// ------------------------------Pulse Handler----------------------------------
void PulseHandler(int simPV_L)
{
// move the links back into limit range
if ((simPV_L&64 )/64 == 0 )
{
if (temp_last_input == ROLLCW) writeMsg(ROLLCCW);
else writeMsg(ROLLCW);
}
else if ((simPV_L&32)/32 == 0)
{
if (temp_last_input == PITCHUP) writeMsg(PITCHDW);
else writeMsg(PITCHUP);
}
else if ((simPV_L&16)/16 == 0)
{
if (temp_last_input == ELBOWUP) writeMsg(ELBOWDW);
else writeMsg(ELBOWUP);
}
else if ((simPV_L&8)/8 == 0)
{
if (temp_last_input == SHOULDERUP) writeMsg(SHOULDERDW);
else writeMsg(SHOULDERUP);
}
else if ((simPV_L&4)/4 == 1)
{
if (temp_last_input == BASECW) writeMsg(BASECCW);
else writeMsg(BASECW);
}
}
void Controller::openVideoFile(QString &fileName)
{
if(!player.setVideoFile(fileName)) {
writeMsg("Player: Error opening video file");
controlsEnabled(false);
}
else {
controlsEnabled(true);
writeMsg("Video successfully opened");
}
}
// ------------------------------Auto Thread-------------------------------------
void* auto_thread(void*notused)
{
int homed;
homed = 0;
while(1)
{
//printf("home: %i\n",homed);
if ((last_input == BASECW) || (last_input == BASECCW) ||
(last_input == SHOULDERUP) || (last_input == SHOULDERDW) ||
(last_input == ELBOWUP) || (last_input == ELBOWDW) ||
(last_input == PITCHUP) || (last_input == PITCHDW) ||
(last_input == GRIPPEROP) || (last_input == GRIPPERCLOSE) ||
(last_input == ROLLCW) || (last_input == ROLLCCW))
homed = 0;
if (memData.autoModeOn == ON)
{
if (last_input == HOMEROBOT)
{
printf("homing!\n");
if (homed != 1)
{
homed = homing();
last_input = MANUALON;
writeMsg(last_input);
}
printf("home done\n");
flushall();
last_input = MANUALON;
writeMsg(last_input);
}
if (last_input == MANUALOFF)
{
if (readLowerByte.lowIpReserved1 == 1)
{
printf("No block in the loader\n");
flushall();
}
else
{
if (homed != 1)
homing();
homed = 0;
auto_mode();
}
last_input = MANUALON;
writeMsg(last_input);
printf("auto done\n");
flushall();
}
}
delay(50);
}
}
// 리스트에 새 클라이언트를 추가합니다.
Client* addClient(Client* newClient) {
char buffer[256];
char head[HEAD_SIZE], value[VALUE_SIZE];
int n;
if (newClient == 0) return 0;
// 우선 클라이언트가 일반 클라이언트이지, shell 클라이언트인지를 알아냅니다.
readMsg(newClient->socket, head, value);
if ( !strcmp(head, MODE) && !strcmp(value, MODE_CLIENT) ) {
// 일반 client 모드면 싱글 링크드리스트에 추가합니다.
newClient->nextClient = 0;
if (front != 0)
newClient->nextClient = front;
// 그냥 맨 앞에 넣습니다. 순서는 중요하지 않습니다.
front = newClient;
newClient->isShell = false;
} else
if ( !strcmp(head, MODE) && !strcmp(value, MODE_SHELL) ) {
// shell client 모드면 shell 모드로 접속한 다른 클라이언트가 없는지 확인합니다.
if (shellClient != 0) {
writeMsg(newClient->socket, ERR, "SHELL_DUP");
exit(1);
}
// shell 클라이언트는 리스트에 넣지 않고 따로 관리합니다.
shellClient = newClient;
newClient->isShell = true;
} else {
// 알 수 없는 client 접속
writeMsg(newClient->socket, ERR, PROTO_ERR);
return 0;
}
// 클라이언트의 이름을 설정합니다.
sprintf(buffer, "Client(%d)", clientCount);
clientCount++;
writeMsg(newClient->socket, SET_NAME, buffer);
// 클라이언트 정보를 출력합니다.
