// clear the whole screen
void clean()
{
send(CMD, 0x80); // 0
send(CMD, 0x40); // 0
sendN(LCD_WIDTH * (LCD_HEIGHT/8), 0x00);
}
void handleOrder(porder po,char* path,int cfd)
{
// printf("path:%s\n",path);
if(ORDER_PWD == po->order)
{
data tbuf;
memset(&tbuf,0,sizeof(tbuf));
recvN(cfd,(char*)&tbuf.len,sizeof(tbuf.len));
recvN(cfd,tbuf.buf,tbuf.len);
printf("%s\n",tbuf.buf);
}
else if(ORDER_LS == po->order)
{
data tbuf;
memset(&tbuf,0,sizeof(tbuf));
recvN(cfd,(char*)&tbuf.len,sizeof(tbuf.len));
recvN(cfd,tbuf.buf,tbuf.len);
printf("%-5s%-20s%-10s\n","type","name","size");
printf("%s\n",tbuf.buf);
}
else if(ORDER_CD == po->order)
{
data tbuf;
memset(&tbuf,0,sizeof(tbuf));
recvN(cfd,(char*)&tbuf.len,sizeof(tbuf.len));
recvN(cfd,tbuf.buf,tbuf.len);
printf("%s\n",tbuf.buf);
}
else if(ORDER_PUTS == po->order)
{
sendFile(cfd,path,po->info);
}
else if(ORDER_GETS == po->order)
{
recvFile(cfd,path,po->info);
}
else if(ORDER_RM == po->order)
{
data tbuf;
memset(&tbuf,0,sizeof(tbuf));
tbuf.len = strlen(po->info);
strcpy(tbuf.buf,po->info);
sendN(cfd,(char*)&tbuf,tbuf.len+sizeof(tbuf.len));
memset(&tbuf,0,sizeof(tbuf));
recvN(cfd,(char*)&tbuf.len,sizeof(tbuf.len));
recvN(cfd,tbuf.buf,tbuf.len);
printf("%s\n",tbuf.buf);
}
else if(ORDER_EXIT == po->order)
{
printf("bye bye!\n");
close(cfd);
exit(0);
}
else
{
printf("command not found\n");
}
}
void sendOrder(int fdw,porder po)
{
data sbuf;
memset(&sbuf,0,sizeof(sbuf));
po->infolen = strlen(po->info);
readOrder(po->info,po->infolen,po);
//send order to server
sbuf.len = sizeof(*po);
memcpy(sbuf.buf,(char*)po,sbuf.len);
sendN(fdw,(char*)&sbuf,sbuf.len+sizeof(sbuf.len));
// printf("len = %d\nbuf = %s\n",sbuf.len,sbuf.buf);
}
int srt_client_send(int sockfd, void* data, unsigned int length) {
int seg_num = (length - 1) / MAX_SEG_LEN + 1;
int i;
pthread_mutex_lock(tcb_table[sockfd]->bufMutex);
for (i = 0; i < seg_num; i++) {
segBuf_t *segbuf = (segBuf_t *) malloc(sizeof(segBuf_t));
memset(segbuf, 0, sizeof(segBuf_t));
segbuf->seg.header.src_port = tcb_table[sockfd]->client_portNum;
segbuf->seg.header.dest_port = tcb_table[sockfd]->svr_portNum;
segbuf->seg.header.seq_num = tcb_table[sockfd]->next_seqNum;
segbuf->seg.header.length = (i == seg_num - 1 ? (length - i * MAX_SEG_LEN ): MAX_SEG_LEN);
tcb_table[sockfd]->next_seqNum += segbuf->seg.header.length;
segbuf->seg.header.type = DATA;
segbuf->seg.header.checksum = 0;
memcpy(segbuf->seg.data, data + i * MAX_SEG_LEN, segbuf->seg.header.length);
segbuf->next = NULL;
if (NULL == tcb_table[sockfd]->sendBufHead) {
tcb_table[sockfd]->sendBufHead = segbuf;
tcb_table[sockfd]->sendBufunSent = segbuf;
tcb_table[sockfd]->sendBufTail = segbuf;
pthread_t th;
pthread_create(&th, NULL, sendBuf_timer, (void *) &ind[sockfd]);
}
else {
tcb_table[sockfd]->sendBufTail->next = segbuf;
tcb_table[sockfd]->sendBufTail = segbuf;
if (NULL == tcb_table[sockfd]->sendBufunSent) {
tcb_table[sockfd]->sendBufunSent = segbuf;
}
}
}
sendN(sockfd);
pthread_mutex_unlock(tcb_table[sockfd]->bufMutex);
return 1;
}
int handleFileFunctionRequest(int acceptHandle, char *inBuffer, char *outBuffer, int type, int msgSize) {
int32_t ret = -1;
int32_t index = -1;
int32_t mode = -1;
int32_t flags = -1;
int32_t fd = -1;
int32_t maxBytes = -1;
int sendRet = 0;
int namelen = 0;
short extensionId = -1;
switch (type) {
case FILE_CTRL_OPEN:
flags = getInt32(inBuffer, 12);
mode = getInt32(inBuffer, 16);
ret = mpOpen(inBuffer + 20, flags, mode);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case FILE_CTRL_CREATE:
flags = getInt32(inBuffer, 12);
