int peisk_recvBlocking(int fd,void *buf,size_t len,int flags,double timeout) {
int i, new_bytes;
char *data=(char*)buf;
double t0 = peisk_gettimef();
while(len>0) {
errno=0;
new_bytes=recv(fd,data,len,flags|MSG_NOSIGNAL);
if(errno == EPIPE || new_bytes == 0) {
/* Broken pipe - close socket and return */
for(i=0;i<PEISK_MAX_CONNECTIONS;i++) {
if(peisk_printLevel & PEISK_PRINT_CONNECTIONS)
printf("Connection %d socket=%d\n",i,peiskernel.connections[i].connection.tcp.socket);
if(peiskernel.connections[i].id != -1 && peiskernel.connections[i].connection.tcp.socket == fd)
peisk_closeConnection(peiskernel.connections[i].id);
}
/*printf("<\n"); fflush(stdout); */
return 0;
}
if(new_bytes == -1) peisk_waitForRead(fd,0.01); /* was: usleep 0 */
else {
if(new_bytes == 0) if(peisk_printLevel & PEISK_PRINT_CONNECTIONS) printf("peisk: error - not getting any bytes, broken connection?\n");
len -= new_bytes;
data+=new_bytes;
}
if(peisk_gettimef() > t0 + timeout) { /*printf("< (TIME)\n"); fflush(stdout);*/ return 0; } /* Timeout reached */
}
return 1;
}
int peisk_bluetoothReceiveIncomming(struct PeisConnection *connection,struct PeisPackage *package) {
int status;
double t0, t1;
static float lastReceive=0.0; /* For debugging only */
errno=0;
t0 = peisk_gettimef();
status=recv(connection->connection.bluetooth.socket,(void*)package,sizeof(PeisPackage),MSG_NOSIGNAL);
t1 = peisk_gettimef();
if(t1 - t0 > 0.1) {
printf("Receive took %.3fs\n",t1-t0);
}
if(errno == EAGAIN || status == 0) return 0; /* Nothing received, come back later */
if(status > 0) {
peisk_logTimeStamp(stdout);
printf("BT receive: %d bytes, sock: %d ",status,connection->connection.bluetooth.socket);
/*peisk_hexDump(package,status);*/
peisk_printNetPackageInfo(package);
lastReceive = peisk_timeNow;
}
if(errno == EPIPE || status == -1) { /* Error - close socket */
if(1 || peisk_printLevel & PEISK_PRINT_CONNECTIONS) {
peisk_logTimeStamp(stdout);
printf("peisk: warning - error EPIPE in BT receive, closing socket status: %d\n",status);
perror("");
printf("Time since last read: %.1fs\n",peisk_timeNow - lastReceive);
}
peisk_closeConnection(connection->id);
return 0;
}
if(status < sizeof(package->header)) {
/* For L2CAP it is an error to not receive the full data in each
recv operation. */
fprintf(stderr,"Warning, only got partial data on BT connection\n");
peisk_closeConnection(connection->id);
return 0;
}
if(ntohs(package->header.datalen) > PEISK_MAX_PACKAGE_SIZE) { /* Check for bad package length */
if(1 || peisk_printLevel & PEISK_PRINT_CONNECTIONS)
fprintf(stdout,"peisk: error, too large (%d) package received on BT connection %d\n",package->header.datalen,connection->id);
/*peisk_syncflush(connection);*/
peisk_closeConnection(connection->id);
return 0;
}
return 1;
}
void peisk_bluetoothConnectOutgoing() {
int i;
PeisBluetoothAdaptor *adaptor;
int status=0;
for(i=0;i<peisk_nBluetoothAdaptors;i++) {
adaptor = &peisk_bluetoothAdaptors[i];
if(adaptor->outgoing.mode == 0) continue;
if(adaptor->outgoing.mode == 1) {
/* See if connect() have finished */
struct pollfd fds;
fds.fd = adaptor->outgoing.socket;
fds.events = -1;
fds.revents = 0;
if(poll(&fds,1,0)) {
socklen_t slen;
slen=sizeof(status);
if(getsockopt(adaptor->outgoing.socket,SOL_SOCKET,SO_ERROR,(void*) &status,&slen)) {
printf("Get sockopt failed...\n");
}
printf("Connection finished: status=0x%x (time elapsed: %.3fs)\n",status,
peisk_gettimef()-adaptor->outgoing.timeout+PEISK_CONNECT_TIMEOUT);
