int server(int protocol_type) {
server_done = false;
server_event_num = 0;
num_msg_recd = 0;
char address[256];
snprintf(address, 256, "%s://*:%d",
protocol_type == msg_udp ? "udp" : "tcp",
protocol_type == msg_udp ? udp_port : tcp_port);
server_ctx.address = strdup(address);
server_ctx.num_tries = 0;
msg_listen(address, server_update);
int timeout_in_ms = 10;
// Sleep for 1ms to give the client time to send all the messages.
usleep(1000);
while (!server_done) msg_runloop(timeout_in_ms);
test_that(num_msg_recd == 3);
free(server_ctx.address);
// Sleep for 1ms as the client expects to finish before the server.
// (Early server termination could be an error, so we check for it.)
usleep(1000);
return test_success;
}
void hmsg_monitor(void)
{
int i, maxi, listenfd, clifd, nread;
char buf[MAXLINE];
uid_t uid;
struct pollfd *pollfd;
if ((pollfd = malloc(open_max() * sizeof(struct pollfd))) == NULL)
dlog(L_ERR, "malloc error");
/* obtain fd to listen for client requests on */
if ((listenfd = msg_listen(MSG_PATH)) < 0)
dlog(L_ERR, "msg_listen error");
client_add(listenfd, 0); /* we use [0] for listenfd */
pollfd[0].fd = listenfd;
pollfd[0].events = POLLIN;
maxi = 0;
for ( ; ; ) {
if (poll(pollfd, maxi + 1, -1) < 0)
dlog(L_ERR, "poll error");
if (pollfd[0].revents & POLLIN) {
/* accept new client request */
if ((clifd = serv_accept(listenfd, &uid)) < 0)
dlog(L_ERR, "serv_accept error: %d", clifd);
i = client_add(clifd, uid);
pollfd[i].fd = clifd;
pollfd[i].events = POLLIN;
if (i > maxi)
maxi = i;
dlog(L_INFO, "new connection: uid %d, fd %d\n", uid, clifd);
}
for (i = 1; i <= maxi; i++) {
if ((clifd = client[i].fd) < 0)
continue;
if (pollfd[i].revents & POLLHUP) {
goto hungup;
} else if (pollfd[i].revents & POLLIN) {
/* read argument buffer from client */
if ((nread = read(clifd, buf, MAXLINE)) < 0) {
dlog(L_ERR, "read error on fd %d\n", clifd);
} else if (nread == 0) {
hungup:
dlog(L_INFO, "closed: uid %d, fd %d\n",
client[i].uid, clifd);
client_del(clifd); /* client has closed conn */
pollfd[i].fd = -1;
close(clifd);
} else { /* process client's request */
msg_parse_arg(buf, nread, clifd, client[i].uid);
}
}
}
}
}
void server_update(msg_Conn *conn, msg_Event event, msg_Data data) {
// We expect to hear events in this order.
int expected_events[] = {
msg_listening, msg_connection_ready, msg_message,
msg_message, msg_message, msg_connection_closed};
test_printf("Server: Received event %s\n", event_names[event]);
if (event == msg_error) {
char *err_str = msg_as_str(data);
test_printf("Server: Error: %s\n", err_str);
if (strcmp(err_str, "bind: Address already in use") == 0) {
if (server_ctx.num_tries < max_tries) {
test_printf("Will wait briefly and try again at address %s.\n", server_ctx.address);
sleep(5);
server_ctx.num_tries++;
msg_listen(server_ctx.address, server_update);
return; // Don't count this as a server event.