Notice("Client");
printf("(%d) connected, IP: %s, Port: %d\n", clientCount, newClient->ip, newClient->port);
// 끝났습니다. 클라이언트에게 정상적으로 접속했다고 알립니다.
readMsg(newClient->socket, head, value);
writeMsg(newClient->socket, ACCEPT, "server_ok");
return newClient;
}
void uiSetParameterValue(const uint32_t index, const float value) override
{
CARLA_SAFE_ASSERT_RETURN(index < getParameterCount(),);
char tmpBuf[0xff+1];
const CarlaMutexLocker cml(fWriteLock);
writeMsg("control\n", 8);
std::sprintf(tmpBuf, "%i\n", index);
writeMsg(tmpBuf);
std::sprintf(tmpBuf, "%f\n", value);
writeMsg(tmpBuf);
}
void uiSetMidiProgram(const uint8_t channel, const uint32_t bank, const uint32_t program) override
{
CARLA_SAFE_ASSERT_RETURN(channel < MAX_MIDI_CHANNELS,);
char tmpBuf[0xff+1];
const CarlaMutexLocker cml(fWriteLock);
writeMsg("program\n", 8);
std::sprintf(tmpBuf, "%i\n", channel);
writeMsg(tmpBuf);
std::sprintf(tmpBuf, "%i\n", bank);
writeMsg(tmpBuf);
std::sprintf(tmpBuf, "%i\n", program);
writeMsg(tmpBuf);
}
///登录，发送登陆请求给服务器
void talk_to_svr::do_login(const std::string &username, const std::string &password)
{
_username = username;
_password = password;
std::string writeMsg("login " + username + " " + password + "\n");
service.post(MEM_FN1(do_write, writeMsg));
}
void CBoostLog::logFromQueue()
{
while (m_isRunning) {
std::string msg;
bool hasMsg = m_msgQueue.timedPop(msg, LOG_TIMEOUT);
if (hasMsg) {
writeMsg(msg);
}
}
// make sure the queue is empty before quitting
while (!m_msgQueue.empty()) {
std::string msg;
m_msgQueue.timedPop(msg, LOG_TIMEOUT);
writeMsg(msg);
}
}
// ------------------------------Main Loop---------------------------------------
void mainLoop()
{
writeMsg(ESTOP);
while(killFlg == 0)
{
readMsg(1,0);
// shared memory access
// update system states in shared memory
if (last_input == CONVEYORON)
memData.conveyorOn = ON;
else if ((last_input == CONVEYOROFF) || (last_input == ESTOP))
memData.conveyorOn = OFF;
if ((last_input == MANUALON) || (last_input == ESTOP))
memData.autoModeOn = OFF;
else if (last_input == MANUALOFF || last_input == HOMEROBOT)
memData.autoModeOn = ON;
memData.upperByte = readUpperByte.hiInputSetByte;
memData.lowerByte = readLowerByte.lowInputSetByte;
memData.blkType = blockNumG;
sem_wait(sem);
*memLocation = memData;
sem_post(sem);
// request status from GUIport and write to shared memory for every 50 ms
delay(50);
}
}
/*!
* This method finally writes the message to the logfile.
* You must set the message type.