if(status) {
printf("Outgoing connection failed: "); perror(""); printf("\n");
peisk_abortConnect(adaptor->outgoing.connection);
close(adaptor->outgoing.socket);
adaptor->outgoing.mode = 0;
} else {
adaptor->outgoing.connection->type=eBluetoothConnection;
adaptor->outgoing.connection->connection.bluetooth.adaptor=adaptor;
adaptor->outgoing.connection->connection.bluetooth.socket=adaptor->outgoing.socket;
printf("Outgoing connection %x has id %d\n",
(unsigned int) adaptor->outgoing.connection,adaptor->outgoing.connection->id);
PeisConnectMessage message;
peisk_initConnectMessage(&message,adaptor->outgoing.flags);
printf("Sending connection message:\n"); peisk_hexDump(&message,sizeof(message)); printf("\n");
send(adaptor->outgoing.socket,&message,sizeof(message),MSG_NOSIGNAL);
peisk_outgoingConnectFinished(adaptor->outgoing.connection,adaptor->outgoing.flags);
if(1 || peisk_printLevel & PEISK_PRINT_CONNECTIONS)
fprintf(stdout,"peisk: new outbound BLUETOOTH connection established\n");
adaptor->outgoing.mode = 0;
}
}
}
if(adaptor->outgoing.timeout < peisk_timeNow &&
adaptor->outgoing.mode != 0) {
printf("Giving up on outgoing CONNECT\n");
peisk_abortConnect(adaptor->outgoing.connection);
close(adaptor->outgoing.socket);
adaptor->outgoing.mode = 0;
}
}
}
void peisk_registerPeriodicWithName(double period,void *data,PeisPeriodic *hook,char *name) {
int i;
for(i=0;i<PEISK_MAX_PERIODICS;i++) if(peiskernel.periodics[i].periodicity == -1.0) break;
if(i == PEISK_MAX_PERIODICS) {
fprintf(stderr,"peisk: error, too many periodic functions registered\n");
exit(0);
}
peiskernel.periodics[i].periodicity = period;
peiskernel.periodics[i].data = data;
peiskernel.periodics[i].hook = hook;
peiskernel.periodics[i].last = peisk_gettimef();
peiskernel.periodics[i].name = name;
if(i > peiskernel.highestPeriodic) peiskernel.highestPeriodic = i;
}
void peisk_wait(int useconds) {
double t0=peisk_gettimef()+1e-6*useconds;
fd_set readSet, writeSet, excpSet;
int n=0;
int ret;
#ifdef GUMSTIX
struct timeval timeout;
#else
struct timespec timeout;
#endif
double offset=peiskernel.timeOffset[0] + 1e-6*peiskernel.timeOffset[1];
double offset2;
peisk_step();
while(peisk_int_isRunning) {
/* Compensate if kernel clock has changed */
offset2=peiskernel.timeOffset[0]+1e-6*peiskernel.timeOffset[1];
if(fabs(offset2 - offset) > 0.1) {
/*printf("adjusting time to sleep to with %f secs\n",offset2-offset);*/
t0 += offset2-offset; offset=offset2;
}
timeout.tv_sec = 0;
#ifdef GUMSTIX
timeout.tv_usec = MIN((int)1e4,
(int)(1e6 * fmod((t0 - peisk_gettimef()),1.0)));
if(timeout.tv_usec <= 0) break;
#else
timeout.tv_nsec = MIN((int)1e7,
(int)(1e9 * fmod((t0 - peisk_gettimef()),1.0)));
if(timeout.tv_nsec <= 0) break;
#endif
FD_ZERO(&readSet);
FD_ZERO(&writeSet);
FD_ZERO(&excpSet);
n=0;
if(peiskernel.avgStepTime < 0.005) {
/* Perform a forced sleep if we are running to quickly to
compensate for the pselect bug */
} else {
/* Perform a normal sleep for 10ms or until we have new data
available */
peisk_setSelectReadSignals(&n,&readSet,&writeSet,&excpSet);
}
errno=0;
#ifdef GUMSTIX
ret=select(n,&readSet,&writeSet,&excpSet,&timeout);
#else
ret=pselect(n,&readSet,&writeSet,&excpSet,&timeout,NULL);
#endif
if(ret == -1) perror("peisk_wait::select");
/*
double t1=peisk_gettimef();
if(t1 - t0 < 0.0001) {
printf("sleep: %3.6f nsec=%d ret=%d ",t1-t0,timeout.tv_nsec,ret);
int i;
printf("FD: ");
