//Send a message over UDP
void sendUDPMessage(const char* hostname, int port, VyMessage* message)
{
//Make sure there is an open socket and someone to send the data too
if(message == NULL || hostname == NULL)
return;
int sock;
struct sockaddr_in server_addr;
//Create a socket and make sure it is valid
if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
return;
//Show debug and display information
printf(" + UUID: <%s> ",message->senderID);
printf(": Sending UDP message: [%s]",message->command);
printf(" <%i> ",message->messageSize);
printf(" [%s]\n",message->data);
//Setup UDP information
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(port);
server_addr.sin_addr.s_addr = inet_addr(hostname);
bzero(&(server_addr.sin_zero),8);
//Convert VyMessage to char array
unsigned char* unparsedMessage = unparseNewMessage(message);
//Send the message
sendto(sock, unparsedMessage, getMessageSize(message), 0, (struct sockaddr *)&server_addr, sizeof(struct sockaddr));
free(unparsedMessage);
}
void MessageQueueBase::setSelectedMessageForReading(int message)
{
ASSERT(message >= 0);
ASSERT(message < numberOfMessages);
if(messageIndex)
selectedMessageForReadingPosition = messageIndex[message];
else
{
int m = message;
if(m >= lastMessage)
{
ASSERT(lastMessage < numberOfMessages);
m -= lastMessage;
}
else
selectedMessageForReadingPosition = 0;
for(int i = 0; i < m; ++i)
selectedMessageForReadingPosition += getMessageSize() + headerSize;
}
readPosition = 0;
lastMessage = message;
}
bool GraspitProtobufConnection::readMessage()
{
// If a retry is pending, don't continue
if(tryRereadTimer.isActive())
return false;
quint32 message_length = getMessageSize(); // The expected message size
bool readSucceeded = false;
// Test if there is a valid message in the buffer
if(message_length && sock->bytesAvailable() >= message_length)
{
//Move input cursor forward to beginning of message
sock->seek(sizeof(message_length));
// Read the message data and try to parse it.
QByteArray inputByteArray = sock->read(message_length);
readSucceeded = msg->ParseFromArray(inputByteArray.data(), inputByteArray.size());
if(!readSucceeded)
{
DBGA("GraspitProtobufServer::Failed to parse message with size "
<< inputByteArray.size());
}
}
int readDelay = readSucceeded ? 1:rereadLatency;
if(sock->bytesAvailable())
{
scheduleReread(readDelay);
}
return readSucceeded;
}
void MessageQueueBase::createIndex()
{
freeIndex();
messageIndex = new unsigned[numberOfMessages];
selectedMessageForReadingPosition = 0;
for(int i = 0; i < numberOfMessages; ++i)
{
messageIndex[i] = selectedMessageForReadingPosition;
selectedMessageForReadingPosition += getMessageSize() + headerSize;
}
}
void MessageQueueBase::removeMessage(int message)
{
freeIndex();
selectedMessageForReadingPosition = 0;
int i;
for(i = 0; i < message; ++i)
selectedMessageForReadingPosition += getMessageSize() + headerSize;
usedSize = selectedMessageForReadingPosition;
for(++i; i < numberOfMessages; ++i)
{
int mlength = getMessageSize() + headerSize;
selectedMessageForReadingPosition += mlength;
memcpy(buf + usedSize, buf + selectedMessageForReadingPosition, mlength);
usedSize = selectedMessageForReadingPosition;
}
readPosition = 0;
--numberOfMessages;
selectedMessageForReadingPosition = 0;
lastMessage = 0;
}
//Send a message over TCP
void sendMessage(int socket, VyMessage* message)
{
//Make sure there is data to send
if(message == NULL)
return;
//Show debug and display information
printf(" + UUID: <%s> ",message->senderID);
printf(": Sending TCP message: [%s]",message->command);
printf(" <%i> ",message->messageSize);
printf(" [%s]\n",message->data);
//Convert VyMessage to char array
unsigned char* unparsedMessage = unparseNewMessage(message);
//Send the message
write(socket, unparsedMessage, getMessageSize(message));
free(unparsedMessage);
}
//Send a message over SSL
void sendSSLMessage(VySSL* ssl, VyMessage* message)
{
//Make sure there is an open connection and data to send
if(message == NULL || ssl == NULL)
return;
//Show debug and display information
printf(" + UUID: <%s> ",message->senderID);
printf(": Sending SSL message: [%s]",message->command);
printf(" <%i> ",message->messageSize);
printf(" [%s]\n",message->data);
//Convert the VyMessage to a char array
unsigned char* unparsedMessage = unparseNewMessage(message);
//Send the message if not null
if(unparsedMessage != NULL)