ret = mpCreate(inBuffer + 16, flags);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case FILE_CTRL_CLOSE:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpClose = %d != 12\n", msgSize);
return -1;
}
fd = getInt32(inBuffer, 12);
if (fd < 1) {
fprintf(stderr, "tcpSvr: invalid fd for mpRead = %d\n", fd);
return -1;
}
ret = mpClose(fd);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case FILE_CTRL_READ:
fd = getInt32(inBuffer, 12);
if (fd < 1) {
fprintf(stderr, "tcpSvr: invalid fd for mpRead = %d\n", fd);
return -1;
}
maxBytes = getInt32(inBuffer, 16);
if (maxBytes < 1 || maxBytes >= (BUFF_MAX - 8)) {
fprintf(stderr, "tcpSvr: invalid maxBytes for mpRead = %d max = %d\n", maxBytes,(BUFF_MAX-8));
return -1;
}
ret = mpRead(fd, outBuffer + 8, maxBytes);
setInt32(outBuffer, 0, 4 + (ret > 0 ? ret : 0));
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8 + (ret > 0 ? ret : 0), 0);
if (sendRet != 8 + (ret > 0 ? ret : 0)) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8 + (ret > 0?ret:0)\n", sendRet);
return -1;
}
break;
case FILE_CTRL_WRITE:
fd = getInt32(inBuffer, 12);
if (fd < 1) {
fprintf(stderr, "tcpSvr: invalid fd for mpRead = %d\n", fd);
return -1;
}
maxBytes = getInt32(inBuffer, 16);
if (maxBytes < 1 || maxBytes >= (BUFF_MAX - 8)) {
fprintf(stderr, "tcpSvr: invalid maxBytes for mpRead = %d max = %d\n", maxBytes,(BUFF_MAX-8));
return -1;
}
ret = mpWrite(fd, inBuffer+20, maxBytes);
setInt32(outBuffer, 0, 4 + (ret > 0 ? ret : 0));
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8 + (ret > 0 ? ret : 0), 0);
if (sendRet != 8 + (ret > 0 ? ret : 0)) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8 + (ret > 0?ret:0)\n", sendRet);
return -1;
}
break;
default:
fprintf(stderr, "tcpSvr: invalid file function type = %d\n", type);
return -1;
}
return 0;
}
int handleExFileFunctionRequest(int acceptHandle, char *inBuffer, char *outBuffer, int type, int msgSize) {
int32_t ret = -1;
int32_t index = -1;
int32_t ramDriveId = -1;
int32_t fileNameOffset = -1;
int32_t fd = -1;
int sendRet = 0;
int namelen = 0;
short extensionId = -1;
MP_FILE_NAME_SEND_DATA fileNameSendData;
MP_GET_JOBLIST_RSP_DATA jobListData;
switch (type) {
case EX_FILE_CTRL_GET_FILE_COUNT:
if (msgSize != 10) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetFileCount = %d != 10\n", msgSize);
return -1;
}
extensionId = getInt16(inBuffer, 12);
if (extensionId < 1 || extensionId > 2) {
fprintf(stderr, "tcpSvr: invalid extensionId for mpGetFileCount = %d (must be 1 or 2)\n", extensionId);
return -1;
}
lastExtensionId = -1;
ret = mpRefreshFileList(extensionId);
if (ret != 0) {
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
return 0;
}
lastExtensionId = extensionId;
ret = mpGetFileCount();
setInt32(outBuffer, 0, 8);
setInt32(outBuffer, 4, 0);
setInt32(outBuffer, 8, ret);
sendRet = sendN(acceptHandle, outBuffer, 12, 0);
if (sendRet != 12) {
fprintf(stderr, "tcpSvr: sendRet = %d != 12\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_GET_FILE_NAME:
extensionId = getInt16(inBuffer, 12);
if (extensionId < 1 || extensionId > 2) {
fprintf(stderr, "tcpSvr: invalid extensionId for mpGetFileName = %d (must be 1 or 2)\n", extensionId);
return -1;
}
if (extensionId != lastExtensionId) {
lastExtensionId = -1;
ret = mpRefreshFileList(extensionId);
if (ret != 0) {
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
lastExtensionId = -1;
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
return 0;
}
}
index = getInt32(inBuffer, 14);
ret = mpGetFileName(index, outBuffer + 12);
namelen = strlen(outBuffer + 12);
setInt32(outBuffer, 0, 8 + namelen + 1);
setInt32(outBuffer, 4, 0);
setInt32(outBuffer, 8, ret);