*/
void TTMessageLogger::logMsg(MsgType msgType, QString caller, QString msgString)
{
QString write;
if(msgType == INFO)
write = "[info]";
if(msgType == WARNING)
write = "[warning]";
if(msgType == ERROR)
write = "[error]";
if(msgType == DEBUG)
write = "[debug]";
write.append("[");
write.append(QDateTime::currentDateTime().toString("hh:mm:ss"));
write.append("][");
write.append(caller);
write.append("] ");
write.append(msgString);
if(logMode & CONSOLE)
qDebug(write.toAscii().data());
writeMsg(write);
}
/*
* Handle for common functions
* Register Led Control with System after spawning
*/
bool Led_Ctr::ctrRegister()
{
generic_msg *msg = NULL;
sys_msg *sys = NULL;
msg = prepHelloMsg(LED_C);
writeMsg(msg);
desMsg(msg);
log->LOG_IN("Send REG message");
/* Wait for REG_ACK from system with led configuration */
while(true)
{
msg = readMsg();
if (msg == NULL)
continue;
log->LOG_IN("Received a message from System: " + msg->msgType);
if (msg->msgType == SYS)
{
sys = (sys_msg*)msg->data;
if (sys->sysMsgType == SYS_REGISTER_OK)
{
/* Initialize Led agent instances from configuration */
desMsg(msg);
break;
}
}
}
return true;
}
void logger::writeLog(std::string message, bool console) {
if (console == true && message.length() > 0) {
std::string timestapStr = timestamp();
timestapStr.erase(timestapStr.end() - 1);
std::cerr << "ERROR: " << timestapStr << " " << message << std::endl;
}
writeMsg(message);
}
void uiSetCustomData(const char* const key, const char* const value) override
{
CARLA_SAFE_ASSERT_RETURN(key != nullptr && key[0] != '\0',);
CARLA_SAFE_ASSERT_RETURN(value != nullptr,);
const CarlaMutexLocker cml(fWriteLock);
writeMsg("configure\n", 10);
writeAndFixMsg(key);
writeAndFixMsg(value);
}
static int msg2netlog(msg* message){
if(message != NULL){
FILE* fp = fopen(logFile,"aw");
if(fp != NULL){
fprintf(fp, "%s", time2string());
writeMsg(fileno(fp), message);
fclose(fp);
return 1;
}
}
return 0;
}
void Msg::sendmsgUser(const QString& from, const QStringList& list, bool quiet) {
QString txt1(from + " sends a message to you: " + list[1]);
QString message(QDate::currentDate().toString("dd/MM/yyyy ") + QTime::currentTime().toString("hh:mm:ss ") + from + " : " + list[1]);
QString to(manager()->databasePlugin()->canonicalName(list[0]));
if((manager()->connectionPlugin()->serverSend(to,txt1) || manager()->databasePlugin()->isRegisteredUser(to))
&& writeMsg(to,message) && !quiet) {
QString txt2("You send a message to " + to + ": " + list[1]);
manager()->connectionPlugin()->serverSend(from,txt2);
} else if(!quiet) {
QString error("Invalid user");
manager()->connectionPlugin()->serverSend(from,error);
}
}
bool Fifo::writeIfConnected(const folly::AsyncTransportWrapper* transport,
MessageDirection direction,
const struct iovec* iov,
size_t iovcnt) noexcept {
if (!isConnected()) {
return false;
}
auto written = writeMsg(fd_, buildMsgHeader(transport, direction),
iov, iovcnt);
if (!written && errno == EPIPE) {
disconnect();
}
return written;
}
void parsePVSThenEcho(char *prompt, int from, int to){
msg* message;
int length;
message = readPVSMsg(prompt, from);
if(message != NULL){