{
SSL_write(ssl->ssl, unparsedMessage, getMessageSize(message));
//free(unparsedMessage);
}
}
bool ClientData::getMessage(string & message)
{
int bufferLength;
if (!getMessageSize(bufferLength))
{
return false;
}
char * buffer = new char[bufferLength + 1];
buffer[bufferLength] = '\0'; // last character to be null terminator
int check = recv(Connection, buffer, bufferLength, NULL);
message = buffer;
delete[] buffer;
if (check == SOCKET_ERROR)
{
cout << "Problem with getMessage occured" << endl;
return false;
}
return true;
}
/**
* \brief Calculate checksum
* \param data Oregon message
*/
void OregonTemp::calculateAndSet8bitsChecksum()
{
byte messageSize = getMessageSize()-1;
OregonMessageBuffer[messageSize] = ((Sum(messageSize) - 0xa) & 0xFF);
}
/**
* \brief Send an Oregon message
* \param data The Oregon message
*/
void OSV2::sendOregon()
{
sendPreamble();
sendData(OregonMessageBuffer, getMessageSize());
sendPostamble();
}
void MessageQueueBase::read(void* p, size_t size)
{
ASSERT(readPosition + static_cast<int>(size) <= getMessageSize());
memcpy(p, buf + selectedMessageForReadingPosition + headerSize + readPosition, size);
readPosition += static_cast<int>(size);
}
void MessageQueueBase::removeRepetitions()
{
ASSERT(!messageIndex);
unsigned short messagesPerType[5][numOfMessageIDs];
unsigned char numberOfProcesses = 0,
processes[26],
currentProcess = 0;
memset(messagesPerType, 0, sizeof(messagesPerType));
memset(processes, 255, sizeof(processes));
selectedMessageForReadingPosition = 0;
for(int i = 0; i < numberOfMessages; ++i)
{
if(getMessageID() == idProcessBegin)
{
unsigned char process = getData()[0] - 'a';
if(processes[process] == 255)
processes[process] = numberOfProcesses++;
currentProcess = processes[process];
}
++messagesPerType[currentProcess][getMessageID()];
selectedMessageForReadingPosition += getMessageSize() + headerSize;
}
selectedMessageForReadingPosition = 0;
usedSize = 0;
int numOfDeleted = 0;
int frameBegin = -1;
bool frameEmpty = true;
for(int i = 0; i < numberOfMessages; ++i)
{
int mlength = getMessageSize() + headerSize;
bool copy;
switch(getMessageID())
{
// accept up to 20 times, process id is not important
case idText:
copy = --messagesPerType[currentProcess][idText] <= 20;
break;
// accept always, process id is not important
case idDebugRequest:
case idDebugResponse:
case idDebugDataResponse:
case idPlot:
case idConsole:
case idAudioData:
case idAnnotation:
case idLogResponse:
copy = true;
break;
// data only from latest frame
case idStopwatch:
case idDebugImage:
case idDebugJPEGImage:
case idDebugDrawing:
case idDebugDrawing3D:
copy = messagesPerType[currentProcess][idProcessFinished] == 1;
break;
// always accept, but may be reverted later
case idProcessBegin:
if(frameBegin != -1) // nothing between last idProcessBegin and this one, so remove idProcessBegin as well
{
usedSize = frameBegin;
++numOfDeleted;
}
currentProcess = processes[getData()[0] - 'a'];
copy = true;
break;
case idProcessFinished:
ASSERT(currentProcess == processes[getData()[0] - 'a']);
copy = !frameEmpty; // nothing since last idProcessBegin or idProcessFinished, no new idProcessFinished required
--messagesPerType[currentProcess][idProcessFinished];
break;
default:
if(getMessageID() < numOfDataMessageIDs) // data only from latest frame
copy = messagesPerType[currentProcess][idProcessFinished] == 1;
else // only the latest other messages
copy = --messagesPerType[currentProcess][getMessageID()] == 0;
}
if(copy)
{
// Remember position of begin of frame, but forget it, when another message was copied.
// So idProcessBegin idProcessFinished+ will be removed.
if(getMessageID() == idProcessBegin) // remember begin of frame
{
frameBegin = usedSize;
frameEmpty = true; // assume next frame as empty
}
else if(getMessageID() == idProcessFinished)
frameEmpty = true; // assume next frame as empty
else // we copy a message within a frame so the idProcessBegin/Finished must stay
{
frameBegin = -1;
frameEmpty = false;
}
//this message is important, it shall be copied
if(usedSize != selectedMessageForReadingPosition)
memmove(buf + usedSize, buf + selectedMessageForReadingPosition, mlength);
usedSize += mlength;
}
else
++numOfDeleted;
selectedMessageForReadingPosition += mlength;
}
numberOfMessages -= numOfDeleted;
readPosition = 0;
selectedMessageForReadingPosition = 0;
lastMessage = 0;
}
