int main(int argc, char *argv[]) {
int listenfd, connectfd;
struct sockaddr_in host_addr, pin_addr;
int pin_addr_size;
pthread_t multiCS;
ADDR_ARG *arg = NULL;
createSocket(&listenfd, 0);
initHostAddr(&host_addr, myport);
printf(" init ipaddress: %s\n", inet_ntoa(host_addr.sin_addr));
bindPort(&listenfd, &host_addr);
listenPort(&listenfd);
pin_addr_size = sizeof(pin_addr);
while (1) {
getAccept(&listenfd, &connectfd, &pin_addr, &pin_addr_size);
arg = (ADDR_ARG *)malloc(sizeof(ADDR_ARG));
arg->connectfd = connectfd;
memcpy((void *)&arg->cli_addr, &pin_addr, sizeof(pin_addr));
createPthread(&multiCS, start_talk, arg);
}
close(listenfd);
return 0;
}
InternalNode*
RSHNetwork::CreateInternalNode( Network* inetwork,
std::string imy_hostname,
Rank imy_rank,
std::string iphostname,
Port ipport,
Rank iprank,
int idataSocket,
Port idataPort )
{
XPlat_Socket listeningSocket = idataSocket;
Port listeningPort = idataPort;
// we build and bind our listening socket now
// because other platforms need to have this information
// in their initialization code, and it doesn't hurt us
// to bind it early
int bRet = bindPort( &listeningSocket, &listeningPort, true /*non-blocking*/ );
if( bRet == -1 ) {
mrn_dbg( 1, mrn_printf(FLF, stderr,
"Failure: unable to instantiate network\n") );
return NULL;
}
assert( listeningPort != UnknownPort );
return new RSHInternalNode( inetwork,
imy_hostname,
imy_rank,
iphostname,
ipport,
iprank,
listeningSocket,
listeningPort );
}
bool TSocket::listen( unsigned port , int maxWaitClient )
{
if ( !createTCP( true ) )
return false;
if ( !bindPort( port ) )
return false;
int result = ::listen( getSocketObject(), maxWaitClient );
if( result == SOCKET_ERROR)
{
return false;
}
mState = SKS_LISTING;
return true;
}
Beaglebone::Beaglebone():Subsystem ("Beaglebone"){
ultrasonic = new AnalogChannel(BALL_ULTRASONIC_MODULE, BALL_ULTRASONIC);
ultrasonic->SetAverageBits(32);
ultrasonic->SetOversampleBits(32);
ballX = 99.0;
ballY = 99.0;
ballDiam = 99.0;
goalX = 99.0;
goalY = 99.0;
goalAngle = 99.0;
isConnected = false;
isBound = false;
isTrackingBall = true;
// Initialise the connection parameters
// This section opens a UDP connection to the beagle bone
memset(&address_bbb, 0, sizeof(address_bbb));
address_bbb.sin_family = AF_INET;
address_bbb.sin_port = htons(BEAGLEBONE_PORT);
inet_aton(const_cast<char *>(BEAGLEBONE_IP), &address_bbb.sin_addr);
sd_bbb = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); // To send to BBB
// This section creates a listening UDP connection on the cRIO
memset(&address_crio, 0, sizeof(address_crio));
address_crio.sin_family = AF_INET;
address_crio.sin_port = htons(BEAGLEBONE_PORT);
address_crio.sin_addr.s_addr = htonl(INADDR_ANY);
sd_crio = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); // To send receive on cRIO
struct timeval tv;
tv.tv_sec = 0;
tv.tv_usec = 10000; // Timeout for connection
setsockopt(sd_crio, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv,sizeof(struct timeval));
// Try to bind the port
bindPort();
}
int main(int argc, char *argv[])
{
int sockfd, clientfd, sin_size, recvbytes; //定义监听套接字、客户套接字
pid_t pid, ppid; //定义父子线程标记变量
char *buf, *r_addr, *w_addr, *temp, *time_str; //="\0"; //定义临时存储区
struct sockaddr_in their_addr; //定义地址结构
key_t shmid;
shmid = shm_create(); //创建共享存储区
temp = (char *) malloc(255);
time_str = (char *) malloc(20);
sockfd = bindPort(MYPORT); //绑定端口
while (1)
{
if (listen(sockfd, BACKLOG) == -1) //在指定端口上监听
{
perror("listen");
exit(1);
}
printf("listening......\n");
if ((clientfd = accept(sockfd, (struct sockaddr *) &their_addr, &sin_size)) == -1) //接收客户端连接
{
perror("accept");
exit(1);
}
printf("accept from:%d\n", inet_ntoa(their_addr.sin_addr));
send(clientfd, WELCOME, strlen(WELCOME), 0); //发送问候信息
buf = (char *) malloc(255);
ppid = fork(); //创建子进程
if (ppid == 0)
{
//printf("ppid=0\n");
pid = fork(); //创建子进程
while (1)
{
if (pid > 0)
{
//父进程用于接收信息
memset(buf, 0, 255);
//printf("recv\n");
//sleep(1);
if ((recvbytes = recv(clientfd, buf, 255, 0)) <= 0)
{
perror("recv1");
close(clientfd);
raise(SIGKILL);
exit(1);
}
//write buf's data to share memory
w_addr = shmat(shmid, 0, 0);
memset(w_addr, '\0', 1024);
strncpy(w_addr, buf, 1024);
get_cur_time(time_str);
strcat(buf, time_str);
printf(" %s\n", buf);
}
else if (pid == 0)
{
//子进程用于发送信息
//scanf("%s",buf);
sleep(1);
r_addr = shmat(shmid, 0, 0);
