void cStarShape::Initialize()
{
// initialize custom data members...
m_sDescription = wxT("Insert some shape's description text here...");
// now tell the serializer that this data member should be serialized
// (see library documentation to get more info about available serialization
// macros (supported data types))
XS_SERIALIZE(m_sDescription, wxT("description"));
// polygon-based shapes can be connected either to the vertices or to the
// nearest border point (default value is TRUE).
SetConnectToVertex(false);
// set accepted connections for the new shape
AcceptConnection(wxT("All"));
AcceptSrcNeighbour(wxT("cStarShape"));
AcceptTrgNeighbour(wxT("cStarShape"));
// create associated shape(s)
m_pText = new wxSFEditTextShape();
// set some properties
if(m_pText)
{
// set text
m_pText->SetText(wxT("Hello!"));
// set alignment
m_pText->SetVAlign(wxSFShapeBase::valignMIDDLE);
m_pText->SetHAlign(wxSFShapeBase::halignCENTER);
// set required shape style(s)
m_pText->SetStyle(sfsALWAYS_INSIDE | sfsHOVERING | sfsPROCESS_DEL | sfsPROPAGATE_DRAGGING | sfsPROPAGATE_SELECTION);
// you can also force displaying of the shapes handles even if the interactive
// size change is not allowed:
//m_pText->AddStyle(sfsSHOW_HANDLES);
// components of composite shapes created at runtime in parent shape's
// constructor cannot be fully serialized (it means created by
// the serializer) so it is important to disable their standard serialization
// but they can be still serialized as the parent shape's properties
// in the standard way by the following macro:
SF_ADD_COMPONENT( m_pText, wxT("title") );
}
}
Socket* TCPSocket::accept() {
if (endPoint != LISTENER)
return NULL;
SOCKET client;
client = AcceptConnection(sock);
if (client == -1)
return NULL;
TCPSocket* tcpClient = new TCPSocket(SERVER);
if (!tcpClient->setFD(client)) {
delete tcpClient;
return NULL;
}
return tcpClient;
}
void CNetwork_Asio::AcceptConnection() {
listener_.async_accept([this](std::error_code ec, tcp::socket socket) {
if (!ec) {
if (this->OnAccept()) // This should be changed to use a client session
// instead of a CNetwork_Asio class
{
socket.non_blocking(true);
// Do something here for the new connection.
// Make sure to use std::move(socket)
// std::make_shared<CClientSesson>( std::move(socket) );
this->OnAccepted(std::move(socket));
} else {
// Kill the socket
std::error_code ignored;
socket.close(ignored);
}
}
if (active_) AcceptConnection();
});
}
int ThreadLoop::Loop()
{
while (1)
{
TimeTick();
m_consumeMessage = 0;
AcceptConnection();
WaitConnection();
ClearTimeoutSocket();
if (0 == m_consumeMessage)
m_epollMng.Wait(1);
}
return 0;
}
void AFMServer::RunAsDaemon()
{
bool r = Create(0, SOCK_STREAM, "EngineerModeServer"); //org "127.0.0.1" 37121
if(!r)
{
EMSVRLOG("create server socket failure\n");
return;
}
int rc = listen(m_hSocket, 5);
if(rc)
{
EMSVRLOG("listen() fail; errno:%d, err_msg:%s\n", errno, strerror(errno));
return;
}
m_bRunning = true;
int failCount = 0;
while (true)
{
if (!m_bRunning) {
EMSVRLOG("EM SERVER exit Daemon\n");
OnClose(failCount);
break;
}
r = AcceptConnection();
if (!r)
{
failCount++;
EMSVRLOG("EM SERVER fail to listen connection\n");
}
if (failCount >= 5) {
m_bRunning = false;
EMSVRLOG("the fail count to listen connection is overflow the max count\n");
}
}
}
Socket* SSLTCPSocket::accept() {
if (endPoint != LISTENER)
return NULL;
SOCKET client;
client = AcceptConnection(sock);
if (client == -1 && !wouldBlock()) {
setFatalError();
return NULL;
}
else if (client == -1 && wouldBlock()) {
return NULL;
}
SSLTCPSocket* sslClient = new SSLTCPSocket(SERVER);
if (!sslClient->setFD(client)) {
delete sslClient;
return NULL;
}
return sslClient;
}
void CTCPStunThread::Run()
{
HRESULT hrPoll;
Logging::LogMsg(LL_DEBUG, "Starting TCP listening thread (%d sockets)\n", _countSocks);
_timeLastSweep = time(NULL);
while (_fNeedToExit == false)
{
PollEvent pollevent = {};
// wait for a notification
int timeout = GetTimeoutSeconds();
CStunSocket* pListenSocket = NULL;
// turn off epoll eventing from the listen sockets if we are at max connections
// otherwise, make sure it is enabled.