for(i=0;i<n;i++) {
if(FD_ISSET(i,&readSet)) printf("r%d ",i);
if(FD_ISSET(i,&writeSet)) printf("w%d ",i);
if(FD_ISSET(i,&excpSet)) printf("e%d ",i);
}
printf("\n"); fflush(stdout);
}*/
peisk_step();
}
}
void peisk_initialize(int *argc,char **args) {
int i, j;
char name[256];
char *hostname, *progname;
unsigned char *ip;
char tmp[256];
int t0,t1;
PeisConnectionMgrInfo *connMgrInfo;
if(peisk_int_isRunning)
peisk_shutdown();
peisk_getrawtime2(&t0,&t1);
srand((int) t1);
peiskernel.id = rand() % 10000;
peiskernel.tcp_serverPort=8000;
peiskernel.udp_serverPort=8000;
peiskernel.tcp_isListening=0;
peiskernel.lastStep = peisk_gettimef();
peiskernel.nextConnectionId = 1;
peisk_printLevel = 0;
peiskernel.highestPeriodic=0;
peiskernel.highestConnection=0;
hostname = NULL;
peiskernel.isLeaf=0;
peiskernel.timeOffset[0]=0;
peiskernel.timeOffset[1]=0;
peiskernel.isTimeMaster=0;
peiskernel.avgStepTime=0.1;
peiskernel.incomingTraffic=0;
peiskernel.outgoingTraffic=0;
peiskernel.nAcknowledgementPackages=0;
peiskernel.deadhostHook = NULL;
peiskernel.nAckHooks = 0;
peiskernel.tick = 0;
peiskernel.broadcastingCounter = 0;
peisk_cl_user = getenv("USER");
if(!peisk_cl_user) peisk_cl_user = "******";
signal(SIGINT, peisk_trapCtrlC);
signal(SIGTERM, peisk_trapCtrlC);
signal(SIGPIPE, peisk_trapPipe);
peiskernel_initNetInterfaces();
for(i=0;i<PEISK_MAX_CONNECTIONS;i++) {
peiskernel.connections[i].id=-1;
peiskernel.connections[i].routingTable = NULL;
for(j=0;j<PEISK_MAX_ROUTING_PAGES;j++)
peiskernel.connections[i].routingPages[j] = NULL;
}
peiskernel.freeQueuedPackages=NULL;
peiskernel.nDirConnReqs=0;
peiskernel.doShutdown=0;
for(i=0;i<PEISK_NPORTS;i++) peiskernel.hooks[i]=NULL;
for(i=0;i<PEISK_MAX_PERIODICS;i++) peiskernel.periodics[i].periodicity=-1.0;
for(i=0;i<PEISK_MAX_LONG_MESSAGES;i++) {
peiskernel.assemblyBuffers[i].seqid = 0;
peiskernel.assemblyBuffers[i].seqlen = 0;
peiskernel.assemblyBuffers[i].allocated_seqlen = 0;
peiskernel.assemblyBuffers[i].received = NULL;
peiskernel.assemblyBuffers[i].data = NULL;
}
peiskernel.routingTable = peisk_hashTable_create(PeisHashTableKey_Integer);
if(peiskernel.routingTable == NULL) {
fprintf(stderr,"peisk: error, failed to create routing table\n");
exit(-1);
}
for(i=0;i<PEISK_LOOPINFO_HASH_SIZE;i++) peiskernel.loopHashTable[i]=-1;
for(i=0;i<PEISK_LOOPINFO_SIZE;i++) peiskernel.loopTable[i].id=-1;
peisk_initBluetooth();
peisk_initP2PLayer();
peisk_registerDefaultServices();
//peisk_getOptions(argc,args);
peisk_parseOptions(NULL,"command-line");
peisk_restartServer();
if(peiskernel.tcp_isListening)
if(peisk_printLevel & PEISK_PRINT_STATUS)
printf("peisk: serving at port %d\n",peiskernel.tcp_serverPort);
peisk_id = peiskernel.id;
peiskernel.magicId = rand();
peisk_registerDefaultServices2();
hostname=peisk_cl_hostname;
if(!hostname) hostname=getenv("HOSTNAME");
if(!hostname) {
FILE *fp = fopen("/etc/hostname","r");
if(!fp) fp = fopen("/etc/HOSTNAME","r");
if(!fp) { if(system("hostname > /tmp/peisk_cl_hostname")!=-1) fp = fopen("/tmp/peisk_cl_hostname","r"); }
if(fp) {
if(!fgets(name,255,fp)) sprintf(name,"johndoe");
fclose(fp);
for(i=0;i<255&&name[i];i++) if(name[i]=='\n' || name[i]==' ' || name[i] == '.') name[i]=0;
hostname=strdup(name);
}
else {
char name[256];
sprintf(name,"johndoe-%d",peisk_id / 100);
hostname=strdup(name);
}
}
for(i=0;i<255;i++) {
if(hostname[i] == 0 || hostname[i] == '.' || hostname[i] == ' ') break;
else name[i] = hostname[i];
