int main(int argc, char ** argv){
int conn_s; /* connection socket */
char buffer[MAX_LINE]; /* character buffer */
struct sockaddr_in servaddr; /* socket address structure */
parse_options(argc, argv, &servaddr);
conn_s = tcp_connect(&servaddr);
/* Read output of server, ask input to user and write input to server */
Readline(conn_s, buffer, MAX_LINE-1);
printf("%s", buffer);
fgets(buffer, MAX_LINE, stdin);
Writeline(conn_s, buffer, strlen(buffer));
/* Repeat for password */
Readline(conn_s, buffer, MAX_LINE-1);
printf("%s", buffer);
fgets(buffer, MAX_LINE, stdin);
Writeline(conn_s, buffer, strlen(buffer));
/* Read authentication response */
Readline(conn_s, buffer, MAX_LINE-1);
printf("%s\n", buffer);
return EXIT_SUCCESS;
}
void XHCP_print (int sockd, char *Libelle, ... )
{
va_list Marker;
//char msg[256];
int sz_alloc=strlen (Libelle) + 256;
int sz_msg;
char *msg = (char *)malloc (sz_alloc);
msg[0]='\0';
/* construction du libelle du message */
va_start ( Marker, Libelle);
sz_msg=strlen (msg);
if ( sz_alloc-sz_msg<128 )
{
sz_alloc += 128;
msg = (char *)realloc (msg, sz_alloc);
}
vsprintf (msg, Libelle, Marker);
va_end ( Marker);
Writeline (sockd, msg, strlen (msg));
sz_msg=strlen (msg);
if ( msg[sz_msg-1] != '\n' )
Writeline (sockd, "\r\n", 2);
free (msg);
}
int Return_Error_Msg(int conn, struct ReqInfo * reqinfo) {
char buffer[100];
sprintf(buffer, "<HTML>\n<HEAD>\n<TITLE>Server Error %d</TITLE>\n</HEAD>\n\n", reqinfo->status);
Writeline(conn, buffer, strlen(buffer));
sprintf(buffer, "<BODY>\n<H1>Server Error %d</H1>\n", reqinfo->status);
Writeline(conn, buffer, strlen(buffer));
sprintf(buffer, "<P>The request could not be completed.</P>\n"
"</BODY>\n</HTML>\n");
Writeline(conn, buffer, strlen(buffer));
return 0;
}
int Output_HTTP_Headers(int conn, struct ReqInfo * reqinfo) {
char buffer[100];
sprintf(buffer, "HTTP/1.0 %d OK\r\n", reqinfo->status);
Writeline(conn, buffer, strlen(buffer));
Writeline(conn, "Server: PGWebServ v0.1\r\n", 24);
Writeline(conn, "Content-Type: text/html\r\n", 25);
Writeline(conn, "\r\n", 2);
return 0;
}
void sendFileTo(char* message, int to, int from){
char *file_contents;
long input_file_size;
//remove \n at end of string
message[strlen(message)-1]=0;
FILE* input_file = fopen(message,"r");
if(input_file != NULL){
fseek(input_file, 0, SEEK_END);
input_file_size = ftell(input_file);
rewind(input_file);
file_contents = malloc(input_file_size * (sizeof(char)));
fread(file_contents, sizeof(char), input_file_size, input_file);
fclose(input_file);
char* buf;
int size = input_file_size+sizeof(message)+MAX_USR_LENGTH + 30;
char tmp[size];
memset(tmp,0,size);
strcat(tmp,"ENDOFFILE");
strcat(tmp," ; ");
strcat(tmp,file_contents);
buf = parseMessage(tmp,strlen(tmp));
printf("N%s\n",buf);
printf("Envoie au client : %d\n",to);
if (Writeline(ctx.socketFd[to], buf, strlen(buf)+1) < 0){
debugTrace("Message issue");
}
else {
debugTrace("Message sent\n");
}
free(buf);
}
}
void sendAll(unsigned char* message, int actuel){
int i = 0;
char* buf;
int size = strlen((char*)message)+MAX_USR_LENGTH + 20;
char tmp[size];
for(i=0;i<LISTENQ;i++){
memset(tmp,0,size);
if(ctx.socketFd[i] != -1 && (i != actuel)){
strcat(tmp,usrDatas[actuel].name);
strcat(tmp," : ");
strcat(tmp,(char*)message);
buf = parseMessage(tmp,strlen(tmp));
printf("Envoie au client : %d\n",i);
if (Writeline(ctx.socketFd[i], buf, strlen(buf)+1) < 0){
debugTrace("Message issue");
}
else {
debugTrace("Message sent\n");
}
free(buf);
}
}
}
/*写数据
入参：pBuf - 存放要写的数据
nLen - 数据长度
pData - netbuf结构
出参：成功返回已写的字节数，失败返回-1
*/
int yCFtp::Write (const char *pBuf, int nLen, netbuf *pData)
{
assert (m_pCtl && pData);
int i = 0;
if (pData->nDir != FTPLIB_WRITE)
return 0;
if (pData->pBuf)
{
i = Writeline (pBuf, nLen, pData);
}
else
{
Socketwait (pData);
i = write (pData->nHandle, pBuf, nLen);
}
pData->nFered += i;
if (pData->funIdlecb && pData->nBytes)
{
pData->nFeredl += i;
if (pData->nFeredl > pData->nBytes)
{
pData->funIdlecb (pData, pData->nFered, pData->pIdleary);
pData->nFeredl = 0;
}
}
return i;
}
int
NotifyCream(char *buffer, creamConnection_t *connection)
{
int retcod;
struct pollfd fds[2];
if (connection->creamfilter == NULL) return -1;
fds[0].fd = connection->socket_fd;
fds[0].events = ( POLLOUT | POLLPRI | POLLERR | POLLHUP | POLLNVAL ) ;
if(!connection->creamisconn){
return -1;
}
retcod = poll(fds, 1, bfunctions_poll_timeout);
if (retcod < 0) {
free_cream_connection(connection);
do_log(debuglogfile, debug, 1, "Fatal Error:Poll error in NotifyCream errno:%d\n",errno);
sysfatal("Poll error in NotifyCream: %r");
} else if ( retcod == 0 ) {
do_log(debuglogfile, debug, 1, "Error:poll() timeout in NotifyCream\n");
syserror("poll() timeout in NotifyCream: %r");
return -1;
} else if ( retcod > 0 ) {
if (( fds[0].revents & ( POLLERR | POLLNVAL | POLLHUP) )){
switch (fds[0].revents){
case POLLNVAL:
do_log(debuglogfile, debug, 1, "Error:poll() file descriptor error in NotifyCream\n");
syserror("poll() file descriptor error in NotifyCream: %r");
return -1;
case POLLHUP:
do_log(debuglogfile, debug, 1, "Connection closed in NotifyCream\n");
syserror("Connection closed in NotifyCream: %r");
return -1;
case POLLERR:
do_log(debuglogfile, debug, 1, "Error:poll() POLLERR in NotifyCream\n");
syserror("poll() POLLERR in NotifyCream: %r");
return -1;
}
} else {
Writeline(connection->socket_fd, buffer, strlen(buffer));
do_log(debuglogfile, debug, 1, "Sent for Cream:%s",buffer);
}
}
return 0;
}
/* sends a message */
static int music__send(lua_State *L, const char *msg)
{
char cmsg[1024];
size_t length;
int *sock = music__get(L);
length = strlen(msg);
memcpy(cmsg, msg, length);
cmsg[length++] = '\n';
cmsg[length] = '\0';
if ((Writeline(*sock, (const void *)cmsg, length)) != (ssize_t)length) {
return luaL_error(L, "write() failed");
}
return 0;
}
int processHttpRequest(int sockd, char *buffer)
{
char *sep = "\n";
char *line, *brkt;
char *commande=NULL;
