void update_rc(uint16_t left_x, uint16_t left_y, uint16_t right_x, uint16_t right_y, uint8_t button)
{
rcPacket.header.cmd = E_RC_CMD_SEND_RC_DATA;
rcPacket.payLoad.data.axis_left_x = left_x;
rcPacket.payLoad.data.axis_left_y = left_y;
rcPacket.payLoad.data.axis_right_x = right_x;
rcPacket.payLoad.data.axis_right_y = right_y;
rcPacket.payLoad.data.button = button;
send_rc(sizeof(rcPacket), (uint8_t*)&rcPacket);
}
void update_rc(uint16_t left_x, uint16_t left_y, uint16_t right_x, uint16_t right_y, uint8_t button, uint8_t led)
{
printf("(L_x, L_y, R_x, R_y button, led)=(%4d, %4d, %4d, %4d, 0x%2x, 0x%2x)\n", left_x, left_y, right_x, right_y, button, led);
rcPacket.header.cmd = E_RC_CMD_SEND_RC_DATA;
rcPacket.payLoad.data.axis_left_x = left_x;
rcPacket.payLoad.data.axis_left_y = left_y;
rcPacket.payLoad.data.axis_right_x = right_x;
rcPacket.payLoad.data.axis_right_y = right_y;
rcPacket.payLoad.data.button = button;
rcPacket.payLoad.data.led = led;
printf("RendRC!\n");
send_rc(sizeof(rcPacket), (uint8_t*)&rcPacket);
}
int main(int argc, char *argv[]) {
int want_dump=0;
int lport;
int sock, n, i;
size_t length, fromlen;
struct sockaddr_in addr;
struct sockaddr_in from;
char buf[BUFSIZ];
remoteconnection *rc = NULL;
if (argc == 2) {
if (!strcmp(argv[1], "-V") || !strcmp(argv[1], "--version")) {
printversion(argv[0]);
return (0);
}
if (!strcmp(argv[1], "-h") || !strcmp(argv[1], "--help")) {
usage (argv[0], 0);
}
}
if (argc < 2)
usage(argv[0], 1);
lport = atoi(argv[1]);
rc=calloc((argc-2), sizeof(remoteconnection));
if (argc == 2) {
want_dump = 1;
//printf("raw data dump mode!\n");
}
for (i=2; i < argc; i++) {
char *hostname=NULL;
int port=0;
if(!splithp(argv[i], &hostname, &port)) {
open_rc(&(rc[(i-2)]), hostname, port);
rc[(i-2)].port=port;
rc[(i-2)].hostname=hostname;
//printf(" dup to h:%s p:%i\n", hostname, port);
}
}
sock=socket(AF_INET, SOCK_DGRAM, 0);
if (sock < 0)
error("Opening socket");
setnonblock(sock, 1);
int val=1;
#ifndef HAVE_WINDOWS
setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &val, sizeof(int));
#else
setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (void*) &val, sizeof(int));
#endif
length = sizeof(addr);
bzero(&addr, length);
addr.sin_family=AF_INET;
addr.sin_addr.s_addr=INADDR_ANY;
addr.sin_port=htons(lport);
if (bind(sock, (struct sockaddr *)&addr, length)<0)
error("binding to port %i failed.", lport);
fromlen = sizeof(struct sockaddr_in);
run=1;
#ifndef HAVE_WINDOWS
signal (SIGHUP, catchsig);
signal (SIGINT, catchsig);
#endif
while (run) {
fd_set rfds;
struct timeval tv;
tv.tv_sec = 1; tv.tv_usec = 0;
FD_ZERO(&rfds);
FD_SET(sock, &rfds);
if((select(sock+1, &rfds, NULL, NULL, &tv))<0) {
if (errno!=EINTR) {
break;
}
continue;
}
if(!FD_ISSET(sock, &rfds))
continue;
n = recvfrom(sock, buf, BUFSIZ, 0, (struct sockaddr *)&from, &fromlen);
if (n < 0)
error("recvfrom");
if (want_dump) {
//printf("Received a datagram: ");
write(1, buf, n);
//printf("\n");
fsync(1);
}
for (i=2; i < argc; i++) {
send_rc(&(rc[i-2]), buf, n);
}
}
for (i=2; i < argc; i++) {
close_rc(&(rc[i-2]));
free(rc[(i-2)].hostname);
}
#ifndef HAVE_WINDOWS
close(sock);
#else
closesocket(sock);
#endif
return (0);
}