sendRet = sendN(acceptHandle, outBuffer, 12 + namelen + 1, 0);
if (sendRet != 12 + namelen + 1) {
fprintf(stderr, "tcpSvr: sendRet = %d != 12+namelen+1\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_LOAD_FILE:
ramDriveId = getInt32(inBuffer, 12);
if (ramDriveId < 1 || ramDriveId > 2) {
fprintf(stderr, "tcpSvr: invalid ramDriveId for mpLoadFile = %d (must be 1 or 2)\n", ramDriveId);
return -1;
}
fileNameOffset = getInt32(inBuffer, 16);
if (fileNameOffset < 20 || fileNameOffset > (BUFF_MAX - 21)) {
fprintf(stderr, "tcpSvr: invalid fileNameOffset for mpLoadFile = %d \n", fileNameOffset);
return -1;
}
ret = mpLoadFile(ramDriveId, inBuffer + 20, inBuffer + fileNameOffset);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_SAVE_FILE:
ramDriveId = getInt32(inBuffer, 12);
if (ramDriveId < 1 || ramDriveId > 2) {
fprintf(stderr, "tcpSvr: invalid ramDriveId for mpSaveFile = %d (must be 1 or 2)\n", ramDriveId);
return -1;
}
fileNameOffset = getInt32(inBuffer, 16);
if (fileNameOffset < 20 || fileNameOffset > (BUFF_MAX - 21)) {
fprintf(stderr, "tcpSvr: invalid fileNameOffset for mpSaveFile = %d \n", fileNameOffset);
return -1;
}
ret = mpSaveFile(ramDriveId, inBuffer + 20, inBuffer + fileNameOffset);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_FD_READ_FILE:
fd = getInt32(inBuffer, 12);
if(fd == -99) {
fd = acceptHandle;
}
if (fd < 1 ) {
fprintf(stderr, "tcpSvr: invalid fd for mpFdReadFile = %d\n", ramDriveId);
return -1;
}
memset(&fileNameSendData,0,sizeof(fileNameSendData));
strcpy(fileNameSendData.cFileName,inBuffer+16);
ret = mpFdReadFile(fd, &fileNameSendData);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_FD_WRITE_FILE:
fd = getInt32(inBuffer, 12);
if(fd == -99) {
fd = acceptHandle;
}
if (fd < 1 ) {
fprintf(stderr, "tcpSvr: invalid fd for mpFdWriteFile = %d\n", ramDriveId);
return -1;
}
memset(&fileNameSendData,0,sizeof(fileNameSendData));
strcpy(fileNameSendData.cFileName,inBuffer+16);
ret = mpFdWriteFile(fd, &fileNameSendData);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case EX_FILE_CTRL_FD_GET_JOB_LIST:
fd = getInt32(inBuffer, 12);
if(fd == -99) {
fd = acceptHandle;
}
if (fd < 1 ) {
fprintf(stderr, "tcpSvr: invalid fd for mpFdGetJobList = %d (must be 1 or 2)\n", ramDriveId);
return -1;
}
memset(&jobListData,0,sizeof(jobListData));
ret = mpFdGetJobList(fd, &jobListData);
setInt32(outBuffer, 0, 10);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer,8,jobListData.err_no);
setInt16(outBuffer,10,jobListData.uIsEndFlag);
setInt16(outBuffer,12,jobListData.uListDataNum);
sendRet = sendN(acceptHandle, outBuffer, 14, 0);
if (sendRet != 14) {
fprintf(stderr, "tcpSvr: sendRet = %d != 14\n", sendRet);
return -1;
}
break;
default:
fprintf(stderr, "tcpSvr: invalid file function type = %d\n", type);
return -1;
}
return 0;
}
int handleMotFunctionRequest(int acceptHandle, char *inBuffer, char *outBuffer, int type, int msgSize) {
int32_t ret = -1;
int32_t options = 0;
int32_t controlGroup = 0;
int32_t timeout = 0;
int sendRet = 0;
MP_TARGET target;
MP_SPEED speed;
int32_t grpNo = 0;
int32_t aux = 0;
int32_t coordType = 0;
int32_t tool = 0;
int32_t taskNo = 0;
int recvId = 0;
int i = 0;
switch (type) {
case MOT_START:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotStart = %d != 12\n", msgSize);
return -1;
}
options = getInt32(inBuffer, 12);
ret = mpMotStart(options);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_STOP:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotStop = %d != 12\n", msgSize);
return -1;
}
options = getInt32(inBuffer, 12);
ret = mpMotStop(options);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_TARGET_CLEAR:
if (msgSize != 16) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetClear = %d != 16\n", msgSize);
return -1;
}
controlGroup = getInt32(inBuffer, 12);
options = getInt32(inBuffer, 16);
ret = mpMotTargetClear(controlGroup, options);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_JOINT_TARGET_SEND:
if (msgSize != 88) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetSend = %d != 88\n", msgSize);
return -1;
}
memset(&target, 0, sizeof (target));
controlGroup = getInt32(inBuffer, 12);
target.id = getInt32(inBuffer, 16);
target.intp = getInt32(inBuffer, 20);
for (i = 0; i < 8 /* MP_GRP_AXES_NUM */; i++) {
target.dst.joint[i] = getInt32(inBuffer, 24 + (i * 4));
}
for (i = 0; i < 8 /* MP_GRP_AXES_NUM */; i++) {
target.aux.joint[i] = getInt32(inBuffer, 56 + (i * 4));
}
timeout = getInt32(inBuffer, 88);
ret = mpMotTargetSend(controlGroup, &target, timeout);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_COORD_TARGET_SEND:
if (msgSize != 88) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetSend = %d != 88\n", msgSize);
return -1;
}
memset(&target, 0, sizeof (target));
controlGroup = getInt32(inBuffer, 12);
target.id = getInt32(inBuffer, 16);
target.intp = getInt32(inBuffer, 20);
target.dst.coord.x = getInt32(inBuffer, 24);
target.dst.coord.y = getInt32(inBuffer, 28);
target.dst.coord.z = getInt32(inBuffer, 32);
target.dst.coord.rx = getInt32(inBuffer, 36);
target.dst.coord.ry = getInt32(inBuffer, 40);
target.dst.coord.rz = getInt32(inBuffer, 44);
target.dst.coord.ex1 = getInt32(inBuffer, 48);
target.dst.coord.ex2 = getInt32(inBuffer, 52);
target.aux.coord.x = getInt32(inBuffer, 56);
target.aux.coord.y = getInt32(inBuffer, 60);
target.aux.coord.z = getInt32(inBuffer, 64);
target.aux.coord.rx = getInt32(inBuffer, 68);
target.aux.coord.ry = getInt32(inBuffer, 72);
target.aux.coord.rz = getInt32(inBuffer, 76);
target.aux.coord.ex1 = getInt32(inBuffer, 80);
target.aux.coord.ex2 = getInt32(inBuffer, 84);
timeout = getInt32(inBuffer, 88);
ret = mpMotTargetSend(controlGroup, &target, timeout);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_TARGET_RECEIVE:
if (msgSize != 24) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetReceive = %d != 24\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
target.id = getInt32(inBuffer, 16);
timeout = getInt32(inBuffer, 20);
options = getInt32(inBuffer, 24);
ret = mpMotTargetReceive(grpNo, target.id, &recvId, timeout, options);
setInt32(outBuffer, 0, 8);
setInt32(outBuffer, 4, ret);
setInt32(outBuffer, 8, recvId);
sendRet = sendN(acceptHandle, outBuffer, 12, 0);
if (sendRet != 12) {
fprintf(stderr, "tcpSvr: sendRet = %d != 12\n", sendRet);
return -1;
}
break;
case MOT_SET_COORD:
if (msgSize != 20) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetCoord = %d != 20\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
coordType = getInt32(inBuffer, 16);
aux = getInt32(inBuffer, 20);
ret = mpMotSetCoord(grpNo, coordType, aux);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_SET_TOOL:
if (msgSize != 16) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetTool = %d != 16\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
tool = getInt32(inBuffer, 16);
ret = mpMotSetTool(grpNo, tool);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_SET_SPEED:
if (msgSize != 32) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetSpeed = %d != 32\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
speed.vj = getInt32(inBuffer, 16);
speed.v = getInt32(inBuffer, 24);
speed.vr = getInt32(inBuffer, 32);
