedPorts,
&myForwarderServerClientRemovedCB,
myEnforceProtocolVersion.c_str(),
myEnforceType);
myForwarders.push_back(forwarder);
}
numClients += myRobotServer->getNumClients();
if (myRobotServer != myClientServer)
numClients += myClientServer->getNumClients();
// end of code moved for change in unique behavior
if (numClients > myMostClients)
{
ArLog::log(ArLog::Normal, "CentralManager: New most clients: %d",
numClients);
myMostClients = numClients;
}
if (numForwarders > myMostForwarders)
myMostForwarders = numForwarders;
if (numClients > myMostClients)
{
ArLog::log(ArLog::Normal, "CentralManager: New most forwarders: %d",
numForwarders);
myMostForwarders = numForwarders;
}
myRobotServer->internalSetNumClients(numForwarders +
myClientSockets.size());
myDataMutex.unlock();
while (addPackets.begin() != addPackets.end())
{
packet = addPackets.front();
myClientServer->broadcastPacketTcp(packet, "clientAdded");
addPackets.pop_front();
delete packet;
}
while (remPackets.begin() != remPackets.end())
{
packet = remPackets.front();
myClientServer->broadcastPacketTcp(packet, "clientRemoved");
remPackets.pop_front();
delete packet;
}
ArUtil::sleep(1);
//make this a REALLY long sleep to test the duplicate pending
//connection code
//ArUtil::sleep(20000);
}
threadFinished();
return NULL;
}
