int
main (int argc, char ** argv)
{
char * device = DEFAULT_FLOCK_DEVICE;
int number_of_birds = atoi (DEFAULT_NUMBER_OF_BIRDS);
double noise_level = atof (DEFAULT_NOISE_LEVEL);
flock_t flock = NULL;
bird_data_t data_of_birds = NULL;
int flockfd = -1;
int port = 0;
int sockfd = -1;
char * host = NULL;
struct sockaddr_in host_addr;
fd_set input_fd_set;
int maxfd;
OSC_space_t space = NULL;
int c;
int count;
int result = EXIT_SUCCESS;
/* Parse arguments. */
opterr = 0;
while ((c = getopt (argc, argv, "d:b:n:")) != -1)
switch (c)
{
case 'd':
device = optarg;
break;
case 'b':
number_of_birds = atoi (optarg);
break;
case 'n':
noise_level = atof (optarg);
break;
default:
break;
}
if (argc - optind != 2)
{
usage (argv[0]);
exit (EXIT_FAILURE);
}
host = argv[optind++];
port = atoi (argv[optind++]);
get_more_priority ();
signal (SIGINT, handle_signal);
fprintf (stderr, "Preparing flock device: %s, number of birds: %d.\n",
device, number_of_birds);
if ((flock = flock_hl_open (device,
number_of_birds,
flock_bird_record_mode_position_angles,
1, 1)) == NULL)
{
result = EXIT_FAILURE;
goto terminate;
}
flockfd = flock_get_file_descriptor (flock);
/* TODO: use a command-line option for the local port. */
fprintf (stderr, "Opening configuration port: %d.\n", port + 1);
if ((sockfd = open_socket (port + 1)) == -1)
{
result = EXIT_FAILURE;
goto terminate;
}
fprintf (stderr, "Preparing communication with host: %s, port: %d.\n",
host, port);
if ((fill_host_addr (host, port, &host_addr)) == -1)
{
result = EXIT_FAILURE;
goto terminate;
}
FD_ZERO (&input_fd_set);
FD_SET (sockfd, &input_fd_set);
FD_SET (flockfd, &input_fd_set);
maxfd = (sockfd < flockfd) ? flockfd : sockfd;
data_of_birds = (bird_data_t)
malloc (number_of_birds * sizeof (struct bird_data_s));
OSC_init ();
space = OSC_space_make ();
OSC_space_register_method
(space, OSC_method_make ("zthreshold", ",f", set_zthreshold, NULL));
count = 0;
/* First values. */
{
bird_data_t data;
int bird;
if (flock_next_record (flock, 1) == 0)
{
fprintf (stderr, "Can't get response from flock.\n");
result = EXIT_FAILURE;
goto terminate;
}
count++;
for (bird = 0, data = data_of_birds;
bird < number_of_birds;
bird++, data++)
{
memcpy (&data->rec,
flock_get_record (flock, bird + 1),
sizeof (data->rec));
data->zset = 0;
data->zcount = 0;
data->maxdz = 0;
data->lastbump = 0;
data->bumpcount = 0;
}
}
fprintf (stderr, "Running... (Hit Ctrl-C to stop.)\n");
while (!terminate)
{
fd_set read_fd_set;
read_fd_set = input_fd_set;
/* Block until new data is available, either from the flock or
from peer. */
if (select (maxfd + 1, &read_fd_set, NULL, NULL, NULL) == -1)
{
perror ("select");
result = EXIT_FAILURE;
goto terminate;
}
if (FD_ISSET (sockfd, &read_fd_set))
/* Get data from peer. */
receive (space, sockfd);
if (FD_ISSET (flockfd, &read_fd_set))
{
bird_data_t data;
int bird;
/* Get data from flock. */
if (flock_next_record (flock, 1) == 0)
{
result = EXIT_FAILURE;
goto terminate;
}
count++;
for (bird = 0, data = data_of_birds;
bird < number_of_birds;
bird++, data++)
{
double dx, dy, dz;
/* Shift previous record. */
memcpy (&data->prev_rec, &data->rec, sizeof (data->rec));
/* Copy bird's record. */
memcpy (&data->rec,
flock_get_record (flock, bird + 1),
