BOOL CNetPTCPConnection::StartWork()
{
//PrintNetLog(0xffffffff,"(%d)Connection开始工作",GetID());
m_pEpollEventRouter->Init(this);
m_Socket.SetState(CNetSocket::SS_CONNECTED);
if(!m_Socket.EnableBlocking(FALSE))
{
OnConnection(FALSE);
PrintNetLog(0xffffffff,"(%d)Connection开始非阻塞模式失败！",GetID());
m_Socket.Close();
return FALSE;
}
if(!GetServer()->BindSocket(m_Socket.GetSocket(),m_pEpollEventRouter))
{
OnConnection(FALSE);
PrintNetLog(0xffffffff,"(%d)Connection绑定Epoll失败！",GetID());
m_Socket.Close();
return FALSE;
}
//CEasyString ConnectionName;
//ConnectionName.Format("[%s:%d]",GetRemoteAddress().GetIPString(),GetRemoteAddress().GetPort());
//SetName(ConnectionName);;
//PrintNetLog(0xffffffff,"%s连接建立[%u]",GetName(),(UINT)m_Socket.GetSocket());
OnConnection(TRUE);
return TRUE;
}
void InternalHandleCommand(SRobotCommand const& cmd) {
switch(cmd.m_ecmd) {
case ecmdCONNECT:
OnConnection();
break;
case ecmdRESET:
OnDisconnection();
break;
case ecmdMOVE:
{
bool bReverse = false;
for(unsigned int i=0; i<countof(g_amotors); ++i) {
int const nSpeed = i%2==0 ? cmd.m_nSpeedLeft : cmd.m_nSpeedRight;
bReverse = bReverse || ((nSpeed < 0) != g_amotors[i].m_bReverse);
}
if(bReverse) { // stop all motors and reset PID
// Serial.println("STOP Motors");
for(unsigned int i=0; i<countof(g_amotors); ++i) {
g_amotors[i].Stop(g_apid[i]);
}
delay(200);
}
for(unsigned int i=0; i<countof(g_amotors); ++i) {
int const nSpeed = i%2==0 ? cmd.m_nSpeedLeft : cmd.m_nSpeedRight;
if(0==nSpeed) {
g_amotors[i].Stop(g_apid[i]);
} else {
g_amotors[i].SetSpeed(constrain(nSpeed, -MAX_SPEED, MAX_SPEED));
}
}
}
}
}
ClientSocket* ServerSocket::Accept() {
ClientSocket* client = AllocClient();
uv_tcp_init(getSocket()->loop, client->getSocket());
if(uv_accept((uv_stream_t*)getSocket(), (uv_stream_t*) client->getSocket()) == 0) {
client->getSocket()->data = client;
OnConnection(client);
}
else {
OnError("Accepting Client");
client->Close();
}
return client;
}
bool CHttpServer::Listen(int Port)
{
QTcpServer* pListener = new QTcpServer(this);
pListener->listen(QHostAddress::Any, Port);
if (!pListener->isListening())
{
delete pListener;
return false;
}
connect(pListener, SIGNAL(newConnection()), this, SLOT(OnConnection()));
m_Listners.insert(Port, pListener);
return true;
}
int CNetConnection::Update(int ProcessPacketLimit)
{
int PacketCount=0;
//处理Connect
if(m_Socket.GetState()==CNetSocket::SS_CONNECTING)
{
m_Socket.Connected();
if(m_Socket.GetState()==CNetSocket::SS_CONNECTED)
{
StartWork();
}
if(m_Socket.GetState()==CNetSocket::SS_UNUSED)
{
OnConnection(FALSE);
}
}
else
{
CEpollEventObject * pEpollEventObject;
while(m_RecvQueue.PopFront(pEpollEventObject))
{
OnRecvData(*(pEpollEventObject->GetDataBuff()));
GetServer()->DeleteEventObject(pEpollEventObject);
PacketCount++;
if(PacketCount>=ProcessPacketLimit)
break;
}
}
//处理关闭
if(m_WantClose)
{
if(m_UseSafeDisconnect)
{
if(m_SendQueue.GetObjectCount()<=0)
{
Disconnect();
}
}
else
{
Disconnect();
}
}
return PacketCount;
}
int CNetPTCPConnection::Update(int ProcessPacketLimit)