SetListenSocketsOnEpoll(IsConnectionCountAtMax() == false);
hrPoll = _spPolling->WaitForNextEvent(&pollevent, timeout);
if ( _fNeedToExit || (pollevent.fd == _pipe[0]) )
{
break;
}
// hrPoll will be S_OK if there was an event. S_FALSE otherwise
ASSERT(SUCCEEDED(hrPoll));
if (hrPoll == S_OK)
{
if (Logging::GetLogLevel() >= LL_VERBOSE)
{
Logging::LogMsg(LL_VERBOSE, "socket %d: %x (%s%s%s%s%s%s)", pollevent.fd, pollevent.eventflags,
(pollevent.eventflags&IPOLLING_READ) ? " IPOLLING_READ " : "",
(pollevent.eventflags&IPOLLING_WRITE) ? " IPOLLING_WRITE " : "",
(pollevent.eventflags&IPOLLING_RDHUP) ? " IPOLLING_RDHUP " : "",
(pollevent.eventflags&IPOLLING_HUP) ? " IPOLLING_HUP " : "",
(pollevent.eventflags&IPOLLING_ERROR) ? " IPOLLING_ERROR " : "",
(pollevent.eventflags&IPOLLING_PRI) ? " IPOLLING_PRI " : "");
}
pListenSocket = GetListenSocket(pollevent.fd);
if (pListenSocket)
{
StunConnection* pConn = AcceptConnection(pListenSocket);
// as an optimization - see if we can do a read on the new connection
if (pConn)
{
ReceiveBytesForConnection(pConn);
}
}
else
{
ProcessConnectionEvent(pollevent.fd, pollevent.eventflags);
}
}
// close any connection that we haven't heard from in a while
SweepDeadConnections();
}
ThreadCleanup();
Logging::LogMsg(LL_DEBUG, "TCP Thread exiting");
}
/*数据连接
入参：pPath - 服务器端文件
nType - connection modes
nMode - mode codes
pData - 数据连接后返回的netbuf结构
出参：成功返回1，失败返回0
*/
int yCFtp::DataConnect (const char *pPath, int nType, int nMode, netbuf **pData, FILE *logfp, const char *filename)
{
assert (m_pCtl);
char pBuf[256];
int nDir = 0;
if ((pPath == NULL) && ((nType == FTPLIB_FILE_WRITE) || (nType == FTPLIB_FILE_READ)))
{
sprintf (m_pCtl->pResponse, "Missing path argument for file transfer\n");
return 0;
}
sprintf (pBuf, "TYPE %c", nMode);
if (!Sendcmd (pBuf, '2'))
{
if (NULL != logfp)
{
fprintf(logfp, "%s: Sendcmd (pBuf, 2) error!\n", filename);
}
return 0;
}
switch (nType)
{
case 1://FTPLIB_DIR
strcpy (pBuf, "NLST");
nDir = FTPLIB_READ;
break;
case 2://FTPLIB_DIR_VERBOSE:
strcpy (pBuf, "LIST");
nDir = FTPLIB_READ;
break;
case 3://FTPLIB_FILE_READ:
strcpy (pBuf, "RETR");
nDir = FTPLIB_READ;
break;
case 4://FTPLIB_FILE_WRITE:
strcpy (pBuf, "STOR");
nDir = FTPLIB_WRITE;
break;
default:
sprintf (m_pCtl->pResponse, "Invalid open type %d\n", nType);
return 0;
}
if (pPath)
{
int i = strlen (pBuf);
pBuf[i++] = ' ';
if ((strlen (pPath) + i) >= sizeof (pBuf))
return 0;
strcpy (&pBuf[i], pPath);
}
if (!OpenPort (pData, nMode, nDir))
{
if (NULL != logfp)
{
fprintf(logfp, "%s: OpenPort error!\n", filename);
}
return 0;
}
if (!Sendcmd (pBuf, '1'))
{
(*pData)->pCtrl = NULL;
CloseData (*pData);
*pData = NULL;
if (NULL != logfp)
{
fprintf(logfp, "%s: Sendcmd (pBuf, 1) error!\n", filename);
}
return 0;
}
if (m_pCtl->nMode == FTPLIB_PORT)
{
if (!AcceptConnection (*pData))
{
CloseData (*pData);
*pData = NULL;
if (NULL != logfp)
{
fprintf(logfp, "%s: AcceptConnection error!\n", filename);
}
return 0;
}
}
/*
if (NULL != logfp)
{
fprintf(logfp, "%s: DataConnect Successfully!\n", filename);