}
name[i]=0;
if(peisk_cl_componentName)
progname=peisk_cl_componentName;
else {
for(progname = args[0]+strlen(args[0]);progname>=args[0]&&*progname!='/';progname--) {} progname++;
}
peiskernel.hostInfo.id = peiskernel.id;
peiskernel.hostInfo.magic = peiskernel.magicId;
peiskernel.hostInfo.networkCluster = peiskernel.id;
int mypid = getpid();
snprintf(peiskernel.hostInfo.fullname,sizeof(peiskernel.hostInfo.fullname),"%s@%s!%d",progname,name,mypid);
snprintf(peiskernel.hostInfo.hostname,sizeof(peiskernel.hostInfo.hostname),"%s",name);
peisk_setStringTuple("kernel.hostname",peiskernel.hostInfo.hostname);
snprintf(tmp,sizeof(tmp),"v%lf (proto %d)",1.0,peisk_protocollVersion);
peisk_setStringTuple("kernel.version",tmp);
peisk_setStringTuple("kernel.name",progname);
peisk_setStringTuple("kernel.do-quit","");
peisk_setStringTuple("kernel.user",peisk_cl_user);
snprintf(tmp,sizeof(tmp),"%d",peiskernel.id);
peisk_setStringTuple("kernel.id",tmp);
if(peisk_printLevel & PEISK_PRINT_STATUS)
printf("peisk #%d: started\n",peisk_id);
peiskernel.hostInfo.nLowlevelAddresses=0;
if(peiskernel.tcp_isListening) {
for(i=0,j=peiskernel.hostInfo.nLowlevelAddresses;i<peisk_nInetInterfaces;i++) {
if(peiskernel.isLeaf && !peisk_inetInterface[i].isLoopback) continue;
if(peiskernel.udp_serverPort != 0 && 0) {
peiskernel.hostInfo.lowAddr[j].type = ePeisUdpIPv4;
ip = (unsigned char *)&peisk_inetInterface[i].ip;
peiskernel.hostInfo.lowAddr[j].addr.udpIPv4.ip[0]=ip[0];
peiskernel.hostInfo.lowAddr[j].addr.udpIPv4.ip[1]=ip[1];
peiskernel.hostInfo.lowAddr[j].addr.udpIPv4.ip[2]=ip[2];
peiskernel.hostInfo.lowAddr[j].addr.udpIPv4.ip[3]=ip[3];
peiskernel.hostInfo.lowAddr[j].addr.udpIPv4.port=peiskernel.udp_serverPort;
} else {
peiskernel.hostInfo.lowAddr[j].type = ePeisTcpIPv4;
ip = (unsigned char *)&peisk_inetInterface[i].ip;
peiskernel.hostInfo.lowAddr[j].addr.tcpIPv4.ip[0]=ip[0];
peiskernel.hostInfo.lowAddr[j].addr.tcpIPv4.ip[1]=ip[1];
peiskernel.hostInfo.lowAddr[j].addr.tcpIPv4.ip[2]=ip[2];
peiskernel.hostInfo.lowAddr[j].addr.tcpIPv4.ip[3]=ip[3];
peiskernel.hostInfo.lowAddr[j].addr.tcpIPv4.port=peiskernel.tcp_serverPort;
}
strncpy(peiskernel.hostInfo.lowAddr[j].deviceName,peisk_inetInterface[i].name,sizeof(peiskernel.hostInfo.lowAddr[i].deviceName));
peiskernel.hostInfo.lowAddr[j].isLoopback = peisk_inetInterface[i].isLoopback ? 1 : 0;
j++;
}
peiskernel.hostInfo.nLowlevelAddresses=j;
}
peisk_addBluetoothLowlevelAddresses();
peiskernel.hostInfoHT = peisk_hashTable_create(PeisHashTableKey_Integer);
peiskernel.connectionMgrInfoHT = peisk_hashTable_create(PeisHashTableKey_Integer);
peisk_insertHostInfo(peiskernel.id,&peiskernel.hostInfo);
connMgrInfo = (PeisConnectionMgrInfo*) malloc(sizeof(PeisConnectionMgrInfo));
peisk_insertConnectionMgrInfo(peiskernel.id,connMgrInfo);
connMgrInfo->nTries = 0;
connMgrInfo->nextRetry = peisk_timeNow;
connMgrInfo->usefullTraffic=0;
connMgrInfo->lastUsefullTraffic=0;
printf("PeisKernel v%lf (protocoll %d)@%s %s ",1.0,peisk_protocollVersion,__DATE__,__TIME__);
peisk_printHostInfo(&peiskernel.hostInfo);
peisk_int_isRunning=1;
PeisRoutingInfo *routingInfo;
if(peisk_hashTable_getValue(peiskernel.routingTable,(void*)(intA)peiskernel.id,(void**)(void*)&routingInfo) == 0) {
PEISK_ASSERT(routingInfo->connection == NULL,("Route to ourselves points to nonzero connection\n"));
}
}
void peisk_logTimeStamp(FILE *stream) {
fprintf(stream,"%3.2f ",fmod(peisk_gettimef(),1000));
}