char *responseBuffer=NULL;
char *header = XPLHAL_ROOT_PAGE_HEAD;
char *footer = XPLHAL_ROOT_PAGE_TRAIL;
//for (line = strtok_r(buffer, sep, &brkt); line; line = strtok_r(NULL, sep, &brkt))
//{
//responseBuffer = addBuffer (responseBuffer, line);
//printf("Ligne HTTP : [%s]\n",line);
//}
//printf("Buffer : %i car. [%s]\n",strlen(responseBuffer), responseBuffer);
//responseBuffer = "coucou xPLHal est là !!";
//XHCP_print (sockd, "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\nContent-Length: %i\r\n\r\n%s",strlen(responseBuffer),responseBuffer);
for (line = strtok_r(buffer, sep, &brkt); line; line = strtok_r(NULL, sep, &brkt))
{
printf("Ligne HTTP : [%s]\n",line);
if ( strncmp("cmd=",line,4) == 0)
{
commande = strdup(line+4);
printf("OK cmd trouvé !! [%s]",commande);
}
}
//responseBuffer = XPLHAL_ROOT_PAGE;
if ( commande == NULL )
commande=strdup("");
int size = strlen(header) + strlen (footer) + strlen (commande) +10;
printf("Size = %i\n");
responseBuffer = malloc (size);
sprintf(responseBuffer,"%s%s%s", header, commande, footer);
Writeline (sockd, responseBuffer, strlen(responseBuffer));
if ( responseBuffer != NULL ) free(responseBuffer);
if ( commande != NULL ) free(commande);
return 0;
}
int
GetVersion(const int conn_c)
{
char *out_buf;
if ((out_buf = make_message("%s__1\n", VERSION)) != NULL)
{
Writeline(conn_c, out_buf, strlen(out_buf));
do_log(debuglogfile, debug, 1, "Sent Reply for PARSERVERSION command:%s\n",out_buf);
free(out_buf);
return 0;
}
else
return 1;
}
void XHCP_printMessage (int sockd, int messNum, char *Libelle, ... )
{
va_list Marker;
char response_msg[256];
char *tmp;
sprintf (response_msg, "%d ", messNum);
tmp = response_msg+strlen (response_msg);
/* construction du libelle du message */
va_start ( Marker, Libelle);
vsprintf (tmp, Libelle, Marker);
va_end ( Marker);
strcat (response_msg, "\r\n");
Writeline (sockd, response_msg, strlen (response_msg));
}
///
/// Load a bitstream via the external "ICAP"
///
/// @param bitstream pointer to the bitstream struct
///
void ecap_load(reconos_bitstream_t *bitstream) {
char recv_buf[80];
ssize_t send_len, recv_len;
send_len = Writeline(conn_s, bitstream->filename, strlen(bitstream->filename));
CYG_ASSERT(send_len = strlen(bitstream->filename), "Error while writing to ECAP");
recv_len = Readline(conn_s, recv_buf, 80);
#ifdef UPBDBG_RECONOS_DEBUG
diag_printf("\t\tECAP says: %s", recv_buf);
#endif
if ( recv_buf[0] != 'O' || recv_buf[1] != 'K' ) {
CYG_FAIL("ecap reconfiguration failed");
}
}
void sendTo(char* message, int to, int from){
char* buf;
int size = strlen((char*)message)+MAX_USR_LENGTH + 20;
char tmp[size];
memset(tmp,0,size);
strcat(tmp,usrDatas[from].name);
strcat(tmp," : ");
strcat(tmp,(char*)message);
buf = parseMessage(tmp,strlen(tmp));
printf("Envoie au client : %d\n",to);
if (Writeline(ctx.socketFd[to], buf, strlen(buf)+1) < 0){
debugTrace("Message issue");
}
else {
debugTrace("Message sent\n");
}
free(buf);
}
string cUserVar::EvaluateConnectCmd(const cEvent* e)
{
if (varparser.connectAddr == "") return "";
int conn_s; /* connection socket */
struct sockaddr_in servaddr; /* socket address structure */
char buffer[MAX_LINE]; /* character buffer */
if ( (conn_s = socket(AF_INET, SOCK_STREAM, 0)) < 0 )
{
LogFile.eSysLog("Error creating listening socket");
return "";
}
memset(&servaddr, 0, sizeof(varparser.connectAddr.c_str()));
servaddr.sin_family = AF_INET;
servaddr.sin_port = htons(varparser.connectPort);
if (getAddrFromString(varparser.connectAddr.c_str(), &servaddr) != 0)
{
LogFile.eSysLog("Invalid remote address");
return "";
}
if ( connect(conn_s, (struct sockaddr *) &servaddr, sizeof(servaddr) ) < 0 )
{
LogFile.eSysLog("Error calling connect()");
return "";
}
varparser.compExpr = varparser.cmdArgs;
string resexp = EvaluateCompExpr(e, true);
sprintf(buffer, "%s\n", resexp.c_str());
Writeline(conn_s, buffer, strlen(buffer));
Readline(conn_s, buffer, MAX_LINE-1);
close(conn_s);
return buffer;
}
int
GetFilter(char *buffer, const int conn_c, char **creamfilter)
{
int maxtok;
char **tbuf;
char *cp=NULL;
char * out_buf;
maxtok = strtoken(buffer,'/',&tbuf);
if(tbuf[1]){
*creamfilter = make_message("%s",tbuf[1]);
if(*creamfilter == NULL){
sysfatal("strdup failed for creamfilter in GetFilter: %r");
}
if ((cp = strrchr (*creamfilter, '\n')) != NULL) {
*cp = '\0';
}
if ((cp = strrchr (*creamfilter, '\r')) != NULL) {
*cp = '\0';
}
out_buf = make_message("CREAMFILTER set to %s\n", *creamfilter);
} else {
out_buf = make_message("CREAMFILTER ERROR\n");
}
Writeline(conn_c, out_buf, strlen(out_buf));
do_log(debuglogfile, debug, 1, "Sent Reply for CREAMFILTER command:%s\n",out_buf);
freetoken(&tbuf,maxtok);
free(out_buf);
return 0;
}
void Writeline(string s) {
Writeline(lastSockd, s.data(), 0);
}
JNIEXPORT jstring JNICALL Java_de_reiss_nomb_controller_nativecode_NetworkActivity_connecttoserver(
JNIEnv* env, jobject thiz, jstring serverip, jstring port) {
__android_log_write(ANDROID_LOG_INFO, LOG_TAG, "<NATIVE SOCKET>");
const char *nativeServerip = (*env)->GetStringUTFChars(env, serverip, 0);
__android_log_print(ANDROID_LOG_INFO, LOG_TAG, "Server IP: %s",nativeServerip);
const char *nativePort = (*env)->GetStringUTFChars(env, port, 0);
__android_log_print(ANDROID_LOG_INFO, LOG_TAG, "Port: %s",nativePort);
int sock;
struct sockaddr_in serv_addr;
char c;
sock = (socket(AF_INET, SOCK_STREAM, 0));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(atoi(nativePort));
serv_addr.sin_addr.s_addr = inet_addr(nativeServerip);
// connect to echo server
if(connect(sock, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0) {
close(sock);
char* str = "Connecting to server did not work!\n";
__android_log_write(ANDROID_LOG_INFO, LOG_TAG, "</NATIVE SOCKET>");
return (*env)->NewStringUTF(env, str);
}
else {
char* res = "";
char buffer[100]= "hello from c\n"; // "\n" needed !!!! otherwise server hangs in readLine() ........