}
*/
return 1;
}
int main(int argc, char *argv[]) {
TSocket srvSock, cliSock; /* server and client sockets */
struct TArgs *args; /* argument structure for thread */
pthread_t threads[NTHREADS];
int tid = 0;
fd_set set; /* file description set */
int ret, i;
char str[BUFSIZE];
if (argc == 1) { ExitWithError("Usage: server <local port>"); }
/* Create a passive-mode listener endpoint */
srvSock = CreateServer(atoi(argv[1]));
printf("Server read!\n");
/* Run forever */
for (;;) {
/* Initialize the file descriptor set */
FD_ZERO(&set);
/* Include stdin into the file descriptor set */
FD_SET(STDIN_FILENO, &set);
/* Include srvSock into the file descriptor set */
FD_SET(srvSock, &set);
/* Select returns 1 if input available, -1 if error */
ret = select (FD_SETSIZE, &set, NULL, NULL, NULL);
if (ret<0) {
WriteError("select() failed");
break;
}
/* Read from stdin */
if (FD_ISSET(STDIN_FILENO, &set)) {
scanf("%99[^\n]%*c", str);
if (strncmp(str, "FIM", 3) == 0) {
close(srvSock);
break;
}
}
/* Read from srvSock */
if (FD_ISSET(srvSock, &set)) {
if (tid == NTHREADS) {
WriteError("number of threads is over");
break;
}
/* Spawn off separate thread for each client */
cliSock = AcceptConnection(srvSock);
/* Create separate memory for client argument */
if ((args = (struct TArgs *) malloc(sizeof(struct TArgs))) == NULL) {
WriteError("malloc() failed");
break;
}
args->cliSock = cliSock;
/* Create a new thread to handle the client requests */
if (pthread_create(&threads[tid++], NULL, HandleRequest, (void *) args)) {
WriteError("pthread_create() failed");
}
}
}
printf("Server will wait for the active threads and terminate!\n");
/* Wait for all threads to terminate */
for(i=0; i<tid; i++) {
pthread_join(threads[i], NULL);
}
return 0;
}
//============================================================================
// NMessageServer::ServerThread : Server thread.
//----------------------------------------------------------------------------
void NMessageServer::ServerThread(NSocket *theSocket)
{ NNetworkMessage msgServerInfo, msgConnectRequest, msgConnectResponse;
NStatus theErr, acceptErr;
NMessageHandshake clientHandshake;
NString thePassword;
NDictionary serverInfo;
bool addClient;
NEntityID clientID;
// Validate our state
NN_ASSERT(mStatus == kNServerStarted);
// Do the handshake
theErr = ReadHandshake(theSocket, clientHandshake);
if (theErr == kNoErr)
theErr = WriteHandshake(theSocket, CreateHandshake());
if (theErr == kNoErr)
theErr = ValidateHandshake(clientHandshake);
if (theErr != kNoErr)
{
theSocket->Close(theErr);
return;
}
// Send the server info
mLock.Lock();
serverInfo = GetConnectionInfo();
msgServerInfo = CreateMessage(kNMessageServerInfoMsg, kNEntityEveryone);
msgServerInfo.SetProperties(serverInfo);
mLock.Unlock();
theErr = WriteMessage(theSocket, msgServerInfo);
if (theErr != kNoErr)
{
theSocket->Close(theErr);
return;
}
// Read the connection request
//
// If the client does not wish to continue connecting, they will disconnect.