ret = mpMotSetSpeed(grpNo, &speed);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_SET_ORIGIN:
if (msgSize != 16) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetOrigin = %d != 16\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
options = getInt32(inBuffer, 16);
ret = mpMotSetOrigin(grpNo, options);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_SET_TASK:
if (msgSize != 16) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetTask = %d != 16\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
taskNo = getInt32(inBuffer, 16);
ret = mpMotSetTask(grpNo, taskNo);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_SET_SYNC:
if (msgSize != 20) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotSetSync = %d != 20\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
aux = getInt32(inBuffer, 16);
options = getInt32(inBuffer, 20);
ret = mpMotSetSync(grpNo, aux, options);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case MOT_RESET_SYNC:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotResetSync = %d != 12\n", msgSize);
return -1;
}
grpNo = getInt32(inBuffer, 12);
ret = mpMotResetSync(grpNo);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
default:
fprintf(stderr, "tcpSvr: invalid mot function type = %d\n", type);
return -1;
}
return 0;
}
int handleSys1FunctionRequest(int acceptHandle, char *inBuffer, char *outBuffer, int type, int msgSize) {
int sendRet = 0;
int i = 0;
MP_VAR_INFO varInfo[25];
MP_VAR_DATA varData[25];
MP_IO_INFO ioInfo[25];
MP_IO_DATA ioData[25];
LONG rData[25];
USHORT iorData[25];
MP_MODE_RSP_DATA modeData;
MP_CYCLE_RSP_DATA cycleData;
MP_ALARM_STATUS_RSP_DATA alarmStatusData;
MP_ALARM_CODE_RSP_DATA alarmCodeData;
LONG num;
int ret;
MP_CTRL_GRP_SEND_DATA ctrlGrpSendData;
MP_CART_POS_RSP_DATA cartPosRspData;
MP_PULSE_POS_RSP_DATA pulsePosRspData;
MP_FB_PULSE_POS_RSP_DATA fbPulsePosRspData;
MP_DEG_POS_RSP_DATA_EX degPosRspDataEx;
MP_SERVO_POWER_RSP_DATA servoPowerRspData;
MP_SERVO_POWER_SEND_DATA servoPowerSendData;
MP_STD_RSP_DATA stdRspData;
int32_t controlGroup = 0;
int nowait = NO_WAIT;
int waitforever = WAIT_FOREVER;
switch (type) {
case SYS1_GET_VAR_DATA:
num = getInt32(inBuffer, 12);
if (num < 1 || num > 24) {
fprintf(stderr, "tcpSvr: invalid num for mpGetVarData num = %ld\n", num);
return -1;
}
if (msgSize != 12 + (4 * num)) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetVarData = %d != %ld for num = %ld\n", msgSize, 12 + (4 * num), num);
return -1;
}
for (i = 0; i < num; i++) {
varInfo[i].usType = getInt16(inBuffer, 16 + (4 * i));
varInfo[i].usIndex = getInt16(inBuffer, 18 + (4 * i));
}
ret = mpGetVarData(varInfo, rData, num);
setInt32(outBuffer, 0, 4 + num * 4);
setInt32(outBuffer, 4, ret);
for (i = 0; i < num; i++) {
setInt32(outBuffer, 8 + i * 4, rData[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 8 + num * 4, 0);
if (sendRet != 8 + num * 4) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8 + num*4\n", sendRet);
return -1;
}
break;
case SYS1_PUT_VAR_DATA:
num = getInt32(inBuffer, 12);
if (num < 1 || num > 24) {
fprintf(stderr, "tcpSvr: invalid num for mpPutVarData num = %ld\n", num);
return -1;
}
if (msgSize != 12 + (num * 8)) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpPutVarData = %d != %ld for num = %ld\n", msgSize, 12 + (num * 8), num);
return -1;
}
for (i = 0; i < num; i++) {
varData[i].usType = getInt16(inBuffer, 16 + (8 * i));
varData[i].usIndex = getInt16(inBuffer, 18 + (8 * i));
varData[i].ulValue = getInt32(inBuffer, 20 + (8 * i));
}
ret = mpPutVarData(varData, num);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case SYS1_GET_CURRENT_CART_POS:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetClear = %d != 12\n", msgSize);