length = parseString(message->data, message->bytesUsed);
message->bytesUsed = length;
if(sendMsg(to, message) < 0){
fprintf(stderr, "sendMsg in parsePVSThenEcho failed\n");
} else {
if(WRAPPER_DEBUG)writeMsg(STDERR_FILENO, message);
announce("\nparseThenEcho wrote %d bytes\n", message->bytesUsed);
}
freeMsg(message);
}
}
int getData(boolean tx, double timeStamp, int fd, char buff[], int size) {
memset(buff, 0, size);
int rc = recv(fd, buff, D_INFO, 0);
int errNum = NET_ERROR_NUM;
if ((rc <= 0) && (errNum != EWOULDBLOCK)) {
fprintf(stderr, "recv() failed. Error = %d\n", errNum); fflush(stderr);
return -GDB_FATAL_ERROR;
}
if (rc > 0) {
writeMsg(tx, buff, rc);
return rc;
}
return -GDB_NON_FATAL_ERROR;
}
int LogManager::writeLog(const char *fmt, ...) {
//static to prevent reallocation every function call
static char msg[DEFAULT_MSG_LEN] = "";
va_list inserts;
va_start(inserts, fmt);
vsprintf(msg, fmt, inserts);
va_end(inserts);
//write message
int status = writeMsg(msg);
if(strflush)
logfile<<std::endl;
else
logfile<<"\n";
return status;
}
//------------------------------Timer Thread--------------------------------------
void* timer_thread(void*notused)
{
int time_count;
int rcvid_timer;
while(1)
{
rcvid_timer = MsgReceivePulse(timerChid, &timerPulse, sizeof(timerPulse), NULL);
if (rcvid_timer==-1)
{
printf("Error in timer pulse!\n");
flushall();
}
else
{writeMsg(COMMEND_RESET);}
delay(50);
}
}
void parseSalThenEcho(int from, int to){
msg* message;
int length;
announce("parseSalThenEcho\t:\tCalling wrapper_readSalMsg\n");
message = wrapper_readSalMsg(from);
if(message != NULL){
announce("parseSalThenEcho\t:\twrapper_readSalMsg returned %d bytes\n", message->bytesUsed);
length = parseString(message->data, message->bytesUsed);
message->bytesUsed = length;
if(sendMsg(to, message) < 0){
fprintf(stderr, "sendMsg in parseSalThenEcho failed\n");
} else {
if(SALWRAPPER_DEBUG)writeMsg(STDERR_FILENO, message);
announce("\nparseThenEcho wrote %d bytes\n", message->bytesUsed);
}
freeMsg(message);
}
}
void parseMaudeThenEcho(int from, int to){
msg* message;
int length;
announce("parseMaudeThenEcho\t:\tCalling readMaudeMsg\n");
message = readMaudeMsg(from);
if(message != NULL){
announce("parseMaudeThenEcho\t:\treadMaudeMsg returned %d bytes\n", message->bytesUsed);
if(WATCH_MAUDE)logMsg("maude", MAUDE_LOGFILE, message);
length = parseString(message->data, message->bytesUsed);
message->bytesUsed = length;
if(sendMsg(to, message) < 0){
fprintf(stderr, "sendMsg in parseMaudeThenEcho failed\n");
} else {
if(MAUDE_WRAPPER_DEBUG)writeMsg(STDERR_FILENO, message);
announce("\nparseThenEcho wrote %d bytes\n", message->bytesUsed);
}
freeMsg(message);
}
}
void
DCMessenger::sendBlockingMsg( classy_counted_ptr<DCMsg> msg )
{
msg->setMessenger( this );
Sock *sock = m_daemon->startCommand (
msg->m_cmd,
msg->getStreamType(),
msg->getTimeout(),
&msg->m_errstack,
msg->name(),
msg->getRawProtocol(),
msg->getSecSessionId());
if( !sock ) {
msg->callMessageSendFailed( this );
return;
}
writeMsg( msg, sock );
}
/*!
* This method finally writes the message to the logfile.
* You must set the message type.
