/**
Open the server, if you supply a robot this will run in the robots
attached, if you do not supply a robot then it will be open and
you'll have to call runOnce yourself (this is only recommended for
advanced users)
@param robot the robot that this should be attached to and run in
the sync task of or NULL not to run in any robot's task
@param port the port to start up the service on
@param password the password needed to use the service
@param multipleClients if false only one client is allowed to connect,
if false multiple clients are allowed to connect or just one
@return true if the server could be started, false otherwise
**/
AREXPORT bool ArNetServer::open(ArRobot *robot, unsigned int port,
const char *password, bool multipleClients,
const char *openOnIP)
{
ArSyncTask *rootTask = NULL;
ArSyncTask *proc = NULL;
std::string taskName;
if (myOpened)
{
ArLog::log(ArLog::Terse, "ArNetServer already inited, cannot reinit");
return false;
}
myRobot = robot;
myPort = port;
myPassword = password;
myMultipleClients = multipleClients;
if (myServerSocket.open(myPort, ArSocket::TCP, openOnIP))
{
myServerSocket.setLinger(0);
myServerSocket.setNonBlock();
if (openOnIP != NULL)
ArLog::log(ArLog::Normal, "ArNetServer opened on port %d on ip %s.",
myPort, openOnIP);
else
ArLog::log(ArLog::Normal, "ArNetServer opened on port %d.", myPort);
myOpened = true;
}
else
{
ArLog::log(ArLog::Terse, "ArNetServer failed to open: %s",
myServerSocket.getErrorStr().c_str());
myOpened = false;
return false;
}
// add ourselves to the robot if we aren't already there
if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
{
proc = rootTask->findNonRecursive(&myTaskCB);
if (proc == NULL)
{
// toss in a netserver
taskName = "Net Servers ";
taskName += myPort;
rootTask->addNewLeaf(taskName.c_str(), 60, &myTaskCB, NULL);
}
}
return true;
}
ArNetServer::~ArNetServer()
{
ArSyncTask *rootTask = NULL;
ArSyncTask *proc = NULL;
// get rid of us running on the robot task
if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
{
proc = rootTask->findNonRecursive(&myTaskCB);
if (proc != NULL)
delete proc;
}
close();
}