return -1;
}
memset(&ctrlGrpSendData, 0, sizeof (ctrlGrpSendData));
memset(&cartPosRspData, 0, sizeof (cartPosRspData));
controlGroup = getInt32(inBuffer, 12);
ctrlGrpSendData.sCtrlGrp = controlGroup;
ret = mpGetCartPos(&ctrlGrpSendData, &cartPosRspData);
setInt32(outBuffer, 0, 54);
setInt32(outBuffer, 4, ret);
for (i = 0; i < 6; i++) {
setInt32(outBuffer, 8 + 4 * i, cartPosRspData.lPos[i]);
}
setInt16(outBuffer, 56, cartPosRspData.sConfig);
sendRet = sendN(acceptHandle, outBuffer, 58, 0);
if (sendRet != 58) {
fprintf(stderr, "tcpSvr: sendRet = %d != 58\n", sendRet);
return -1;
}
break;
case SYS1_GET_CURRENT_PULSE_POS:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetClear = %d != 12\n", msgSize);
return -1;
}
memset(&ctrlGrpSendData, 0, sizeof (ctrlGrpSendData));
memset(&pulsePosRspData, 0, sizeof (pulsePosRspData));
controlGroup = getInt32(inBuffer, 12);
ctrlGrpSendData.sCtrlGrp = controlGroup;
ret = mpGetPulsePos(&ctrlGrpSendData, &pulsePosRspData);
setInt32(outBuffer, 0, 68);
setInt32(outBuffer, 4, ret);
for (i = 0; i < 8; i++) {
setInt32(outBuffer, 8 + 4 * i, pulsePosRspData.lPos[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 72, 0);
if (sendRet != 72) {
fprintf(stderr, "tcpSvr: sendRet = %d != 72\n", sendRet);
return -1;
}
break;
case SYS1_GET_CURRENT_FEEDBACK_PULSE_POS:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetClear = %d != 12\n", msgSize);
return -1;
}
memset(&ctrlGrpSendData, 0, sizeof (ctrlGrpSendData));
memset(&fbPulsePosRspData, 0, sizeof (fbPulsePosRspData));
controlGroup = getInt32(inBuffer, 12);
ctrlGrpSendData.sCtrlGrp = controlGroup;
ret = mpGetFBPulsePos(&ctrlGrpSendData, &fbPulsePosRspData);
setInt32(outBuffer, 0, 68);
setInt32(outBuffer, 4, ret);
for (i = 0; i < 8; i++) {
setInt32(outBuffer, 8 + 4 * i, fbPulsePosRspData.lPos[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 72, 0);
if (sendRet != 72) {
fprintf(stderr, "tcpSvr: sendRet = %d != 72\n", sendRet);
return -1;
}
break;
case SYS1_GET_DEG_POS_EX:
if (msgSize != 12) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpMotTargetClear = %d != 12\n", msgSize);
return -1;
}
memset(&ctrlGrpSendData, 0, sizeof (ctrlGrpSendData));
memset(°PosRspDataEx, 0, sizeof (degPosRspDataEx));
controlGroup = getInt32(inBuffer, 12);
ctrlGrpSendData.sCtrlGrp = controlGroup;
ret = mpGetDegPosEx(&ctrlGrpSendData, °PosRspDataEx);
setInt32(outBuffer, 0, 132);
setInt32(outBuffer, 4, ret);
for (i = 0; i < 8; i++) {
setInt32(outBuffer, 8 + 4 * i, degPosRspDataEx.lDegPos[i]);
}
for (i = 0; i < 8; i++) {
setInt32(outBuffer, 72 + 4 * i, degPosRspDataEx.lDegUnit[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 136, 0);
if (sendRet != 136) {
fprintf(stderr, "tcpSvr: sendRet = %d != 136\n", sendRet);
return -1;
}
break;
case SYS1_GET_SERVO_POWER:
if (msgSize != 8) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetServoPower = %d != 8\n", msgSize);
return -1;
}
memset(&servoPowerRspData, 0, sizeof (servoPowerRspData));
ret = mpGetServoPower(&servoPowerRspData);
setInt32(outBuffer, 0, 6);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, servoPowerRspData.sServoPower);
sendRet = sendN(acceptHandle, outBuffer, 10, 0);
if (sendRet != 10) {
fprintf(stderr, "tcpSvr: sendRet = %d != 10\n", sendRet);
return -1;
}
break;
case SYS1_SET_SERVO_POWER:
if (msgSize != 10) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpSetServoPower = %d != 12\n", msgSize);
return -1;
}
memset(&servoPowerSendData, 0, sizeof (servoPowerSendData));
memset(&stdRspData, 0, sizeof (stdRspData));