*/
void TTMessageLogger::logMsg(MsgType msgType, QString caller, int line, QString msgString, bool show)
{
QString msgTypeStr;
QFileInfo fInfo(caller);
QString msgCaller = fInfo.baseName();
//if (!logEnabled && msgType != ERROR) return;
if (logLevel == NONE & ((msgType != ERROR) & (msgType != FATAL))) return;
if (logLevel == MINIMAL & ((msgType != ERROR) & (msgType != FATAL) &
(msgType != WARNING))) return;
if (logLevel == EXTENDED & ((msgType != ERROR) & (msgType != FATAL) &
(msgType != WARNING) & (msgType != INFO))) return;
if(msgType == INFO)
msgTypeStr = "info";
if(msgType == WARNING)
msgTypeStr = "warning";
if(msgType == ERROR)
msgTypeStr = "error";
if(msgType == DEBUG)
msgTypeStr = "debug";
QString logMsgStr = (line > 0)
? QString("[%1][%2][%3:%4] %5").arg(msgTypeStr).arg(QDateTime::currentDateTime().toString("hh:mm:ss")).arg(msgCaller).arg(line).arg(msgString)
: QString("[%1][%2][%3] %4").arg(msgTypeStr).arg(QDateTime::currentDateTime().toString("hh:mm:ss")).arg(msgCaller).arg(msgString);
// show message window
if (show)
;
if (logMode & CONSOLE || msgType == ERROR)
qDebug(logMsgStr.toUtf8().data());
writeMsg(logMsgStr);
}
int TCPSockClient::do_register(void)
{
int push_id = PUSH_BEGIN + m_index;
std::stringstream sstream;
sstream << push_id;
std::string server_id;
sstream >> server_id;
unsigned source = crc32_hash((const unsigned char*) server_id.c_str(),
server_id.length());
VncDataPackage package;
package.setSourceAndTarget(source, SERVER_ID);
package.setCommandId(0x00010004, 0);
package.setStringParam(server_id);
std::string returnbuf = package.getProtocolBuffer();
writeMsg(this->m_sockfd, (char *) returnbuf.c_str(),
returnbuf.length());
return 0;
}
// ------------------------------Handler Loop--------------------------------
void* Handlerloop_thread(void*notused)
{
// Initialize simulator pulse value
simPulseVal = 120;
while(killFlg == 0)
{
// Keep calling PulseHandler until all joint is within limit
while(((simPulseVal&64) + (simPulseVal&32) + (simPulseVal&16) + (simPulseVal&8) + (simPulseVal&4)) != 120)
{
//printf("\nin while\n");
PulseHandler(simPulseVal);
if (((simPulseVal&64) + (simPulseVal&32) + (simPulseVal&16) + (simPulseVal&8) + (simPulseVal&4)) == 120)
{
writeMsg(COMMEND_RESET);
delay(50);
//printf("SIM: Pulse: %i %i %i %i %i \n\n", (simPulseVal&64)/64, (simPulseVal&32)/32, (simPulseVal&16)/16, (simPulseVal&8)/8, (simPulseVal&4)/4);
}
}
delay(50);
}
}
// ------------------------------GUI Monitor Thread-------------------------------
void* GUI_thread(void*notused)
{
int guiPulseVal;
highOutput.hiOutputSetByte = 0;
lowOutput.lowOutputSetByte = 0;
while(1)
{
// Receive message from GUI
MsgReceivePulse (2,&guiPulse,sizeof(guiPulse),NULL);
// initialize guiPulseVal
// extract the pulse value
if (guiPulse.value.sival_int != COMMEND_RESET)
{
guiPulseVal = 0;
guiPulseVal = guiPulse.value.sival_int;
last_input = guiPulseVal;
}
// print GUI pulse
// printf("GUI: Pulse: %i \n", guiPulseVal);
// printf("Temp: Temp = %i \n", temp_guiPulse);
// Quit loop if guiPulseVal == GUIQUIT
if (guiPulseVal == GUIQUIT) {killFlg = 1; break;}
// Command simulator
writeMsg(guiPulseVal);
if ((guiPulseVal == BASECW) || (guiPulseVal == BASECCW) ||
(guiPulseVal == SHOULDERUP) || (guiPulseVal == SHOULDERDW) ||
(guiPulseVal == ELBOWUP) || (guiPulseVal == ELBOWDW) ||
(guiPulseVal == PITCHUP) || (guiPulseVal == PITCHDW) ||
(guiPulseVal == UNLOADLEFT) || (guiPulseVal == UNLOADRIGHT) ||
(guiPulseVal == GRIPPEROP) || (guiPulseVal == GRIPPERCLOSE))
{
timer_settime(timerid, 0, &timer,NULL);
}
}
}
void doShell(Client* shellClient) {
Client* p;
char head[HEAD_SIZE], value[VALUE_SIZE];
char fileBuffer[FILE_BUFFER_SIZE + 1];
char fileChunk[FILE_CHUNK_SIZE];
char filename[256];
unsigned long fileSize;
int fd;
FILE* fp;
FDEBUG(("shell start\n"));
while (1) {
// shell 담당 서버는 shell 클라이언트로부터 신호를 받아야만 일합니다.