} else {
test_printf("Server: max_tries reached; giving up listening (at %s).\n", server_ctx.address);
}
}
}
test_that(server_event_num < array_size(expected_events));
test_that(event == expected_events[server_event_num]);
if (event == msg_message) {
char *str = msg_as_str(data);
test_str_eq(str, "why hello");
server_done = true;
num_msg_recd++;
}
server_event_num++;
}
//################## MAIN ###################################
int main(void){
unsigned char prv;
idata IData;
boolian IPacketMode=0;
odata OData;
boolian OPacketMode=0;
sint8 debug_cnt=0;
//初期化
initialize();
//メッセージ登録
msg_regist('m',motor_setup_listen,motor_listen,motor_setup_talk,motor_talk);
msg_regist('j',sprite_setup_listen,sprite_listen,sprite_setup_talk,sprite_talk);
msg_regist('b',battery_setup_listen,battery_listen,battery_setup_talk,battery_talk);
msg_regist('g',gps_setup_listen,gps_listen,gps_setup_talk,gps_talk);
msg_regist('C',co2_setup_listen,co2_listen,co2_setup_talk,co2_talk);
// msg_regist('S',h2s_message);
msg_regist('t',thermo_setup_listen,thermo_listen,thermo_setup_talk,thermo_talk);
// msg_regist('T',infrared_setup_listen,infrared_listen,infrared_setup_talk,infrared_talk);
msg_regist('h',0,0,0,0);
msg_regist('c',compass_setup_listen,compass_listen,compass_setup_talk,compass_talk);
msg_regist('a',axel_setup_listen,axel_listen,axel_setup_talk,axel_talk);
msg_regist('G',gyro_setup_listen,gyro_listen,gyro_setup_talk,gyro_talk);
msg_regist('!',debug_setup_listen,debug_listen,debug_setup_talk,debug_talk);
/*
HMR_PIN_RedLED_set(0);
HMR_PIN_YellowLED_set(0);
delay_ms(500);
HMR_PIN_RedLED_set(1);
HMR_PIN_YellowLED_set(1);
delay_ms(500);
HMR_PIN_RedLED_set(0);
HMR_PIN_YellowLED_set(0);
delay_ms(500);
HMR_PIN_RedLED_set(1);
HMR_PIN_YellowLED_set(1);
delay_ms(500);
HMR_PIN_RedLED_set(0);
HMR_PIN_YellowLED_set(0);
HMR_PIN_RedLED_set(1);
*/
HMR_PIN_DebugLED_set(0);
HMR_PIN_Debug2LED_set(0);
while(1){
delay_ms(5);
//Watch Dog Timer リセット
restart_wdt();
//受信可能なデータが無ければ再び待つ
if(!com_in_empty()){
//@@@@@@ Begin Critical@@@@@@
prv = hmr_lock_interrupt();
com_in_move_pop(&IData);
hmr_release_interrupt(prv);
//@@@@@@ End Critical@@@@@@
if(idata_is_construct(&IData)){
//PacketModeに入っていないとき
if(!IPacketMode){
//Packetをここで開く
IPacketMode=hmLib_true;
msg_setup_listen();
}
//Packet終了IDだった場合
if(IData.ID==HMR_COM_PACTRMNID){
//Packetがここで終了
IPacketMode=hmLib_false;
prv = hmr_lock_interrupt();
idata_destruct(&IData);
hmr_release_interrupt(prv);
}else{
//メッセージ処理
prv = hmr_lock_interrupt();
msg_listen(&IData);
hmr_release_interrupt(prv);
}
}
}
delay_ms(5);
//送信待ちのPacketがなく、comの送信バッファがいっぱいでもないとき
if(!com_isWaitSendPacket() && !com_out_full()){
//PacketModeに入っていないとき
if(!OPacketMode){
//Packetをここで開く
OPacketMode=hmLib_true;
msg_setup_talk();
}
//送信用データを準備する
odata_format(&OData);
//送信データの取得に失敗した場合
prv = hmr_lock_interrupt();
if(msg_talk(&OData)){
//内部で作成されていれば破棄
if(odata_is_construct(&OData))odata_destruct(&OData);
//Packetをここで閉じる
OPacketMode=hmLib_false;
OData.ID=HMR_COM_PACTRMNID;
}
hmr_release_interrupt(prv);
//送信データを登録する
//@@@@@@ Begin Critical@@@@@@
prv = hmr_lock_interrupt();
com_out_move_push(&OData);
hmr_release_interrupt(prv);
//@@@@@@ End Critical@@@@@@
}
//送信割り込みが切られていて、かつ送信可能状態のときには、送信割り込みをオンにする
if(!uart1_is_enable_fput_interrupt()){
if(vmc1_can_send(pVMC))uart1_enable_fput_interrupt();
}
if(debug_cnt<0){
HMR_PIN_DebugLED_set(1);
}else{
HMR_PIN_DebugLED_set(0);
}
++debug_cnt;
}
finalize();
return 0;
}