sizeof (data->rec));
dx = data->rec.values.pa.x - data->prev_rec.values.pa.x;
dy = data->rec.values.pa.y - data->prev_rec.values.pa.y;
dz = data->rec.values.pa.z - data->prev_rec.values.pa.z;
{
/* Coordinates. */
double distance = sqrt ((dx * dx) + (dy * dy) + (dz * dz));
if (distance > noise_level)
send_record (sockfd, &host_addr, bird + 1, &data->rec);
}
{
/* Bumps. */
if ((count - data->lastbump) < after_bump_delay)
continue;
if (dz > zthreshold)
{
data->zset = 1;
if (data->maxdz < dz)
data->maxdz = dz;
}
if (!data->zset)
{
data->maxdz = 0;
continue;
}
/* Proposition: delay could depend on maxdz. */
if (dz < 0.5 * zthreshold)
{
send_bump (sockfd, &host_addr, bird + 1, data->maxdz);
/* fprintf (stderr, "bird %d bumps (%g).\n", */
/* bird + 1, data->maxdz); */
data->zset = 0;
data->maxdz = 0;
data->lastbump = count;
data->bumpcount++;
}
}
}
}
}
terminate:
fprintf (stderr, "Closing device and connection.\n");
if (sockfd != -1)
close_socket (sockfd);
if (flock)
flock_hl_close (flock);
if (data_of_birds)
free (data_of_birds);
if (space)
OSC_space_free (space);
return result;
}
int connectFtpServer(char * server_ip, int port, char * user, char * password)
{
int socket_control;
giLogLine++;
if( server_ip == NULL || user == NULL)
{
plog( "%s\n\n", "Fun(connectFtpServer): server_ip or user is NULL." );
return -1;
}
int error;
char log[1000]={0};
error = fill_host_addr( server_ip, &ftp_server, port );
if( error == 254 )
{
plog("%s\n\n", "Fun(connectFtpServer): Invalid port!");
return -1;
}
if( error == 253 )
{
plog("%s\n\n", "Fun(connectFtpServer): Invalid address!");
return -1;
}
struct timeval outtime;
int type = 1;
socket_control = socket( AF_INET,SOCK_STREAM, 0 );
if( socket_control < 0 )
{
plog("%s\n\n", "Fun(connectFtpServer): Creat socket error.");
return -1;
}
if( type == 1 )
{
outtime.tv_sec = 10;
outtime.tv_usec = 0;// 300000;
}
else
{
outtime.tv_sec = 5;
outtime.tv_usec = 0;
}
//fcntl(socket_control ,F_SETFL, ~O_NONBLOCK);
//set = setsockopt( socket_control, SOL_SOCKET, SO_RCVTIMEO, &outtime, sizeof(outtime) );
//connect to the server
if(connect( socket_control, (struct sockaddr *) &ftp_server, sizeof(struct sockaddr_in) ) <0 )
{
memset( log, 0, 1000 );
sprintf(log,"Fun(connectFtpServer): Can't connet to the server:%s,port:%d\n\n",inet_ntoa(ftp_server.sin_addr),ntohs(ftp_server.sin_port));
plog( "%s", log );
close(socket_control);
return -1;
}
else
{
memset( log, 0, 1000 );
sprintf( log, "Fun(connectFtpServer): Successfully connect to server:%s,port:%d\n",inet_ntoa(ftp_server.sin_addr),ntohs(ftp_server.sin_port));
plog( "%s", log );
}
error = ftp_get_reply( socket_control, NULL );
if( error == 421 )//There are too many connections from your internet address.
{
plog("%s\n\n","Fun(connectFtpServer): 421 too many connections.");
close(socket_control);
return -1;
}
else if( error == 220)//Successfully connect
{
if( (error = ftp_login(socket_control, user, password)) == -1 )
{
plog("%s\n\n", "Fun(connectFtpServer): user or password error.");
close(socket_control);
return -1;
}
plog("Fun(connectFtpServer): socket_control = %d\n",socket_control);
return socket_control;
}
else
{
plog("%s\n\n", "Fun(connectFtpServer): Connect error!");
close(socket_control);
return -1;
}
}