readMsg(shellClient->socket, head, value);
if ( !strcmp(head, ADD) ) {
// 파일 추가
FDEBUG(("get ADD message\n"));
fileSize = 0;
// 우선 해당 이름으로 파일을 엽니다.
strcpy(filename, value);
fd = open(filename, O_WRONLY | O_CREAT, 0644);
if (fd == -1) {
writeMsg(shellClient->socket, ERR, "fileopen_err");
continue;
}
// 다른 일반 클라이언트들에게도 이 사실을 알립니다.
writeMsg(shellClient->socket, ACCEPT, "fileadd");
p = front;
while (p) {
writeMsg(p->pipe[1], ADD, filename);
p = p->nextClient;
}
// 파일 구분자를 입력받습니다.
readMsg(shellClient->socket, head, fileChunk);
writeMsg(shellClient->socket, ACCEPT, "filechunk");
p = front;
while (p) {
writeMsg(p->pipe[1], CHUNK, fileChunk);
p = p->nextClient;
}
// 파일을 읽어서 클라이언트에게 전달합니다. 서버에도 한 부 저장합니다.
FDEBUG(("start reading file\n"));
while (true) {
memset(fileBuffer, 0, sizeof(fileBuffer));
readData(shellClient->socket, fileBuffer);
p = front;
while (p) {
writeData(p->pipe[1], fileBuffer);
p = p->nextClient;
}
// 파일 전송이 끝나면 끝냅니다.
if ( !strcmp(fileBuffer, fileChunk) ) break;
// 아니라면 서버에 저장하고 다음 부분을 보내달라고 요청합니다.
else writeData(fd, fileBuffer);
writeMsg(shellClient->socket, CHUNK, fileChunk);
fileSize += strlen(fileBuffer);
}
// 파일을 전부 기록했습니다. 닫고 EOF 메시지를 전달합니다.
close(fd);
writeMsg(shellClient->socket, ACCEPT, "eof");
p = front;
while (p) {
writeMsg(p->pipe[1], ACCEPT, "eof");
p = p->nextClient;
}
// 결과를 출력합니다.
Notice("ADD ");
printf("[%s][%ldbyte] from Client(%d)\n", filename, fileSize, shellClient->clientNo);
} else
if ( !strcmp(head, DEL) ) {
// 삭제할 파일의 크기를 구합니다.
fp = fopen(value, "r");
fseek(fp, 0L, SEEK_END);
fileSize = ftell(fp);
fclose(fp);
// 결과를 출력합니다.
Notice ("DELETE ");
printf("[%s][%ldbyte] from Client(%d)\n", value, fileSize, shellClient->clientNo);
// 파일을 삭제하고 다른 클라이언트에게 알립니다.
