int ChatServer::handle_data(ACE_SOCK_Stream *client)
{
if (DLOG)
{
printf("\n");
Util::log("[ChatServer::handle_data] START\n");
}
// Place the connection into blocking mode since this
// thread isn't doing anything except handling this client.
client->disable(ACE_NONBLOCK);
PacketHandler handler = PacketHandler(*client);
ServerPacketListener spl = ServerPacketListener(handler);
// Keep handling chat messages until client closes connection
// or this thread is asked to cancel itself.
ACE_Thread_Manager *mgr = ACE_Thread_Manager::instance();
ACE_thread_t me = ACE_Thread::self();
while (!mgr->testcancel(me) &&
handler.processPacket(spl) != 0)
continue;
handler.close();
if (DLOG) Util::log("[ChatServer::handle_data] END\n");
return 0;
}
uint8* Warden::GenerateNewKeys(InstanceS *instance, uint8* sessionKey/*[40]*/, uint8* packet/*[17]*/)
{
sLog->outStaticDebug("Warden::GenerateNewKeys()");
// Call the module function to generate the key
GenerateRC4Keys(sessionKey, 40, instance);
// Then ask it to handle the packet we also sent to the client
DWORD handled;
PacketHandler(packet, 17, &handled, instance);
return &((WardenInitData*)(instance->list))->keys[0];
}
int main()
{
// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = PortHandler(DEVICENAME);
// Initialize PacketHandler Structs
PacketHandler();
int dxl_comm_result = COMM_TX_FAIL; // Communication result
UINT8_T dxl_error = 0; // Dynamixel error
UINT8_T dxl_baudnum_read; // Read baudnum
// Open port
if (OpenPort(port_num))
{
printf("Succeeded to open the port!\n");
}
else
{
printf("Failed to open the port!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Set port baudrate
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeeded to change the baudrate!\n");
}
else
{
printf("Failed to change the baudrate!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read present baudrate of the controller
printf("Now the controller baudrate is : %d\n", GetBaudRate(port_num));
// Try factoryreset
printf("[ID:%03d] Try factoryreset : ", DXL_ID);
FactoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("Aborted\n");
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
return 0;
}
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
// Wait for reset
printf("Wait for reset...\n");
msecSleep(2000);
printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
// Set controller baudrate to Dynamixel default baudrate
if (SetBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Write new baudnum
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
// Set port baudrate to BAUDRATE
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
msecSleep(200);
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Close port
ClosePort(port_num);
return 0;
}