theErr = ReadMessage(theSocket, msgConnectRequest);
if (theErr != kNoErr)
{
theSocket->Close();
return;
}
NN_ASSERT(msgConnectRequest.GetType() == kNMessageConnectRequestMsg);
NN_ASSERT(msgConnectRequest.GetSource() == kNEntityInvalid);
// Accept the connection
mLock.Lock();
clientID = GetNextClientID();
acceptErr = AcceptConnection(serverInfo, msgConnectRequest.GetProperties(), clientID);
msgConnectResponse = CreateMessage(kNMessageConnectResponseMsg, clientID);
msgConnectResponse.SetValue(kNMessageStatusKey, acceptErr);
theErr = WriteMessage(theSocket, msgConnectResponse);
addClient = (theErr == kNoErr && acceptErr == kNoErr);
if (addClient)
AddClient(clientID, theSocket);
mLock.Unlock();
if (!addClient)
{
theSocket->Close(theErr);
return;
}
// Process messages
ClientConnected(clientID);
ProcessMessages(theSocket);
}
/*----------------------------------------------------------------------------*/
void *
RunServerThread(void *arg)
{
int core = *(int *)arg;
struct thread_context *ctx;
mctx_t mctx;
int listener;
int ep;
struct mtcp_epoll_event *events;
int nevents;
int i, ret;
int do_accept;
/* initialization */
ctx = InitializeServerThread(core);
if (!ctx) {
TRACE_ERROR("Failed to initialize server thread.\n");
return NULL;
}
mctx = ctx->mctx;
ep = ctx->ep;
events = (struct mtcp_epoll_event *)
calloc(MAX_EVENTS, sizeof(struct mtcp_epoll_event));
if (!events) {
TRACE_ERROR("Failed to create event struct!\n");
exit(-1);
}
listener = CreateListeningSocket(ctx);
if (listener < 0) {
TRACE_ERROR("Failed to create listening socket.\n");
exit(-1);
}
while (!done[core]) {
nevents = mtcp_epoll_wait(mctx, ep, events, MAX_EVENTS, -1);
if (nevents < 0) {
if (errno != EINTR)
perror("mtcp_epoll_wait");
break;
}
do_accept = FALSE;
for (i = 0; i < nevents; i++) {
if (events[i].data.sockid == listener) {
/* if the event is for the listener, accept connection */
do_accept = TRUE;
} else if (events[i].events & MTCP_EPOLLERR) {
int err;
socklen_t len = sizeof(err);
/* error on the connection */
TRACE_APP("[CPU %d] Error on socket %d\n",
core, events[i].data.sockid);
if (mtcp_getsockopt(mctx, events[i].data.sockid,
SOL_SOCKET, SO_ERROR, (void *)&err, &len) == 0) {
if (err != ETIMEDOUT) {
fprintf(stderr, "Error on socket %d: %s\n",
events[i].data.sockid, strerror(err));
}
} else {
perror("mtcp_getsockopt");
}
CloseConnection(ctx, events[i].data.sockid,
&ctx->svars[events[i].data.sockid]);
} else if (events[i].events & MTCP_EPOLLIN) {
ret = HandleReadEvent(ctx, events[i].data.sockid,
&ctx->svars[events[i].data.sockid]);
if (ret == 0) {
/* connection closed by remote host */
CloseConnection(ctx, events[i].data.sockid,
&ctx->svars[events[i].data.sockid]);
} else if (ret < 0) {
/* if not EAGAIN, it's an error */
if (errno != EAGAIN) {
CloseConnection(ctx, events[i].data.sockid,
&ctx->svars[events[i].data.sockid]);
}
}
} else if (events[i].events & MTCP_EPOLLOUT) {
struct server_vars *sv = &ctx->svars[events[i].data.sockid];
if (sv->rspheader_sent) {
SendUntilAvailable(ctx, events[i].data.sockid, sv);
} else {
TRACE_APP("Socket %d: Response header not sent yet.\n",
events[i].data.sockid);
}
} else {
assert(0);
}
}
/* if do_accept flag is set, accept connections */
if (do_accept) {
while (1) {
ret = AcceptConnection(ctx, listener);
if (ret < 0)
break;
}
}
}
/* destroy mtcp context: this will kill the mtcp thread */
mtcp_destroy_context(mctx);
pthread_exit(NULL);
return NULL;
}
bool CHSSocket::Process()
{
fd_set fdReadSet;
struct timeval timeout;
int iSelectVal = 0;
timeout.tv_sec = 0;
timeout.tv_usec = 0;
FD_ZERO(&fdReadSet);
FD_SET(m_iSocket, &fdReadSet);
#ifdef WIN32
if ((iSelectVal =
select(1, &fdReadSet, NULL, NULL, (struct timeval *) &timeout)) < 0)
#else
if ((iSelectVal =
select(m_iSocket + 1, &fdReadSet, NULL, NULL,
(struct timeval *) &timeout)) < 0)
#endif
{
// An error has occurred. For now, just return false.