if(Writeline(sock, buffer, strlen(buffer)) < 1) {
res = "Writing to server did not work!\n";
close(sock);
__android_log_write(ANDROID_LOG_INFO, LOG_TAG, "</NATIVE SOCKET>");
return (*env)->NewStringUTF(env, res);
} else {
res = "Writing to server worked! Sent: hello from c\n";
if(Readline(sock, buffer, 100-1) < 0) {
char str[100];
strcpy(str,res);
strcat(str," Reading from server did not work!\n");
strcpy(str,buffer);
close(sock);
__android_log_write(ANDROID_LOG_INFO, LOG_TAG, "</NATIVE SOCKET>");
return (*env)->NewStringUTF(env, str);
}
else {
__android_log_print(ANDROID_LOG_INFO, LOG_TAG, "Echo response: %s", buffer);
char str[256];
snprintf(str, sizeof str, "%s%s%s", res, " Received: \n", buffer);
close(sock);
__android_log_write(ANDROID_LOG_INFO, LOG_TAG, "</NATIVE SOCKET>");
return (*env)->NewStringUTF(env, str);
}
}
}
}
int main(int argc, char *argv[]) {
int conn_s; /* connection socket */
short int port; /* port number */
struct sockaddr_in servaddr; /* socket address structure */
char buffer[MAX_LINE]; /* character buffer */
char *szAddress; /* Holds remote IP address */
char *szPort; /* Holds remote port */
char *endptr; /* for strtol() */
/* Get command line arguments */
ParseCmdLine(argc, argv, &szAddress, &szPort);
/* Set the remote port */
port = strtol(szPort, &endptr, 0);
if ( *endptr ) {
printf("ECHOCLNT: Invalid port supplied.\n");
exit(EXIT_FAILURE);
}
/* Create the listening socket */
if ( (conn_s = socket(AF_INET, SOCK_STREAM, 0)) < 0 ) {
fprintf(stderr, "ECHOCLNT: Error creating listening socket.\n");
exit(EXIT_FAILURE);
}
/* Set all bytes in socket address structure to
zero, and fill in the relevant data members */
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_port = htons(port);
/* Set the remote IP address */
if ( inet_aton(szAddress, &servaddr.sin_addr) <= 0 ) {
printf("ECHOCLNT: Invalid remote IP address.\n");
exit(EXIT_FAILURE);
}
/* connect() to the remote echo server */
if ( connect(conn_s, (struct sockaddr *) &servaddr, sizeof(servaddr) ) < 0 ) {
printf("ECHOCLNT: Error calling connect()\n");
exit(EXIT_FAILURE);
}
/* Get string to echo from user */
printf("Enter the string to echo: ");
fgets(buffer, MAX_LINE, stdin);
/* Send string to echo server, and retrieve response */
Writeline(conn_s, buffer, strlen(buffer));
Readline(conn_s, buffer, MAX_LINE-1);
/* Output echoed string */
printf("Echo response: %s\n", buffer);
return EXIT_SUCCESS;
}
int main(int argc, char *argv[]) {
int list_s; /* listening socket */
int conn_s; /* connection socket */
short int port; /* port number */
struct sockaddr_in servaddr; /* socket address structure */
char buffer[MAX_LINE]; /* character buffer */
char *endptr; /* for strtol() */
fprintf(stdout, "Starting ECHOServer.\n");
/* Get port number from the command line, and
set to default port if no arguments were supplied */
if ( argc == 2 ) {
port = strtol(argv[1], &endptr, 0);
if ( *endptr ) {
fprintf(stderr, "ECHOSERV: Invalid port number.\n");
exit(EXIT_FAILURE);
}
}else if ( argc < 2 ) {
port = ECHO_PORT;
}else{
fprintf(stderr, "ECHOSERV: Invalid arguments.\n");
exit(EXIT_FAILURE);
}
printf("SysLoadModule(NET)=%d\n", SysLoadModule(SYSMODULE_NET));
printf("net_init()=%d\n", net_initialize_network());
/* Create the listening socket */
if ( (list_s = socket(AF_INET, SOCK_STREAM, 0)) < 0 ) {
fprintf(stderr, "ECHOSERV: Error creating listening socket.\n");
printf("errno: %d\n", errno);
exit(EXIT_FAILURE);
}
/* Set all bytes in socket address structure to
zero, and fill in the relevant data members */
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
servaddr.sin_port = htons(port);
/* Bind our socket addresss to the
listening socket, and call listen() */
if ( bind(list_s, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling bind()\n");
exit(EXIT_FAILURE);
}
if ( listen(list_s, LISTENQ) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling listen()\n");
exit(EXIT_FAILURE);
}
char* message = "Welcome to ECHOServer test.\nType exit and hit enter to close app, otherwise type anything you want and hit enter and I will replay it back to you free of charge. :)";
/* Enter an infinite loop to respond
to client requests and echo input */
int run = 1;
while ( run ) {
/* Wait for a connection, then accept() it */
if ( (conn_s = accept(list_s, NULL, NULL) ) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling accept()\n");
exit(EXIT_FAILURE);
}
Writeline(conn_s, message, strlen(message));
/* Retrieve an input line from the connected socket
then simply write it back to the same socket. */
Readline(conn_s, buffer, MAX_LINE-1);
if(strncmp("exit", buffer, 4) == 0)
run = 0;
Writeline(conn_s, buffer, strlen(buffer));
/* Close the connected socket */
if ( closesocket(conn_s) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling closesocket()\n");
exit(EXIT_FAILURE);
}
}
net_finalize_network();
SysUnloadModule(SYSMODULE_NET);
}
int Output_HTTP_Headers(int conn, struct ReqInfo * reqinfo) {