servoPowerSendData.sServoPower = getInt16(inBuffer, 12);
ret = mpSetServoPower(&servoPowerSendData, &stdRspData);
setInt32(outBuffer, 0, 6);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, stdRspData.err_no);
sendRet = sendN(acceptHandle, outBuffer, 10, 0);
if (sendRet != 10) {
fprintf(stderr, "tcpSvr: sendRet = %d != 136\n", sendRet);
return -1;
}
break;
case SYS1_READIO:
num = getInt32(inBuffer, 12);
if (num < 1 || num > 24) {
fprintf(stderr, "tcpSvr: invalid num for mpReadIO num = %ld\n", num);
return -1;
}
if (msgSize != 12 + (4 * num)) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpReadIO = %d != %ld for num = %ld\n", msgSize, 12 + (4 * num), num);
return -1;
}
for (i = 0; i < num; i++) {
ioInfo[i].ulAddr = getInt32(inBuffer, 16 + (4 * i));
}
memset(iorData, 0, sizeof (iorData));
ret = mpReadIO(ioInfo, iorData, num);
setInt32(outBuffer, 0, 4 + num * 2);
setInt32(outBuffer, 4, ret);
for (i = 0; i < num; i++) {
setInt16(outBuffer, 8 + i * 2, iorData[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 8 + num * 2, 0);
if (sendRet != 8 + num * 2) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8 + num*4\n", sendRet);
return -1;
}
break;
case SYS1_WRITEIO:
num = getInt32(inBuffer, 12);
if (num < 1 || num > 24) {
fprintf(stderr, "tcpSvr: invalid num for mpPutVarData num = %ld\n", num);
return -1;
}
if (msgSize != 12 + (num * 8)) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpPutVarData = %d != %ld for num = %ld\n", msgSize, 12 + (num * 8), num);
return -1;
}
for (i = 0; i < num; i++) {
ioData[i].ulAddr = getInt32(inBuffer, 16 + (8 * i));
ioData[i].ulValue = getInt32(inBuffer, 20 + (8 * i));
}
ret = mpWriteIO(ioData, num);
setInt32(outBuffer, 0, 4);
setInt32(outBuffer, 4, ret);
sendRet = sendN(acceptHandle, outBuffer, 8, 0);
if (sendRet != 8) {
fprintf(stderr, "tcpSvr: sendRet = %d != 8\n", sendRet);
return -1;
}
break;
case SYS1_GET_MODE:
if (msgSize != 8) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetMode = %d != 8\n", msgSize);
return -1;
}
memset(&modeData, 0, sizeof (modeData));
ret = mpGetMode(&modeData);
setInt32(outBuffer, 0, 8);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, modeData.sMode);
setInt16(outBuffer, 10, modeData.sRemote);
sendRet = sendN(acceptHandle, outBuffer, 12, 0);
if (sendRet != 12) {
fprintf(stderr, "tcpSvr: sendRet = %d != 12\n", sendRet);
return -1;
}
break;
case SYS1_GET_CYCLE:
if (msgSize != 8) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetCycle = %d != 8\n", msgSize);
return -1;
}
memset(&cycleData, 0, sizeof (cycleData));
ret = mpGetCycle(&cycleData);
setInt32(outBuffer, 0, 6);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, cycleData.sCycle);
sendRet = sendN(acceptHandle, outBuffer, 10, 0);
if (sendRet != 10) {
fprintf(stderr, "tcpSvr: sendRet = %d != 10\n", sendRet);
return -1;
}
break;
case SYS1_GET_ALARM_STATUS:
if (msgSize != 8) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetAlarmStatus = %d != 8\n", msgSize);
return -1;
}
memset(&alarmStatusData, 0, sizeof (alarmStatusData));
ret = mpGetAlarmStatus(&alarmStatusData);
setInt32(outBuffer, 0, 6);
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, alarmStatusData.sIsAlarm);
sendRet = sendN(acceptHandle, outBuffer, 10, 0);
if (sendRet != 10) {
fprintf(stderr, "tcpSvr: sendRet = %d != 10\n", sendRet);
return -1;
}
break;
case SYS1_GET_ALARM_CODE:
if (msgSize != 8) {
fprintf(stderr, "tcpSvr: invalid msgSize for mpGetAlarmCode = %d != 8\n", msgSize);
return -1;
}
memset(&alarmCodeData, 0, sizeof (alarmCodeData));
ret = mpGetAlarmCode(&alarmCodeData);