//printf("---%s\n",r_addr);
//printf("cmp:%d\n",strcmp(temp,r_addr));
if (strcmp(temp, r_addr) != 0)
{
strcpy(temp, r_addr);
get_cur_time(time_str);
strcat(r_addr, time_str);
//printf("discriptor:%d\n",clientfd);
//if(send(clientfd,buf,strlen(buf),0) == -1)
if (send(clientfd, r_addr, strlen(r_addr), 0) ==
-1)
{
perror("send");
}
memset(r_addr, '\0', 1024);
strcpy(r_addr, temp);
}
}
else
perror("fork");
}
}
}
printf("------------------------------\n");
free(buf);
close(sockfd);
close(clientfd);
return 0;
}
void Beaglebone::readData() {
if (!isBound) {
// Try to connect again
bindPort();
return;
}
isTrackingBall = ultrasonic->GetAverageVoltage()<BALL_ULTRASONIC_THRESHOLD;
// Send a UDP blast to the BBB to make sure it is in the correct mode
char targetCode = 'g';
if (isTrackingBall) {
DriverStation::Alliance colour;
colour = DriverStation::GetInstance()->GetAlliance();
if (colour == DriverStation::Alliance::kBlue){
targetCode = 'b';
}
else{
targetCode = 'r';
}
}
sendto(sd_bbb, &targetCode, 1, 0, (struct sockaddr*)&address_bbb, sizeof(address_bbb));
// Create a buffer to receive info into
char line[256];
char* lastChar = NULL;
// Receive a UDP packet
int numRead = recvfrom(sd_crio, line, sizeof(line), 0, NULL, NULL);
// Process the packet
if (numRead > 0) {
char target = line[0]; // First character tells us if it's goal or ball
lastChar = &line[1]; // Process numbers from the second character
double a = strtod(lastChar, &lastChar);
double b = strtod(lastChar, &lastChar);
double c = strtod(lastChar, NULL);
// Store these in the appropriate member variables
if (target == 'g') {
goalX = a;
goalY = b;
goalAngle = c;
// Reset the other variables
ballX = 99.0;
ballY = 99.0;
ballDiam = 99.0;
} else {
ballX = a;
ballY = b;
ballDiam = c;
goalX = 99.0;
goalY = 99.0;
goalAngle = 99.0;
isConnected = true;
missedPackets=0;
}
} else {
// We must have timed out
missedPackets++;
}
if (missedPackets > 100) {
isConnected = false;
}
}
int main(int argc, char *argv[])
{
int clientfd;
char *buf;
//绑定端口
int sockfd = bindPort(MYPORT);
//创建共享存储区
key_t shmid, onlineShmid;
char *r_addr, *w_addr;
shmid = shm_create();
w_addr = shmat(shmid, 0, 0);
r_addr = shmat(shmid, 0, 0);
onlineShmid = initOnlineShmat();
// //定义临时存储区
char *temp, *time_str;
temp = (char *)malloc(255);
time_str=(char *)malloc(20);
while(1)
{
//在指定端口上监听
if(listen(sockfd,BACKLOG) == -1)
{
perror("listen error");
exit(1);
}
printf("listening......\n");
//接收客户端连接
int sin_size = 0;
struct sockaddr_in their_addr;
if((clientfd = accept(sockfd,(struct sockaddr*)&their_addr,&sin_size)) == -1)
{
perror("accept error");
exit(1);
}
printf("discriptor:%d\n",clientfd);
printf("accept from:%d\n",inet_ntoa(their_addr.sin_addr));
//发送问候信息
send(clientfd, WELCOME, strlen(WELCOME), 0);
//build buff
buf = (char *)malloc(255);
//创建子进程
pid_t ppid = fork();
if(ppid == 0)
{
printf("fork ppid=0\n");
//再次创建子进程
pid_t pid = fork();
bool bBeRequested = false;
while(1)
{
//父进程用于接收信息
if(pid > 0)
{
memset(buf,0,255);
printf("begin recv\n");
//sleep(1);
int recvbytes = 0;
if((recvbytes = recv(clientfd,buf,255,0)) <= 0)
{
perror("recv1 error");
close(clientfd);
raise(SIGKILL);
exit(1);
}
//write buf's data to share memory
memset(w_addr, '\0', 1024);
strncpy(w_addr, buf, 1024);
bBeRequested = true;
printf("w_addr->%s\n",w_addr);
//strcat time info
get_cur_time(time_str);
strcat(buf,time_str);
printf("buf:%s\n",buf);
}
//子进程用于发送信息
else if(pid == 0)
{
sleep(1);
printf("r_addr:|%s| temp:|%s|\n",r_addr, temp);
//swap shmat buffer
if(strcmp(temp,r_addr) != 0)
{
printf("swap buffer!\n");
get_cur_time(time_str);
//strcat(r_addr,time_str);
strcpy(temp,r_addr);
memset(r_addr, '\0', 255);
printf("temp:%s\n",temp);
char *delims = { "@" };
char *cmd = strtok( temp, delims);
if( NULL == cmd )
{
printf("temp:%s parse error,no cmd!\n", temp);
memset(temp, '\0', 1024);
continue;
}
char* rbody = strtok( NULL, delims);
if( NULL == rbody )
{
printf("temp:%s parse error,no rbody!\n", temp);
memset(temp, '\0', 1024);
continue;
}
printf("cmd:%s rbody:%s\n", cmd, rbody);
if( 0 == strcmp(cmd, "reg") )
{
regOnlineShmat(onlineShmid, rbody);
}
//send temp buffer
//if(send(clientfd,temp,strlen(temp),0) == -1)
//{
// perror("send error");
//}
memset(temp, '\0', 1024);
}
}
else
{
perror("fork error");
}
}
}
}
printf("------------------------------\n");
free(buf);
close(sockfd);
close(clientfd);
return 0;
}