char buffer[100];
sprintf(buffer, "HTTP/1.1 %d OK\r\n", reqinfo->status);
Writeline(conn, buffer, strlen(buffer));
if(contains(reqinfo->resource,"text/")||contains(reqinfo->resource,"txt/")||contains(reqinfo->resource,"plain/"))
Writeline(conn, "Content-Type: text/plain; charset=utf-8\r\n");
else if(contains(reqinfo->resource,"json/")){
Writeline(conn, "Content-Type: application/json; charset=utf-8\r\n");
Writeline(conn, "Access-Control-Allow-Origin: *\r\n");// http://quasiris.com
}
else if(contains(reqinfo->resource,"csv/"))
Writeline(conn, "Content-Type: text/plain; charset=utf-8\r\n");
else if(contains(reqinfo->resource,"tsv/"))
Writeline(conn, "Content-Type: text/plain; charset=utf-8\r\n");
else if(contains(reqinfo->resource,"xml/"))
Writeline(conn, "Content-Type: text/plain; charset=utf-8\r\n");// till entities are fixed
// Writeline(conn, "Content-Type: application/xml; charset=utf-8\r\n");
else
Writeline(conn, "Content-Type: text/html; charset=utf-8\r\n");
Writeline(conn, "Connection: close\r\n");
Writeline(conn, "Server: Netbase\r\n");
Writeline(conn, "\r\n", 2);
// Writeline(conn, "\r\n", 2);
return 0;
}
void mexFunction(int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[])
{
char buf[MAXLENGTH];
char numStr[20];
double x,y,z,tx,ty,tz;
double *pwrench,*ploc,*perr,*pind;
int i,j,numBodies,numContacts;
int sockd;
mxArray *wrench,*loc,*err;
/* Check for proper number of arguments */
if (nrhs > 1) {
mexErrMsgTxt("get average contacts takes at most one input argument.");
} else if (nlhs > 3) {
mexErrMsgTxt("get average contacts takes at most three output arguments.");
}
sockd = ConnectTo("localhost",4765);
if (sockd < 0)
mexErrMsgTxt("Could not connect");
// send how many types of date we're collecting
if (nlhs == 0 ) nlhs=1;
sprintf(buf,"getContacts %d ",nlhs);
// if no bodies were specified by user, read total number of bodies
if (nrhs==0) {
strcat(buf,"ALL\n");
Writeline(sockd,buf,strlen(buf));
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%d\n",&numBodies);
}
// otherwise send the body list
else {
numBodies = mxGetNumberOfElements(prhs[0]);
if (numBodies>0) {
sprintf(numStr,"%d ",numBodies);
strcat(buf,numStr);
pind = mxGetPr(prhs[0]);
for (i=0;i<numBodies-1;i++) {
sprintf(numStr,"%d ",(int)pind[i]-1);
strcat(buf,numStr);
}
sprintf(numStr,"%d\n",(int)pind[i]-1);
strcat(buf,numStr);
Writeline(sockd,buf,strlen(buf));
}
}
if (numBodies == 0) {
plhs[0] = NULL;
plhs[0] = NULL;
}
else {
if (numBodies > 1){
for (i=0;i<nlhs;i++)
plhs[i] = mxCreateCellArray(1,&numBodies);
}
for (i=0;i<numBodies;i++) {
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%d\n",&numContacts);
if (numContacts == 0) {
wrench = mxCreateScalarDouble(0);
if (nlhs > 1) {loc = mxCreateScalarDouble(0);}
if (nlhs > 2) {err = mxCreateScalarDouble(0);}
}
else {
wrench = mxCreateDoubleMatrix(numContacts,6,mxREAL);
pwrench = mxGetPr(wrench);
if (nlhs > 1) {loc = mxCreateDoubleMatrix(numContacts,3,mxREAL); ploc=mxGetPr(loc);}
if (nlhs > 2) {err = mxCreateDoubleMatrix(numContacts,1,mxREAL); perr=mxGetPr(err);}
}
for (j=0;j<numContacts;j++) {
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%lf %lf %lf %lf %lf %lf\n",&x,&y,&z,&tx,&ty,&tz);
pwrench[j] = x;
pwrench[numContacts+j] = y;
pwrench[2*numContacts+j] = z;
pwrench[3*numContacts+j] = tx;
pwrench[4*numContacts+j] = ty;
pwrench[5*numContacts+j] = tz;
if (nlhs > 1) {
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%lf %lf %lf\n",&x,&y,&z);
ploc[j] = x;
ploc[numContacts+j] = y;
ploc[2*numContacts+j] = z;
}
if (nlhs > 2) {
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%lf\n",perr+j);
}
}
if (numBodies == 1) {
plhs[0] = wrench;
if (nlhs > 1) plhs[1] = loc;
if (nlhs > 2) plhs[2] = err;
} else {
mxSetCell(plhs[0],i,wrench);
if (nlhs > 1) mxSetCell(plhs[1],i,loc);
if (nlhs > 2) mxSetCell(plhs[2],i,err);
}
}
}
CloseConnection(sockd);
return;
}
/* CENTRAL METHOD to parse and render html request*/
int handle(cchar* q0,int conn){
int len=(int)strlen(q0);
if(len>1000){
p("checkSanity len>1000");
return 0;// SAFETY!
}
char* q=editable(q0);
checkSanity(q,len);
while(q[0]=='/')q++;
enum result_format format = html;//txt; html DANGER WITH ROBOTS
enum result_verbosity verbosity = normal;
if (eq(q, "favicon.ico"))return 0;
if(contains(q,"robots.txt")){
Writeline(conn,"User-agent: *\n");
Writeline("Disallow: /\n");
return 0;
}
char* jsonp=strstr(q,"jsonp");// ?jsonp=fun
if(jsonp){
jsonp[-1]=0;
jsonp+=6;
format = json;
}
else jsonp=(char*)"parseResults";
if (endsWith(q, ".json")) {
format = json;
q[len-5]=0;
}
if (endsWith(q, ".xml")) {
format = xml;
q[len-4]=0;
}
if (endsWith(q, ".csv")||endsWith(q, ".tsv")) {
format = csv;
q[len-4]=0;
}
if (endsWith(q, ".txt")) {
format = txt;
q[len-4]=0;
}
if (endsWith(q, ".html")) {
format = html;
q[len-5]=0;
}
if (startsWith(q, ".js")) {
q[len-3]=0;
Writeline(conn, jsonp);
Writeline(conn, "(");
format = js;
}
// todo : dedup!!
