/**
Open the server, if you supply a robot this will run in the robots
attached, if you do not supply a robot then it will be open and
you'll have to call runOnce yourself (this is only recommended for
advanced users)
@param robot the robot that this should be attached to and run in
the sync task of or NULL not to run in any robot's task
@param port the port to start up the service on
@param password the password needed to use the service
@param multipleClients if false only one client is allowed to connect,
if false multiple clients are allowed to connect or just one
@return true if the server could be started, false otherwise
**/
AREXPORT bool ArNetServer::open(ArRobot *robot, unsigned int port,
const char *password, bool multipleClients,
const char *openOnIP)
{
ArSyncTask *rootTask = NULL;
ArSyncTask *proc = NULL;
std::string taskName;
if (myOpened)
{
ArLog::log(ArLog::Terse, "ArNetServer already inited, cannot reinit");
return false;
}
myRobot = robot;
myPort = port;
myPassword = password;
myMultipleClients = multipleClients;
if (myServerSocket.open(myPort, ArSocket::TCP, openOnIP))
{
myServerSocket.setLinger(0);
myServerSocket.setNonBlock();
if (openOnIP != NULL)
ArLog::log(ArLog::Normal, "ArNetServer opened on port %d on ip %s.",
myPort, openOnIP);
else
ArLog::log(ArLog::Normal, "ArNetServer opened on port %d.", myPort);
myOpened = true;
}
else
{
ArLog::log(ArLog::Terse, "ArNetServer failed to open: %s",
myServerSocket.getErrorStr().c_str());
myOpened = false;
return false;
}
// add ourselves to the robot if we aren't already there
if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
{
proc = rootTask->findNonRecursive(&myTaskCB);
if (proc == NULL)
{
// toss in a netserver
taskName = "Net Servers ";
taskName += myPort;
rootTask->addNewLeaf(taskName.c_str(), 60, &myTaskCB, NULL);
}
}
return true;
}
/**
Finds a child of this node with the given functor
@param functor the functor we are interested in finding
@return The task, if found. If not found, NULL.
*/
AREXPORT ArSyncTask *ArSyncTask::findNonRecursive(ArFunctor *functor)
{
ArSyncTask *proc;
std::multimap<int, ArSyncTask *>::iterator it;
for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
{
proc = (*it).second;
if (proc->getFunctor() == functor)
return proc;
}
return NULL;
}
ArNetServer::~ArNetServer()
{
ArSyncTask *rootTask = NULL;
ArSyncTask *proc = NULL;
// get rid of us running on the robot task
if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
{
proc = rootTask->findNonRecursive(&myTaskCB);
if (proc != NULL)
delete proc;
}
close();
}
/**
Finds a child of this node with the given name
@param name The name of the child we are interested in finding
@return The task, if found. If not found, NULL.
*/
AREXPORT ArSyncTask *ArSyncTask::findNonRecursive(const char * name)
{
ArSyncTask *proc;
std::multimap<int, ArSyncTask *>::iterator it;
for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
{
proc = (*it).second;
if (strcmp(proc->getName().c_str(), name) == 0)
return proc;
}
return NULL;
}
AREXPORT const char *ArSyncLoop::getThreadActivity(void)
{
if (myRunning)
{
ArSyncTask *syncTask;
syncTask = myRobot->getSyncTaskRoot()->getRunning();
if (syncTask != NULL)
return syncTask->getName().c_str();
else
return "Unknown running";
}
else
return "Unknown";
}
/**
Finds a node below (or at) this level in the tree with the given name
@param name The name of the child we are interested in finding
@return The task, if found. If not found, NULL.
*/
AREXPORT ArSyncTask *ArSyncTask::find(ArFunctor *functor)
{
ArSyncTask *proc;
std::multimap<int, ArSyncTask *>::iterator it;
if (myFunctor == functor)
return this;
for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
{
proc = (*it).second;
if (proc->find(functor) != NULL)
return proc;
}
return NULL;
}
/**
Finds a node below (or at) this level in the tree with the given name
@param name The name of the child we are interested in finding
@return The task, if found. If not found, NULL.
*/
AREXPORT ArSyncTask *ArSyncTask::find(const char *name)
{
ArSyncTask *proc;
std::multimap<int, ArSyncTask *>::iterator it;
if (strcmp(myName.c_str(), name) == 0)
return this;
for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
{
proc = (*it).second;
if (proc->find(name) != NULL)
return proc;
}
return NULL;
}
int main()
{
ArSyncTask *task;
UserTaskTest test;
ArRobot robot;
ArFunctorC<UserTaskTest> userTaskOne(&test, &UserTaskTest::userTaskOne);
ArFunctorC<UserTaskTest> userTaskTwo(&test, &UserTaskTest::userTaskTwo);
ArFunctorC<UserTaskTest> userTaskThree(&test, &UserTaskTest::userTaskThree);
ArFunctorC<UserTaskTest> userTaskFour(&test, &UserTaskTest::userTaskFour);
printf("Before tasks added:\n");
robot.logUserTasks();
printf("---------------------------------------------------------------\n");
// the order you add tasks doesn't matter, it goes off of the integer
// you give the function call to add them
// Caveat: if you give the function call the same number it goes off of order
robot.addUserTask("procTwo", 20, &userTaskTwo);
robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
robot.addUserTask("procThree", 30, &userTaskThree);
robot.addUserTask("procOne", 10, &userTaskOne);
printf("After tasks added:\n");
robot.logUserTasks();
printf("---------------------------------------------------------------\n");
printf("What happens when these are run:\n");
robot.loopOnce();
printf("---------------------------------------------------------------\n");
printf("After tasks removed by name:\n");
printf("---------------------------------------------------------------\n");
robot.remUserTask("procOne");
robot.remUserTask("procTwo");
robot.remUserTask("procThree");
robot.remUserTask("procFour");
robot.logUserTasks();
printf("\nAfter they are added again, procThree is found by name and set to SUSPEND and procFour is found by functor and set to FAILURE:\n");
printf("---------------------------------------------------------------\n");
printf("---------------------------------------------------------------\n");
robot.addUserTask("procTwo", 20, &userTaskTwo);
robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
robot.addUserTask("procThree", 30, &userTaskThree);
robot.addUserTask("procOne", 10, &userTaskOne);
task = robot.findUserTask("procThree");
if (task != NULL)
task->setState(ArTaskState::SUSPEND);
task = robot.findUserTask(&userTaskFour);
if (task != NULL)
task->setState(ArTaskState::FAILURE);
robot.logUserTasks();
task = robot.findUserTask(&userTaskFour);
if (task != NULL)
{
printf("---------------------------------------------------------------\n");
printf("Did the real state on procFourState get set:\n");
printf("getState: %d realState: %d\n", task->getState(),
test.myTaskFourState);
}
printf("---------------------------------------------------------------\n");
printf("What happens when these are run:\n");
robot.loopOnce();
printf("---------------------------------------------------------------\n");
printf("After tasks removed by functor:\n");
printf("---------------------------------------------------------------\n");
robot.remUserTask(&userTaskOne);
robot.remUserTask(&userTaskTwo);
robot.remUserTask(&userTaskThree);
robot.remUserTask(&userTaskFour);
robot.logUserTasks();
}