setInt32(outBuffer, 0, 10 + 4 * ((alarmCodeData.usAlarmNum > 4) ? 4 : alarmCodeData.usAlarmNum));
setInt32(outBuffer, 4, ret);
setInt16(outBuffer, 8, alarmCodeData.usErrorNo);
setInt16(outBuffer, 10, alarmCodeData.usErrorData);
setInt16(outBuffer, 12, alarmCodeData.usAlarmNum);
for (i = 0; i < alarmCodeData.usAlarmNum && i < 4; i++) {
setInt16(outBuffer, 14 + i * 4, alarmCodeData.AlarmData.usAlarmNo[i]);
setInt16(outBuffer, 16 + i * 4, alarmCodeData.AlarmData.usAlarmData[i]);
}
sendRet = sendN(acceptHandle, outBuffer, 14 + 4 * ((alarmCodeData.usAlarmNum > 4) ? 4 : alarmCodeData.usAlarmNum), 0);
if (sendRet != 14 + 4 * ((alarmCodeData.usAlarmNum > 4) ? 4 : alarmCodeData.usAlarmNum)) {
fprintf(stderr, "tcpSvr: sendRet = %d != 14 +4*((alarmCodeData.usAlarmNum>4)?4:alarmCodeData.usAlarmNum)\n", sendRet);
return -1;
}
break;
default:
fprintf(stderr, "tcpSvr: invalid sys1 function type = %d\n", type);
return -1;
}
return 0;
}
void *seghandler(void* arg) {
seg_t seg_recv;
while (1 == snp_recvseg(connection, &seg_recv)) {
int i;
unsigned short int client_portNum = seg_recv.header.dest_port;
unsigned short int type = seg_recv.header.type;
client_tcb_t *tcb = NULL;
for (i = 0; i < MAX_TRANSPORT_CONNECTIONS; i++) {
pthread_mutex_lock(lock[i]);
if (NULL != tcb_table[i] && client_portNum == tcb_table[i]->client_portNum) {
tcb = tcb_table[i];
break;
}
pthread_mutex_unlock(lock[i]);
}
if (NULL == tcb) {
printf("%s There is no TCB matching port number %d.\n", output, client_portNum);
}
else {
switch (tcb->state) {
case CLOSED:
break;
case SYNSENT:
if (SYNACK == type) {
printf("%s TCB[%d] Received SYNACK!\n", output, i);
printf("%s TCB[%d] State (SYNSENT) ==> (CONNECTED)\n", output, i);
tcb->state = CONNECTED;
}
break;
case CONNECTED:
if (DATAACK == type) {
printf("%s TCB[%d] Received DATAACK! Server Expect %d.\n", output, i, seg_recv.header.ack_num);
pthread_mutex_lock(tcb->bufMutex);
while (NULL != tcb->sendBufHead && tcb->sendBufHead->seg.header.seq_num < seg_recv.header.ack_num) {
printf("%s TCB[%d] Free %d.\n", output, i, tcb->sendBufHead->seg.header.seq_num);
segBuf_t *temp = tcb->sendBufHead;
tcb->sendBufHead = tcb->sendBufHead->next;
free(temp);
tcb->unAck_segNum--;
}
if (NULL != tcb->sendBufHead) {
sendN(i);
}
pthread_mutex_unlock(tcb->bufMutex);
}
break;
case FINWAIT:
if (FINACK == type) {
printf("%s TCB[%d] Received FINACK!\n", output, i);
printf("%s TCB[%d] State (FINWAIT) ==> (CLOSED)\n", output, i);
tcb->state = CLOSED;
}
break;
default:
break;
}
pthread_mutex_unlock(lock[i]);
}
}
return NULL;
}
CATCH_NEXTROW()
{
ActivityTimer t(totalCycles, timeActivities);
OwnedConstThorRow ret;
Owned<IException> exception;
if (first) // only return 1!
{
try
{
first = false;
initN();
if (RCMAX==N) // indicates before start of dataset e.g. ds[0]
{
RtlDynamicRowBuilder row(queryRowAllocator());
size32_t sz = helper->createDefault(row);
ret.setown(row.finalizeRowClear(sz));
N = 0; // return that processed all
}
else if (N)
{
while (!abortSoon)
{
ret.setown(input->ungroupedNextRow());
if (!ret)
break;
N--;
{
SpinBlock block(spin);
if (lookaheadN<startN) // will not reach N==0, so don't bother continuing to read
{
N = startN-lookaheadN;
ret.clear();
break;
}
}
if (0==N)
break;
}
if ((N!=0)&&createDefaultIfFail)
{
N = 0; // return that processed all (i.e. none left)
RtlDynamicRowBuilder row(queryRowAllocator());
size32_t sz = helper->createDefault(row);
ret.setown(row.finalizeRowClear(sz));
}
}
if (startN && 0 == N)
seenNth = true;
}
catch (IException *e)
{
N=0;
exception.setown(e);
}
sendN();
if (exception.get())
throw exception.getClear();
}
if (ret)
dataLinkIncrement();
return ret.getClear();
}