if (startsWith(q, "all/")) {
cut_to(q," +");
cut_to(q," -");
q = q + 4;
showExcludes=false;
verbosity = alle;
}
if (startsWith(q, "long/")){
verbosity = longer;
q = q + 5;
}
if (startsWith(q, "full/")) {
verbosity = verbose;
q = q + 5;
}
if (startsWith(q, "verbose/")) {
verbosity = verbose;
q = q + 8;
}
if (startsWith(q, "short/")) {
verbosity = shorter;
q = q + 6;
}
if (startsWith(q, "html/")) {
format = html;
if(!contains(q,".")&&!contains(q,":"))
verbosity=verbose;
q = q + 5;
}
if (startsWith(q, "plain/")) {
format = txt;
q = q + 6;
}
if (startsWith(q, "text/")) {
format = txt;
q = q + 5;
}
if (startsWith(q, "txt/")) {
format = txt;
q = q + 4;
}
if (startsWith(q, "xml/")) {
format = xml;
q = q + 4;
}
if (startsWith(q, "csv/")||startsWith(q, "tsv/")) {
format = csv;
q = q + 4;
}
if (startsWith(q, "json/")) {
format = json;
q = q + 5;
}
if (startsWith(q, "js/")) {
q = q + 3;
Writeline(conn, jsonp);
Writeline(conn, "(");
format = js;
}
if (startsWith(q, "long/")) {
verbosity = longer;
q = q + 5;
}
if (startsWith(q, "verbose/")) {
verbosity = verbose;
q = q + 8;
}
if (startsWith(q, "short/")) {
verbosity = shorter;
q = q + 6;
}
if (startsWith(q, "excludes/")||startsWith(q, "includes/")||startsWith(q, "excluded/")||startsWith(q, "included/")||startsWith(q, "showview/")) {
showExcludes=true;
verbosity=longer;
q = q + 9;
}
else showExcludes=false;
excluded.clear();
included.clear();
if(contains(q,"statement count")){Writeline(conn,itoa((int)context->statementCount).data());return 0;}
if(contains(q,"node count")){Writeline(conn,itoa(context->nodeCount).data());return 0;}
if (startsWith(q, "all/")) {
cut_to(q," +");
cut_to(q," -");
q = q + 4;
showExcludes=false;
verbosity = alle;
}
// bool get_topic=false;
bool get_topic=true;
bool sort=false;
if (startsWith(q, "ee/")||startsWith(q, "ee ")) {
q[2]=' ';
get_topic=true;
}
if (startsWith(q, "entities/")) {
q[8]=' ';
get_topic=true;
// verbosity=longer;
}
if(hasWord(q)) loadView(q);
if(contains(q,"exclude")||contains(q,"include")){
verbosity=normal;
showExcludes=true;
}
p(q);
// !!!!!!!!!!!!!!!!!!!!!!!!!!!
//
NodeVector all = parse(q); // <<<<<<<< HANDLE QUERY WITH NETBASE!
//
// !!!!!!!!!!!!!!!!!!!!!!!!!!!
autoIds=false;
int size=(int)all.size();
if(showExcludes){
for (int i = 0; i < size; i++) {
// todo : own routine!!!
Node* node = (Node*) all[i];
if(!contains(all,getAbstract(node->name)))
all.push_back(getAbstract(node->name));
N parent= getType(node);
if(parent){
if(!contains(all,parent))all.push_back(parent);
N abs= getAbstract(parent->name);
if(parent&&!contains(all,abs))all.push_back(abs);
}
}
show(excluded);
}
const char* html_block="<!DOCTYPE html><html><head><META HTTP-EQUIV='CONTENT-TYPE' CONTENT='text/html; charset=UTF-8'/></head>"\
"<body><div id='netbase_results'></div>\n<script>var results=";
// if((int)all.size()==0)Writeline("0");
// Writeline(conn,q);
char buff[10000];
bool use_json= format == json || format == js || format == html;
if (format == xml && (startsWith(q,"select")||contains(q," where "))){Writeline(conn,query2(q));return 0;}
if (format == xml)Writeline(conn, "<results>\n");
if (format == html)Writeline(conn,html_block);
if (use_json)Writeline(conn, "{\"results\":[\n");
const char* statement_format_xml = " <statement id='%d' subject=\"%s\" predicate=\"%s\" object=\"%s\" sid='%d' pid='%d' oid='%d'/>\n";
const char* statement_format_text = " $%d %s %s %s %d->%d->%d\n";
const char* statement_format_json = " { \"id\":%d, \"subject\":\"%s\", \"predicate\":\"%s\", \"object\":\"%s\", \"sid\":%d, \"pid\":%d, \"oid\":%d}";
const char* statement_format_csv = "%d\t%s\t%s\t%s\t%d\t%d\t%d\n";
const char* statement_format = 0;
if (format == xml)statement_format = statement_format_xml;
if (format == html)statement_format = statement_format_json;
if (format == json)statement_format = statement_format_json;
if (format == txt)statement_format = statement_format_text;
if (format == csv)statement_format = statement_format_csv;
const char* entity_format = 0;
const char* entity_format_txt = "%s #%d (statements:%d) %s\n";
const char* entity_format_xml = "<entity name=\"%s\" id='%d' statementCount='%d' description='%s'>\n";
const char* entity_format_json = " {\"name\":\"%s\", \"id\":%d, \"statementCount\":%d, \"description\":\"%s\"";
const char* entity_format_csv = "%s\t%d\t%d\t%s\n";
if(all.size()==1)entity_format_csv = "";//statements!