return false;
}
#ifdef WIN32
else if ((iSelectVal == 1) && FD_ISSET(m_iSocket, &fdReadSet))
#else
else if ((iSelectVal > 0) && FD_ISSET(m_iSocket, &fdReadSet))
#endif
{
// Our socket has something to read.
if (m_bListenConnection)
{
// We have a new connection. Accept it.
if (!AcceptConnection())
{
}
}
else
{
// We're a normal data connection.
// Allocate a buffer if needed.
if (!m_pcReceivedBuffer)
{
m_pcReceivedBuffer = new char[HSCONST_MAX_RECEIVE];
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
char *pCurPos = &(m_pcReceivedBuffer[m_uiBytesReceived]);
unsigned int uiReceived;
if ((uiReceived =
recv(m_iSocket, pCurPos,
HSCONST_MAX_RECEIVE - m_uiBytesReceived, 0)) <= 0)
{
if (m_pCloseCallback)
{
m_pCloseCallback(this);
}
return false; // Socket is shut down.
}
m_uiBytesReceived += uiReceived;
// If we weren't expecting any data, determine how much we should receive.
if (m_uiBytesPending == 0)
{
// Do we at least have enough data to decode the header size?
if (uiReceived >= (int) sizeof(unsigned int))
{
// Pull out the packet header.
m_uiBytesPending =
ntohl(*((unsigned int *) m_pcReceivedBuffer));
// Is this bigger than the allowed limit?
if (m_uiBytesPending > HSCONST_MAX_PACKETSIZE)
{
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
else
{
// Double-check that the size specified corresponds to the data received.
if (m_uiBytesPending > uiReceived)
{
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
}
}
else
{
m_uiBytesReceived = 0;
}
}
// Did we receive the data we were expecting?
pCurPos = m_pcReceivedBuffer;
while (m_uiBytesReceived
&& (m_uiBytesReceived >= m_uiBytesPending))
{
// Skip over the size info.
pCurPos += sizeof(unsigned int);
// Call the receive callback, excluding the packet size.
if (m_pReceiveCallback)
{
m_pReceiveCallback(pCurPos,
m_uiBytesPending -
sizeof(unsigned int), this);
}
// Advance over this data.
m_uiBytesReceived -= m_uiBytesPending;
pCurPos += (m_uiBytesPending - sizeof(unsigned int));
// No bytes pending that we know of.
m_uiBytesPending = 0;
// Is there more?
if (m_uiBytesReceived > 0)
{
// Do we at least have enough data to decode the header size?
if (m_uiBytesReceived >= sizeof(unsigned int))
{
// Pull out the packet header.
m_uiBytesPending = ntohl(*((unsigned int *) pCurPos));
// Is this bigger than the allowed limit?
if (m_uiBytesPending > HSCONST_MAX_PACKETSIZE)
{
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
else
{
// Double-check that the size specified corresponds to the data received.
if (m_uiBytesPending > uiReceived)
{
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
}
}
else
{
m_uiBytesPending = 0;
m_uiBytesReceived = 0;
}
}
else
{
break;
}
}
// If we processed any data, we need to move the remaining data to the beginning of the buffer.
if ((pCurPos != m_pcReceivedBuffer) && (m_uiBytesPending > 0))
{
int iOffset = pCurPos - m_pcReceivedBuffer;
int iLeftToRead = m_uiBytesReceived;
while (iLeftToRead > 0)
{
*(pCurPos - iOffset) = (*pCurPos)++;
iLeftToRead--;
}
}
// At this point we should either have no data in receive buffer, not
// enough data to determine the full packet type, or a partial packet
// waiting for the rest to arrive.
