// master: enques new module into topology arry
// slave: sends detected module upstream
byte PMRTopology::enqueModule(byte adress, bool orientation) {
Serial.println("Try to register new module with orientation: "+(String)orientation);
if((adress>15) || (adress<1)) {
Serial.println("ERROR: Invalid adress");
return modulesCount;
}
if(searchDuplicateInTopology(adress)) {
Serial.print("ERROR: Module ");
Serial.print(adress);
Serial.println(" is already registered");
return modulesCount;
}
topology[modulesCount].adress = adress;
topology[modulesCount].orientation = orientation ? topology[modulesCount-1].orientation : !topology[modulesCount-1].orientation;
modulesCount++;
countPitchingJoints();
printTopology();
return modulesCount;
}
int main(int argc, char **argv) {
// ------------------------------------------------------------------------
// Handle commandline arguments
if (argc != 5) {
printf("usage: emulator -p <port> -f <filename>\n");
exit(1);
}
char *portStr = NULL;
char *filename = NULL;
int cmd;
while ((cmd = getopt(argc, argv, "p:f:")) != -1) {
switch(cmd) {
case 'p': portStr = optarg; break;
case 'f': filename = optarg; break;
case '?':
if (optopt == 'p' || optopt == 'f')
fprintf(stderr, "Option -%c requires an argument.\n", optopt);
else if (isprint(optopt))
fprintf(stderr, "Unknown option -%c.\n", optopt);
else
fprintf(stderr, "Unknown option character '\\x%x'.\n", optopt);
exit(EXIT_FAILURE);
break;
default:
printf("Unhandled argument: %d\n", cmd);
exit(EXIT_FAILURE);
}
}
printf("Port : %s\n", portStr);
printf("Filename : %s\n", filename);
// Convert program args to values
int port = atoi(portStr);
// Validate the argument values
if (port < 1 || port > 65536)
ferrorExit("Invalid port");
puts("");
// Read network topology
struct entry **topology = readtopology(filename);
printTopology(topology);
// Create network routes from topology
createRoutes(topology);
// TODO: this is temporary, need to get sender address info from fwd table
// Setup sender address info
struct addrinfo ehints;
bzero(&ehints, sizeof(struct addrinfo));
ehints.ai_family = AF_INET;
ehints.ai_socktype = SOCK_DGRAM;
ehints.ai_flags = 0;
// Setup emu sending socket
struct sockaddr_in emuaddr;
int sockfd;
if( (sockfd = socket(AF_INET, SOCK_DGRAM | SOCK_NONBLOCK, 0)) == -1){
perrorExit("Socket error");
}
emuaddr.sin_family = AF_INET;
emuaddr.sin_port = htons(port);
emuaddr.sin_addr.s_addr = INADDR_ANY;
bzero(&(emuaddr.sin_zero), 8);
if (bind(sockfd, (struct sockaddr*)&emuaddr, sizeof(emuaddr)) == -1) {
close(sockfd);
perrorExit("Bind error");
}
printf("Emulator socket created on port:%d\n", port );
//-------------------------------------------------------------------------
// BEGIN NETWORK EMULATION LOOP
puts("Emulator waiting for packets...\n");
struct sockaddr_in recvAddr;
socklen_t recvLen = sizeof(recvAddr);
//socklen_t sendLen = sizeof(sendAddr);
// HACK: Don't like hard coding this, but don't know any other way
size_t MAX_HOST_LEN = 256;
char name[MAX_HOST_LEN];
gethostname(name, MAX_HOST_LEN);
//Need to just get lowest level dns name i.e. mumble-30
while (1) {
void *msg = malloc(sizeof(struct packet));
bzero(msg, sizeof(struct packet));
size_t bytesRecvd;
bytesRecvd = recvfrom(sockfd, msg, sizeof(struct packet), 0,
(struct sockaddr *)&recvAddr, &recvLen);
if (bytesRecvd != -1) {
//printf("Received %d bytes\n", (int)bytesRecvd);
// Deserialize the message into a packet
struct packet *pkt = malloc(sizeof(struct packet));
bzero(pkt, sizeof(struct packet));
deserializePacket(msg, pkt);
struct addrinfo entryHints;
bzero(&entryHints, sizeof(struct addrinfo));
entryHints.ai_family = AF_INET;
entryHints.ai_socktype = SOCK_DGRAM;
entryHints.ai_flags = 0;
}
}
if (close(sockfd) == -1) perrorExit("Close error");
else puts("Connection closed.\n");
// All done!
exit(EXIT_SUCCESS);
}
