AREXPORT bool ArUrg_2_0::blockingConnect(void)
{
if (!getRunning())
runAsync();
myConnMutex.lock();
if (myConn == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because there is no connection defined",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
// if we have a starting baud and are a serial port, then change the
// baud rate... not by default this will set it to 0 baud which'll
// cause the serial stuff not to touch it
if (serConn != NULL)
serConn->setBaud(atoi(getStartingBaudChoice()));
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN &&
!myConn->openSimple())
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because the connection was not open and could not open it",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
myConnMutex.unlock();
lockDevice();
myTryingToConnect = true;
unlockDevice();
laserPullUnsetParamsFromRobot();
laserCheckParams();
ArUtil::sleep(100);
bool connected = false;
if (internalConnect())
connected = true;
if (connected)
{
lockDevice();
myIsConnected = true;
myTryingToConnect = false;
unlockDevice();
ArLog::log(ArLog::Normal, "%s: Connected to laser", getName());
laserConnect();
return true;
}
else
{
failedToConnect();
return false;
}
}
AREXPORT bool ArUrg::blockingConnect(void)
{
if (!getRunning())
runAsync();
myConnMutex.lock();
if (myConn == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because there is no connection defined",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
ArSerialConnection *serConn = NULL;
serConn = dynamic_cast<ArSerialConnection *>(myConn);
if (serConn != NULL)
serConn->setBaud(atoi(getStartingBaudChoice()));
if (myConn->getStatus() != ArDeviceConnection::STATUS_OPEN &&
!myConn->openSimple())
{
ArLog::log(ArLog::Terse,
"%s: Could not connect because the connection was not open and could not open it",
getName());
myConnMutex.unlock();
failedToConnect();
return false;
}
myConnMutex.unlock();
lockDevice();
myTryingToConnect = true;
unlockDevice();
laserPullUnsetParamsFromRobot();
laserCheckParams();
setParams(getStartDegrees(), getEndDegrees(), getIncrement(), getFlipped());
ArUtil::sleep(100);
bool connected = false;
if (internalConnect())
connected = true;
if (connected)
{
lockDevice();
myIsConnected = true;
myTryingToConnect = false;
unlockDevice();
ArLog::log(ArLog::Normal, "%s: Connected to laser", getName());
laserConnect();
return true;
}
else
{
failedToConnect();
return false;
}
}
bool Socket_TCP::connectTo(const char * hostname, uint16_t port, uint32_t timeout)
{
char servport[32];
int rc;
struct in6_addr serveraddr;
struct addrinfo hints, *res=NULL;
memset(&hints, 0x00, sizeof(hints));
#ifdef _WIN32
hints.ai_flags = 0;
#else
hints.ai_flags = AI_NUMERICSERV;
#endif
hints.ai_family = AF_UNSPEC;
hints.ai_socktype = SOCK_STREAM;
rc = inet_pton(AF_INET, hostname, &serveraddr);
if (rc == 1)
{
hints.ai_family = AF_INET;
hints.ai_flags |= AI_NUMERICHOST;
}
else
{
rc = inet_pton(AF_INET6, hostname, &serveraddr);
if (rc == 1)
{
hints.ai_family = AF_INET6;
hints.ai_flags |= AI_NUMERICHOST;
}
}
snprintf(servport,32,"%u",port);
rc = getaddrinfo(hostname, servport, &hints, &res);
if (rc != 0)
{
// Host not found.
lastError = "Error resolving hostname";
return false;
}
bool connected = false;
for (struct addrinfo *resiter=res; resiter && !connected; resiter = resiter->ai_next)
{
if (getSocket() >=0 ) closeSocket();
setSocket(socket(res->ai_family, res->ai_socktype, res->ai_protocol));
if (!isValidSocket())
{
lastError = "socket() failed";
break;
}
// Set the read timeout here. (to zero)
setReadTimeout(0);
if (internalConnect(getSocket(),resiter->ai_addr, resiter->ai_addrlen,timeout))
{
// now it's connected...
if (PostConnectSubInitialization())
{
connected = true;
}
else
{
// should disconnect here.
shutdownSocket();
// drop the socket descriptor. we don't need it anymore.
closeSocket();
}
break;
}
else
{
// drop the current socket... (and free the resource :))
shutdownSocket();
closeSocket();
}
}
freeaddrinfo(res);
if (!connected)
{
lastError = "connect() failed";
return false;
}
return true;
}