if (format == xml)entity_format = entity_format_xml;
if (format == txt)entity_format = entity_format_txt;
if (format == csv)entity_format = entity_format_csv;
if (use_json) entity_format = entity_format_json;
Node* last=0;
warnings=0;
char* entity=0;
if(startsWith(q,"all")){
entity=(char*)cut_to(q," ");
entity=keep_to(entity,"limit");
}
sortNodes(all);
int count=(int)all.size();
int good=0;
for (int i = 0; i < count && i<resultLimit; i++) {
Node* node = (Node*) all[i];
if(!checkNode(node))continue;
if(node->id==0)continue;
if(last==node)continue;
if(eq(node->name,"◊"))continue;
last=node;
if(verbosity ==normal && entity&& eq(entity,node->name))continue;
char* text=getText(node);
// if(use_json && get_topic){
// if(empty(text))continue;//! no description = no entity? BAD for amazon etc
// if(isAbstract(node))continue;
// N t=getTopic(node);
// }
good++;
if (use_json)if(good>1)Writeline(conn, "},\n");
sprintf(buff, entity_format, node->name, node->id,node->statementCount,text);
Writeline(conn, buff);
// if(verbosity != alle && !get_topic)
// loadView(node);
bool got_topic=false;
if(use_json && get_topic){
N c=getClass(node);
N t=getTopic(node);
N ty=getType(node);
// if(!c)c=t;
if(!t)t=ty;
if(t==node)t=ty;
if(t!=Entity && checkNode(t)){
got_topic=true;
Writeline(conn, ",\n\t \"topicid\":"+itoa(t->id));
Writeline(conn, ", \"topic\":\""+string(t->name)+"\"");
}
if(c && c!=t){
Writeline(conn, ",\n\t \"classid\":"+itoa(c->id));
Writeline(conn, ", \"class\":\""+string(c->name)+"\"");
}
if(ty&& c!=ty && ty!=t){
Writeline(conn, ",\n\t \"typeid\":"+itoa(ty->id));
Writeline(conn, ", \"type\":\""+string(ty->name)+"\"");
}
}
if(use_json)// && (verbosity==verbose||verbosity==shorter))// lol // just name
Writeline(conn, ", \"kind\":"+itoa(node->kind));
if((use_json)&&!showExcludes&&node->statementCount>1 && getImage(node)!="")
Writeline(", \"image\":\""+replace_all(replace_all(getImage(node,150,/*thumb*/true),"'","%27"),"\"","%22")+"\"");
// if((use_json)&&getText(node)[0]!=0)
// Writeline(", \"description\":\""+string(getText(node))+"\"");
Statement* s = 0;
if (format==csv|| verbosity == verbose || verbosity == longer|| verbosity == alle || showExcludes || ( all.size() == 1 && !(verbosity == shorter))) {
int count=0;
// Writeline(",image:\""+getImage(node->name)+"\"");
if (use_json)Writeline(conn, ",\n\t \"statements\":[\n");
// sortStatements(
deque<Statement*> statements;// sort
while ((s = nextStatement(node, s))&&count++<lookupLimit){// resultLimit
if (!checkStatement(s))break;
// if(!got_topic &&( s->predicate==_Type|| s->predicate==_SuperClass)){
// addStatementToNode(node, s->id(), true);// next time
// }
if(get_topic &&!got_topic && verbosity != verbose && (s->predicate>100 || s->predicate<-100))
continue;// only important stuff here!
// filter statements
if(s->object==0)continue;
// if(eq(s->Predicate()->name,"Offizielle Website") && !contains(s->Object()->name,"www"))
// continue;
if (s->subject==node->id and s->predicate!=4)//_instance
statements.push_front(s);
else statements.push_back(s);
}
// if(get_topic && verbosity!=shorter){
// NV topics=getTopics(node);
// N s=topics[0];
// for (int j = 0; j < topics.size() && j<=resultLimit; j++) {
// N s=topics[j];
// Temporary statement (node,topic,s)
// statements.push_front(s);
// }
// }
int good=0;
for (int j = 0; j < statements.size() && j<=resultLimit; j++) {
s=statements.at(j);
// while ((s = nextStatement(node, s))&&count++<resultLimit) {
if(format==csv&&all.size()>1)break;// entities vs statements
p(s);
if(verbosity!=alle&&checkHideStatement(s)){warnings++;continue;}
fixLabels(s);
if(!(verbosity==verbose||verbosity==alle) && (s->Predicate()==Instance||s->Predicate()==Type))continue;
if(use_json && good>0)Writeline(conn, ",\n");
char* objectName=s->Object()->name;
if(s->Predicate()==Instance){
N type=findProperty(s->Object(),Type->name,0,50);
if( checkNode(type))
objectName=(char*)(concat(concat(objectName, ": "),type->name));
}
sprintf(buff, statement_format, s->id(), s->Subject()->name, s->Predicate()->name, objectName, s->Subject()->id, s->Predicate()->id, s->Object()->id);
Writeline(conn, buff);
good++;
}
if (use_json)Writeline(conn, "]");
}
if (format == xml)Writeline(conn, "</entity>\n");
// string img=getImage(node->name);
// if(img!="")Writeline(conn,"<img src=\""+img+"\"/>");
}
if (use_json || format == html || format == js)Writeline(conn,good>0?"}\n]}":"]}");
if (format == xml)Writeline(conn, "</results>\n");
if(format == js)Writeline(conn, ")");// jsonp
const char* html_end=";\n</script>\n<script src='http://pannous.net/netbase.js'></script></body></html>\n";
if(format == html)Writeline(conn, html_end);
// sprintf(buff, "<script src='/js/%s'></script>",q0);
// Writeline(conn, buff);
// }
pf("Warnings/excluded: %d\n",warnings);
return 0;// 0K
}
/* Write a line to a socket */
ssize_t Writeline(int sockd, string s) {
return Writeline(sockd, s.data(), s.length());
}
void Writeline(const char* s) {
Writeline(lastSockd, s, 0);
}
int main(int argc, char *argv[]) {
int list_s; /* listening socket */
int conn_s; /* connection socket */
short int port; /* port number */
struct sockaddr_in servaddr; /* socket address structure */
char buffer[MAX_LINE]; /* character buffer */
char *endptr; /* for strtol() */
/* Get port number from the command line, and
set to default port if no arguments were supplied */
if ( argc == 2 ) {
port = strtol(argv[1], &endptr, 0);
if ( *endptr ) {
fprintf(stderr, "ECHOSERV: Invalid port number.\n");
exit(EXIT_FAILURE);
}
}
else if ( argc < 2 ) {
port = ECHO_PORT;
}
else {
fprintf(stderr, "ECHOSERV: Invalid arguments.\n");
exit(EXIT_FAILURE);
}
/* Create the listening socket */
if ( (list_s = socket(AF_INET, SOCK_STREAM, 0)) < 0 ) {
fprintf(stderr, "ECHOSERV: Error creating listening socket.\n");
exit(EXIT_FAILURE);
}
/* Set all bytes in socket address structure to
zero, and fill in the relevant data members */
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
servaddr.sin_port = htons(port);
/* Bind our socket addresss to the
listening socket, and call listen() */
if ( bind(list_s, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling bind()\n");
exit(EXIT_FAILURE);
}
if ( listen(list_s, LISTENQ) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling listen()\n");
exit(EXIT_FAILURE);
}
/* Enter an infinite loop to respond
to client requests and echo input */
while ( 1 ) {
/* Wait for a connection, then accept() it */
if ( (conn_s = accept(list_s, NULL, NULL) ) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling accept()\n");
exit(EXIT_FAILURE);
}
/* Retrieve an input line from the connected socket
then simply write it back to the same socket. */
Readline(conn_s, buffer, MAX_LINE-1);
Writeline(conn_s, buffer, strlen(buffer));
/* Close the connected socket */
if ( close(conn_s) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling close()\n");
exit(EXIT_FAILURE);
}
}
}
int main(int argc, char *argv[]) {
fd_set read_selector; //read selection
int ret;
int i = 0;
int messageSize;
initServer(argc, argv);
/* Enter an infinite loop to respond
to client requests and echo input */
while ( 1 ) {
FD_ZERO(&read_selector);
// Update FD's : En sortie, les ensembles sont modifiés pour indiquer les
// descripteurs qui ont changé de statut.