}
}
return true;
}
void* rover_server_log(void* args)
{
int retval, maxfd, num_fds;//, minfd, fddiff;
char logbuf[k_LogBufSize];
fd_set recv_set;
struct timeval timeout;
//const char* start_string = "logging started";
//senders_ready = 0;
// close(log_new_fd);
// close(log_imu_new_fd1);
// close(log_imu_new_fd2);
// close(log_imu_new_fd3);
log_new_fd = -1;
log_imu_new_fd1 = -1;
//log_imu_new_fd2 = -1;
// log_imu_new_fd3 = -1;
while (!log_thread_should_die)
{//main accept() loop
usleep(10000);
// printf("At top of rover_server_log main accept loop"
// "log_new_fd = %d, log_sockfd = %d, "
// "log_imu_new_fd1 = %d, log_imu_new_fd2 = %d "
// "log_imu_new_fd3 = %d, log_imu_sockfd = %d\n",
// log_new_fd, log_sockfd, log_imu_new_fd1, log_imu_new_fd2,
// log_imu_new_fd3, log_imu_sockfd);
/*
AcceptConnection set to non-blocking, so will spin here until it either gets
a valid log_new_fd (and then goes into while loop below) or
log_thread_should_die becomes TRUE, which will cause the while loop
(and function) to exit.
*/
if (!is_valid_fd(log_new_fd))
{
log_new_fd = AcceptConnection(log_sockfd);
if (is_valid_fd(log_new_fd))
printf("Log connection established with log_sockfd = %d,"
"log_new_fd = %d\n", log_sockfd, log_new_fd);
}
if ((!is_valid_fd(log_imu_new_fd1)))
{
log_imu_new_fd1 = AcceptConnection(log_imu_sockfd);
if (is_valid_fd(log_imu_new_fd1))
printf("IMU log connection #1 established with log_imu_sockfd = %d,"
"log_imu_new_fd1 = %d\n", log_imu_sockfd, log_imu_new_fd1);
}
// if ((!is_valid_fd(log_imu_new_fd2)))
// {
// log_imu_new_fd2 = AcceptConnection(log_imu_sockfd);
// if (is_valid_fd(log_imu_new_fd2))
// printf("IMU log connection #2 established with log_imu_sockfd = %d,"
// "log_imu_new_fd2 = %d\n", log_imu_sockfd, log_imu_new_fd2);
// }
// if ((!is_valid_fd(log_imu_new_fd3)))
// {
// log_imu_new_fd3 = AcceptConnection(log_imu_sockfd);
// if (is_valid_fd(log_imu_new_fd3))
// printf("IMU log connection #3 established with log_imu_sockfd = %d,"
// "log_imu_new_fd3 = %d\n", log_imu_sockfd, log_imu_new_fd3);
// }
if ((is_valid_fd(log_new_fd)) &&
(is_valid_fd(log_imu_new_fd1)))// &&
// (is_valid_fd(log_imu_new_fd2)))
// &&
// (is_valid_fd(log_imu_new_fd3)))
{
//sort fds here
int arr[3] = {log_new_fd, log_imu_new_fd1};//, log_imu_new_fd2};//, log_imu_new_fd3};
maxfd = arr[0];
for (int i = 0; i < 3; i++)
{
if (arr[i] > maxfd)
maxfd = arr[i];
}
//printf("all fds valid, maxfd = %d\n", maxfd);
while (!log_thread_should_die)
{
//*************CHECK FDS HERE****************
// printf("log_new_fd = %d, log_sockfd = %d\n", log_new_fd, log_sockfd);
// printf("log_imu_new_fd1 = %d, log_imu_sockfd = %d\n",
// log_imu_new_fd1, log_imu_sockfd);
memset(logbuf, 0, sizeof(logbuf)); //clear buffer
//wrapping recv in a select here to ensure loop checks
//log_thread_should_die every timeout
FD_ZERO(&recv_set);
FD_SET(log_new_fd, &recv_set);
FD_SET(log_imu_new_fd1, &recv_set);
//FD_SET(log_imu_new_fd2, &recv_set);
//FD_SET(log_imu_new_fd3, &recv_set);
timeout.tv_sec = 0;
timeout.tv_usec = 1000 * 10; //10ms timeout
//retval = select(log_new_fd+1, &recv_set, NULL, NULL, &timeout);
retval = select (maxfd + 1, &recv_set, NULL, NULL, &timeout);
if (retval < 0)
perror("rover_server_log--select()");
//printf("select error\n");
else if (retval == 0) //timeout
continue; //go back to the top of the loop and recheck log_thread_should_die
else //retval >= 1-->we have data to receive
{
num_fds = retval; //this is the number of sockets with data ready
//first must see which socket received data
if (FD_ISSET(log_new_fd, &recv_set))
{ //regular data log
if (!rover_server_recv_and_print(log_new_fd, log_file))
break; //break if recv fails (due to error or remote shutdown)
//if we get here, we handled the message properly, so decrement
//num_fds and go back to top of loop if num_fds == 0
--num_fds;
if (num_fds == 0)
continue;
}