{
int PacketCount=0;
//处理Connect
if(m_Socket.GetState()==CNetSocket::SS_CONNECTING)
{
m_Socket.Connected();
if(m_Socket.GetState()==CNetSocket::SS_CONNECTED)
{
StartWork();
}
if(m_Socket.GetState()==CNetSocket::SS_UNUSED)
{
OnConnection(FALSE);
}
}
return PacketCount;
}
void ConnectorInterface::ThreadFunc()
{
#if BEHAVIAC_COMPILER_MSVC
//printf("ThreadFunc gs_threadFlag = %d\n", (int)gs_threadFlag.value());
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
#endif
{
ScopedInt_t scopedInt(&gs_threadFlag);
Log("behaviac: Socket Thread Starting\n");
#if BEHAVIAC_COMPILER_MSVC
BEHAVIAC_ASSERT(t_packetBufferIndex != TLS_OUT_OF_INDEXES);
#else
//printf("ThreadFunc t_packetBufferIndex = %d\n", t_packetBufferIndex);
//BEHAVIAC_ASSERT(t_packetBufferIndex != (unsigned int)-1);
#endif//
}
namespace Socket = behaviac::Socket;
const bool blockingSocket = true;
behaviac::Socket::Handle serverSocket = 0;
{
ScopedInt_t scopedInt(&gs_threadFlag);
serverSocket = Socket::Create(blockingSocket);
if (!serverSocket)
{
Log("behaviac: Couldn't create server socket.\n");
return;
}
char bufferTemp[64];
string_sprintf(bufferTemp, "behaviac: Listening at port %d...\n", m_port);
Log(bufferTemp);
// max connections: 1, don't allow multiple clients?
if (!Socket::Listen(serverSocket, m_port, 1))
{
Log("behaviac: Couldn't configure server socket.\n");
Socket::Close(serverSocket);
return;
}
}
#if BEHAVIAC_COMPILER_MSVC
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
#endif
this->ReserveThreadPacketBuffer();
while (!m_terminating)
{
#if BEHAVIAC_COMPILER_MSVC
//wait for connecting
while (!m_terminating)
{
//Log("Socket::TestConnection.\n");
if (Socket::TestConnection(serverSocket))
{
break;
}
behaviac::Thread::Sleep(100);
}
#endif
if (!m_terminating)
{
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
Log("behaviac: accepting...\n");
{
ScopedInt_t scopedInt(&gs_threadFlag);
m_writeSocket = Socket::Accept(serverSocket, kSocketBufferSize);
if (!m_writeSocket)
{
Log("behaviac: Couldn't create write socket.\n");
Socket::Close(serverSocket);
return;
}
Log("behaviac: connection accepted\n");
}
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
{
ScopedInt_t scopedInt(&gs_threadFlag);
AtomicInc(m_isConnected);
behaviac::Thread::Sleep(1);
OnConnection();
AtomicInc(m_isConnectedFinished);
behaviac::Thread::Sleep(1);
//this->OnConnectionFinished();
Log("behaviac: after Connected.\n");
}
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
while (!m_terminating && this->m_writeSocket)
{
behaviac::Thread::Sleep(1);
SendAllPackets();
ReceivePackets();
}
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
// One last time, to send any outstanding packets out there.
if (this->m_writeSocket)
{
SendAllPackets();
Socket::Close(m_writeSocket);
}
this->Clear();
Log("behaviac: disconnected. \n");
}
}//while (!m_terminating)
Socket::Close(serverSocket);
this->Clear();
BEHAVIAC_ASSERT(gs_threadFlag.value() == 0);
Log("behaviac: ThreadFunc exited. \n");
}