/* Remember the main socket */
FD_SET(ctx.mainSocket,&read_selector);
for(i=0;i<LISTENQ;i++){
if(ctx.socketFd[i] != -1){
FD_SET(ctx.socketFd[i],&read_selector);
}
}
ret = select(FD_SETSIZE,&read_selector,(fd_set *)NULL,(fd_set *)NULL,NULL);
if(ret > 0){
if(FD_ISSET(ctx.mainSocket,&read_selector)){ //main socket
debugTrace("New connection detected\n");
/* Wait for a connection, then accept() it */
int sock = accept(ctx.mainSocket, NULL, NULL);
if(sock == -1) {
fprintf(stderr, "ECHOSERV: Error calling accept()\n%s", strerror(errno));
exit(EXIT_FAILURE);
}
debugTrace("New connection established\n");
for(i=0;i<LISTENQ;i++){
if(ctx.socketFd[i] == -1){
ctx.socketFd[i]=sock;
FD_SET(ctx.socketFd[i],&read_selector);
setUserDatas(i);
break;
}
}
}
else{//client
//effectuer une lecture des FDs avec une rotation sinon c'est toujours le premier client qui aura le token
// i = ((i+1) % LISTENQ);
for(i=0;i<LISTENQ;i++){
if(ctx.socketFd[i] != -1 && FD_ISSET(ctx.socketFd[i],&read_selector)){
debugTrace("New message incoming");
messageSize = Readline(ctx.socketFd[i], ctx.messageToReceive, MAX_LINE-10);
if(messageSize <= 0){
printError(messageSize);
deconnectClient(ctx.socketFd[i]);
FD_CLR(ctx.socketFd[i],&read_selector);
ctx.socketFd[i] = -1;
break;
}
debugTrace("Reading done");
ctx.messageToSend = doAction((unsigned char*)ctx.messageToReceive,ctx.messageToSend,i);
debugTrace("Analyze done");
//Le message a déjà été envoyé
if(strcmp(ctx.messageToSend,"sentToALl")){
ctx.parsedMessage = parseMessage(ctx.messageToSend,strlen(ctx.messageToSend));
debugTrace("Parsing");
printf("msg : %s\n",ctx.parsedMessage);
if (Writeline(ctx.socketFd[i], ctx.parsedMessage, strlen(ctx.parsedMessage)+1) < 0){
debugTrace("Message issue");
}
else
debugTrace("Message sent\n");
}
}
}
printf("Over\n");
}
}
else{
debugTrace("nothing to read");
}
}
free(ctx.messageToReceive);
/* Close the connected socket */
for(i=0;i<LISTENQ;i++){
if ( close(ctx.socketFd[i]) < 0 ) {
fprintf(stderr, "ECHOSERV: Error calling close()\n");
exit(EXIT_FAILURE);
debugTrace("LE CLIENT IS DEAD !\n");
}
}
}
//do something according to buffer's datas
//commande : PUSH, GET, LIST, CONNECT,
char* doAction(unsigned char* buffer, char* messageToSend, int actuel) {
char* help = "Command list :\nhelp\tsend\tpush\texit";
char* ukCommand = "Unknown command";
char* receptionOk = "Well received";
char* sentToAll = "sentToALl";
char* failed = "failed";
int i = 0;
if((strcmp((char*)buffer,"help\n") == 0)){
debugTrace("Help");
return help;
}
else if((strcmp((char*)buffer,"list\n") == 0)){
debugTrace("List");
for(i=0;i<LISTENQ;i++){
if (ctx.socketFd[i] != -1 && Writeline(ctx.socketFd[actuel], usrDatas[i].name, strlen(usrDatas[i].name)+1) < 0){
debugTrace("Message issue");
}
}
return sentToAll;
}
else if(strstr((char*)buffer,"push") != NULL){
debugTrace("push");
buffer+=5;
char* name;
char* sv;
name = strtok_r((char*)buffer," ",&sv);
for(i=0;i<LISTENQ;i++){
if(!strcmp(name,usrDatas[i].name)){
sendFileTo(sv,i,actuel);
return sentToAll;
}
}
return failed;
}
else if(strstr((char*)buffer,"send") != NULL){ //command exemple : send coco channel
buffer+=5; //glide pointer to message (send ) carefull, dont forget the blankspace
if(buffer[0] == '-' && buffer[1] == 'a'){
buffer+=2;
debugTrace("Sending to everyone");
sendAll(buffer,actuel);
return sentToAll;
}
char* name;
char* sv;
name = strtok_r((char*)buffer," ",&sv);
for(i=0;i<LISTENQ;i++){
if(!strcmp(name,usrDatas[i].name)){
sendTo(sv,i,actuel);
return sentToAll;
}
}
return receptionOk;
}
else{
debugTrace("UnknownCommand");
return ukCommand;
}
}
static void handleclient(u64 conn_s_p)
{
int conn_s = (int)conn_s_p;
int list_s_data = -1;
int conn_s_data = -1;
char cwd[2048];
char login_user[32];
char login_pass[64];
char rename_from[2048];
u32 rest = 0;
int authd = 0;
char message[4096];
char buffer[2048];
sprintf(cwd, "/");
sprintf(message, "220-OpenPS3FTP by @jjolano\r\n");
Writeline(conn_s, message, strlen(message));
sprintf(message, "220 Version %s\r\n", VERSION);
Writeline(conn_s, message, strlen(message));
while(program_running == 1)
{
sys_ppu_thread_yield();
if(Readline(conn_s, buffer, 2047) == 0 || strncmp(buffer, "QUIT", 4) == 0 || strncmp(buffer, "BYE", 3) == 0)
{
break;
}
buffer[strcspn(buffer, "\n")] = '\0';
buffer[strcspn(buffer, "\r")] = '\0';
if(strncmp(buffer, "USER", 4) == 0)
{
if(strlen(buffer) > 7)
{
strcpy(login_user, buffer+5);
sprintf(message, "331 Username %s OK. Password required\r\n", login_user);
Writeline(conn_s, message, strlen(message));
}
else
{
sprintf(message, "430 No username specified\r\n");
Writeline(conn_s, message, strlen(message));
}
}
else if(strncmp(buffer, "PASS", 4) == 0)
{
if(strlen(buffer) > 7)
{
strcpy(login_pass, buffer+5);
if(strcmp(LOGIN_USERNAME, login_user) == 0 && strcmp(LOGIN_PASSWORD, login_pass) == 0)
{
authd = 1;
sprintf(message, "230 Successful authentication\r\n");
}
else
{
sprintf(message, "430 Invalid username or password\r\n");
Writeline(conn_s, message, strlen(message));
}
}