else if (FD_ISSET(log_imu_new_fd1, &recv_set))
{ //imu data log from 1st connection
if (!rover_server_recv_and_print(log_imu_new_fd1, imu_log_file))
break; //break if recv fails (due to error or fd closure)
//if we get here, we handled the message properly, so decrement
//num_fds and go back to top of loop if num_fds == 0
--num_fds;
if (num_fds == 0)
continue;
}
// else if (FD_ISSET(log_imu_new_fd2, &recv_set))
// { //imu data log from 2nd connection
// if (!rover_server_recv_and_print(log_imu_new_fd2, imu_log_file))
// break; //break if recv fails (due to error or fd closure)
// //if we get here, we handled the message properly, so decrement
// //num_fds and go back to top of loop if num_fds == 0
// --num_fds;
// if (num_fds == 0)
// continue;
// }
// else if (FD_ISSET(log_imu_new_fd3, &recv_set))
// { //imu data log from 3rd connection
// // retval = recv(log_imu_new_fd3, &logbuf, sizeof(logbuf), 0);
// // if (retval > 0) //received a valid message in logbuf
// // { //only log start message or if all 3 sensors have started
// // if (strstr(logbuf, start_string) != NULL)
// // {
// // fprintf(imu_log_file, "%s\n", logbuf);
// // senders_ready++;
// // }
// // else if (senders_ready == 3)
// // fprintf(imu_log_file, "%s\n", logbuf);
// // }
// // else if (retval < 0) //error
// // { //what error handling to do here??
// // printf("retval = %d\n", retval);
// // perror("rover_server_log:recv(imu_log_file)");
// // break;
// // }
// // else // retval == 0
// // {//sender performed orderly shutdown, so don't print to log
// // close(log_imu_new_fd3);
// // break;
// // }
// if (!rover_server_recv_and_print(log_imu_new_fd3, imu_log_file))
// break; //break if recv fails (due to error or fd closure)
// //if we get here, we handled the message properly, so decrement
// //num_fds and go back to top of loop if num_fds == 0
// --num_fds;
// if (num_fds == 0)
// continue;
// }
else //unknown fd in recv_set
{
printf("ERROR: rover_server_log(): unknown fd in recv_set\n");
break;
}
}
//printf("at end of smaller loop\n");
}
//printf("at end of big if\n");
}
//printf("AT END OF MAIN LOOP\n");
}
//we only get here when log_thread_should_die is true
//only close those that are still open, after waiting a bit
usleep(100000);
if (is_valid_fd(log_new_fd))
close(log_new_fd);
if (is_valid_fd(log_imu_new_fd1))
close(log_imu_new_fd1);
// if (is_valid_fd(log_imu_new_fd2))
// close(log_imu_new_fd2);
// if(is_valid_fd(log_imu_new_fd3))
// close(log_imu_new_fd3);
return NULL;
}
// functions not called from Scheme
void* rover_server_grab(void* args)
{
struct CamGrab_t* my_args = (struct CamGrab_t*)args;
int sockfd, new_fd; // listen on sock_fd, new connection on new_fd
int cdr_sockfd, cdr_new_fd; //for commander images
int retval;
char recvbuf[k_timestamp_len * 3];
XEvent event;
Display *display = XOpenDisplay(0);
/* magic to get GUI to run periodically */
event.type = KeyPress;
event.xkey.keycode = 9; /* ESC */
event.xkey.state = 0; /* no Mod1Mask */
sockfd = StartServer(my_args->PortNumber);
// cv::VideoWriter output_video;
// cv::Size vid_size = cv::Size(640,480); //**HARDCODED** for 640x480 video
// int codec = CV_FOURCC('M','J','P','G');
// output_video.open(my_args->video_file_name, codec, 12.0, vid_size, true);
printf("Opened video file %s\n", my_args->video_file_name);
printf("server: waiting for image connection on port %s...\n",
my_args->PortNumber);
cdr_sockfd = StartServer(my_args->CdrPortNumber);
printf("server: waiting for commander image connection on port %s...\n",
my_args->CdrPortNumber);
while(!grab_threads_should_die)
{ // main accept() loop
usleep(10000);
new_fd = AcceptConnection(sockfd);
/*
AcceptConnection set to non-blocking, so will spin here until it either gets
a valid new_fd (and then goes into while loop below) or
grab_threads_should_die becomes TRUE, which will cause the while loop
(and function) to exit.