else
{
sprintf(message, "430 Invalid username or password\r\n");
}
Writeline(conn_s, message, strlen(message));
}
else if(authd == 0)
{
sprintf(message, "530 Not logged in\r\n");
Writeline(conn_s, message, strlen(message));
}
else if(strncmp(buffer, "FEAT", 4) == 0)
{
sprintf(message, "211-Extensions supported:\r\n");
Writeline(conn_s, message, strlen(message));
sprintf(message, " SIZE\r\n");
Writeline(conn_s, message, strlen(message));
sprintf(message, " PASV\r\n");
Writeline(conn_s, message, strlen(message));
sprintf(message, "211 End\r\n");
Writeline(conn_s, message, strlen(message));
}
else if(strncmp(buffer, "TYPE", 4) == 0)
{
sprintf(message, "200 TYPE is now %s\r\n", buffer+5);
Writeline(conn_s, message, strlen(message));
}
else if(strncmp(buffer, "PORT", 4) == 0)
{
rest = 0;
char connectinfo[24];
strcpy(connectinfo, buffer+5);
char data[7][4];
int len = strlen(connectinfo);
int i, x = 0, y = 0;
for(i = 0;i < len;i++)
{
if(connectinfo[i] == ',')
{
data[x][y] = '\0';
x++;
y = 0;
}
else
{
data[x][y] = connectinfo[i];
y++;
}
}
char conn_ipaddr[16];
sprintf(conn_ipaddr, "%s.%s.%s.%s", data[0], data[1], data[2], data[3]);
int p1 = atoi(data[4]);
int p2 = atoi(data[5]);
short int conn_port = (p1 * 256) + p2;
netClose(conn_s_data);
netClose(list_s_data);
list_s_data = -1;
conn_s_data = netSocket(AF_INET, SOCK_STREAM, 0);
struct sockaddr_in servaddr;
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_port = htons(conn_port);
inet_pton(AF_INET, conn_ipaddr, &servaddr.sin_addr);
if(connect(conn_s_data, (struct sockaddr *)&servaddr, sizeof(servaddr)) == 0)
{
sprintf(message, "200 PORT command successful\r\n");
Writeline(conn_s, message, strlen(message));
continue;
}
sprintf(message, "425 Internal Error\r\n");
Writeline(conn_s, message, strlen(message));
}
else if(strncmp(buffer, "PASV", 4) == 0)
{
rest = 0;
netSocketInfo snf;
int ret = netGetSockInfo(conn_s, &snf, 1);
if(ret >= 0 && snf.local_adr.s_addr != 0)
{
netClose(conn_s_data);
netClose(list_s_data);
conn_s_data = -1;
list_s_data = -1;
// create the socket
list_s_data = netSocket(AF_INET, SOCK_STREAM, 0);
// calculate the passive mode port
//srand((unsigned)time(NULL));
//srand((unsigned)time(NULL) + rand());
int rand1 = 4 + rand() % 255;
int rand2 = rand() % 256;
short int port = (rand1 * 256) + rand2;
struct sockaddr_in servaddr;
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
servaddr.sin_port = htons(port);
// bind address to listener, listen, and accept
netBind(list_s_data, (struct sockaddr *) &servaddr, sizeof(servaddr));
netListen(list_s_data, LISTENQ);
sprintf(message, "227 Entering Passive Mode (%u,%u,%u,%u,%i,%i)\r\n",
(snf.local_adr.s_addr & 0xFF000000) >> 24,
(snf.local_adr.s_addr & 0xFF0000) >> 16,
(snf.local_adr.s_addr & 0xFF00) >> 8,
(snf.local_adr.s_addr & 0xFF),
rand1, rand2);
Writeline(conn_s, message, strlen(message));
if((conn_s_data = netAccept(list_s_data, NULL, NULL)) < 0)
{
printf("warning: failed to accept a connection\n");
netClose(conn_s_data);
netClose(list_s_data);
conn_s_data = -1;
list_s_data = -1;
}
else
{
// PASV success
continue;
}
}
sprintf(message, "425 Internal Error\r\n");
Writeline(conn_s, message, strlen(message));
}
void mexFunction(int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[])
{
char buf[MAXLENGTH];
char numStr[20];
double value;
double *pvals,*pind;
int i,j,numRobots,numDOF;
int sockd;
mxArray *vals;
/* Check for proper number of arguments */
if (nrhs > 1) {
mexErrMsgTxt("getDOFVals takes at most one input argument.");
} else if (nlhs > 1) {
mexErrMsgTxt("getDOFVals takes one output argument.");
}
if (nlhs == 0 ) nlhs=1;
sockd = ConnectTo("localhost",4765);
if (sockd < 0)
mexErrMsgTxt("Could not connect");
strcpy(buf,"getDOFVals ");
// if no robots were specified by user, read total number of robots
if (nrhs==0) {
strcat(buf,"ALL\n");
Writeline(sockd,buf,strlen(buf));
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%d\n",&numRobots);
}
// otherwise send the body list
else {
numRobots = mxGetNumberOfElements(prhs[0]);
if (numRobots>0) {
sprintf(numStr,"%d ",numRobots);
strcat(buf,numStr);
pind = mxGetPr(prhs[0]);
for (i=0;i<numRobots-1;i++) {
sprintf(numStr,"%d ",(int)pind[i]-1);
strcat(buf,numStr);
}
sprintf(numStr,"%d\n",(int)pind[i]-1);
strcat(buf,numStr);
Writeline(sockd,buf,strlen(buf));
}
}
if (numRobots == 0) {
plhs[0] = NULL;
plhs[0] = NULL;
}
else {
if (numRobots > 1){
for (i=0;i<nlhs;i++)
plhs[i] = mxCreateCellArray(1,&numRobots);
}
for (i=0;i<numRobots;i++) {
Readline(sockd,buf,MAXLENGTH);
if (!strncmp(buf,"Error",5)) {
mexErrMsgTxt(buf);
break;
}
sscanf(buf,"%d\n",&numDOF);
sprintf(buf,"NumDOF read: %d",numDOF);
if (numDOF == 0) {
vals = mxCreateScalarDouble(0);
}
else {
vals = mxCreateDoubleMatrix(numDOF,1,mxREAL);
pvals = mxGetPr(vals);
}
for (j=0;j<numDOF;j++) {
Readline(sockd,buf,MAXLENGTH);
sscanf(buf,"%lf\n",&value);
pvals[j] = value;
}
if (numRobots == 1) {
plhs[0] = vals;
} else {
mxSetCell(plhs[0],i,vals);
}
}
}
CloseConnection(sockd);
return;
}