*/
if (new_fd != -1)
{
//receive and log start message into log file
memset(recvbuf, 0 , sizeof(recvbuf));
retval = recv(new_fd, &recvbuf, sizeof(recvbuf), 0);
if (retval < 0)
{ //what error handling???
printf("rover_server_grab recv retval = %d\n", retval);
}
else
{
fprintf(my_args->file_ptr, "%s\n", recvbuf);
memset(recvbuf, 0 , sizeof(recvbuf));
}
//try to connect to commander viewer
// cdr_sockfd = StartServer(my_args->CdrPortNumber);
// printf("server: waiting for commander image connection on port %s...\n",
// my_args->CdrPortNumber);
cdr_new_fd = AcceptConnection(cdr_sockfd);
if (cdr_new_fd != -1)
{ //connection successful
cdr_viewer_active = TRUE;
printf("Commander viewer CONNECTED on port %s\n", my_args->CdrPortNumber);
}
else
{ //connection failed
cdr_viewer_active = FALSE;
printf("Commander image connection failed for port %s\n", my_args->CdrPortNumber);
}
}
while(!grab_threads_should_die && (new_fd != -1))
{
//here's where we do the magic
PointGrey_t2* PG = new PointGrey_t2;
PG->new_fd = new_fd;
PG->cdr_new_fd = cdr_new_fd;
Imlib_Image temp_img;
int working;
while (1)
{
if (OpenCV_ReceiveFrame(PG, my_args->file_ptr) != 0)
{
close(PG->cdr_new_fd);
cdr_viewer_active = FALSE;
// printf("before close cdr_sockfd = %d\n", cdr_sockfd);
// close(cdr_sockfd);
// printf("after close cdr_sockfd = %d\n", cdr_sockfd);
break;
}
//write frame to output video file
my_args->output_video->write(PG->uncompressedImage);
//send to commander viewer here??
//convert opencv to imlib for display in viewer
temp_img = Convert_OpenCV_to_Imlib(PG);
pthread_mutex_lock(&my_args->MostRecentLock);
working = ((my_args->MostRecent) + 1) % k_ImgBufSize;
pthread_mutex_unlock(&my_args->MostRecentLock);
pthread_mutex_lock(&my_args->ImgArrayLock[working]);
if (my_args->Set[working] == TRUE)
{ //clean up memory allocation
imlib_context_set_image(*my_args->ImgArray[working]);
imlib_free_image_and_decache();
}
else
{
my_args->Set[working] = TRUE;
}
*my_args->ImgArray[working] = temp_img;
pthread_mutex_unlock(&my_args->ImgArrayLock[working]);
pthread_mutex_lock(&my_args->MostRecentLock);
my_args->MostRecent = working;
pthread_mutex_unlock(&my_args->MostRecentLock);
XSendEvent(display, display_pane, FALSE, 0, &event);
XFlush(display);
}
delete PG;
printf("exiting from loop after AcceptConnection\n");
break;
}
if (new_fd != -1)
{//receive and log stop message into log file
//memset(recvbuf, 0 , sizeof(recvbuf));
retval = recv(new_fd, &recvbuf, sizeof(recvbuf), 0);
if (retval <= 0)
{ //what error handling???
printf("rover_server_grab recv (end) retval = %d\n", retval);
}
else
fprintf(my_args->file_ptr, "%s\n", recvbuf);
}
close(new_fd); // accept loop doesn't need this
}
//do cleanup here
close(sockfd);
printf("sockfd closed\n");
return NULL;
}