remove( value );
p = front;
while (p) {
writeMsg(p->pipe[1], head, value);
p = p->nextClient;
}
}
}
}
void Connection::handle_read(const boost::system::error_code& e, std::size_t bytes_transferred)
{
//parse and make it a Json::Value then transport it to gate, let gate deal with it
m_bReadInProgress = false;
if (!e)
{
//mutex lock
boost::recursive_mutex::scoped_lock(m_ReadMtx);
boost::tribool result;
boost::tie(result, boost::tuples::ignore) = m_RequestParser.parse(
m_Request, m_ReadBuffer.data(), m_ReadBuffer.data() + bytes_transferred);
if (result)
{
//request_handler_.handle_request(request_, reply_);
//boost::asio::async_write(m_Socket, m_Reply.to_buffers(),
// boost::bind(&Connection::handle_write, shared_from_this(),
// boost::asio::placeholders::error));
LogW << m_Request.uri << LogEnd;
if (!is_service_command(m_Request.uri))
{
if (!is_request_resource(m_Request.uri))
{
m_Reply = reply::stock_reply(reply::bad_request);
boost::asio::async_write(m_Socket, m_Reply.to_buffers(),
boost::bind(&Connection::handle_write, shared_from_this(),
boost::asio::placeholders::error));
return;
}
else
{
//get a file
boost::filesystem::path rss_path(m_Request.uri);
boost::filesystem::path cur_cpath = boost::filesystem::current_path();
boost::filesystem::path file_path = cur_cpath / rss_path; //pathÖ§³ÖÖØÔØ/ÔËËã·û
if (!boost::filesystem::exists(file_path) || !boost::filesystem::is_regular_file(file_path))
{
m_Reply = reply::stock_reply(reply::bad_request);
boost::asio::async_write(m_Socket, m_Reply.to_buffers(),
boost::bind(&Connection::handle_write, shared_from_this(),
boost::asio::placeholders::error));
return;
}
std::string content = util::fileSystem::loadJsonFile(file_path.string());
writeResourceMsg(content);
return;
}
}
Json::Value jreq;
int ret = 0;
if (m_Request.method == "GET")
{
ret = m_RequestParser.parse_content(GET_METHOD, m_Request.uri, jreq);
}
else
{
ret = m_RequestParser.parse_content(POST_METHOD, m_Request.content, jreq);
}
if (ret != 0)
{
m_Reply = reply::stock_reply(reply::bad_request);
boost::asio::async_write(m_Socket, m_Reply.to_buffers(),
boost::bind(&Connection::handle_write, shared_from_this(),
boost::asio::placeholders::error));
return;
}
jreq["net_id"] = this->m_nConnId;
LogW << jreq.toStyledString() << LogEnd;
gateSvr.on_http_req(this, jreq);
NetMessage netMsg;
netMsg.setMessage("{\"status\":\"ok\"}");
writeMsg(netMsg);
}
else if (!result)
{
m_Reply = reply::stock_reply(reply::bad_request);
boost::asio::async_write(m_Socket, m_Reply.to_buffers(),
boost::bind(&Connection::handle_write, shared_from_this(),
boost::asio::placeholders::error));
}
else
{
m_Socket.async_read_some(boost::asio::buffer(m_ReadBuffer),
boost::bind(&Connection::handle_read, shared_from_this(),
boost::asio::placeholders::error,
boost::asio::placeholders::bytes_transferred));
}
}
else
{
//ʧ°Ü·µ»Øbad request
}
}
int main(int argc, char** argv){
if(argc != 1){
fprintf(stderr, "Usage: %s\n", argv[0]);
}
self_debug_flag = PVS_ACTOR_DEBUG;
self = argv[0];
ec_neg1( iop_install_handlers(chld_handler, intr_handler) );
ec_neg1( pipe(pin) );
ec_neg1( pipe(perr) );
ec_neg1( pipe(pout) );
/*it's time to fork */
ec_neg1( child = fork() );
if(child == 0){
/* i'm destined to be pvs */
ec_neg1( dup2(pin[0], STDIN_FILENO) );
ec_neg1( dup2(perr[1], STDERR_FILENO) );
ec_neg1( dup2(pout[1], STDOUT_FILENO) );
ec_neg1( close(pin[0]) );
ec_neg1( close(perr[1]) );
ec_neg1( close(pout[1]) );
ec_neg1( execvp(pvs_exe, pvs_argv) );
} else {
/* i'm the boss */
pthread_t errThread;
fdBundle errFdB;
/* for monitoring the error stream */
errFdB.fd = perr[0];
errFdB.exit = &child_died;
ec_neg1( close(pin[0]) );
ec_neg1( close(perr[1]) );
ec_neg1( close(pout[1]) );
/* sleep(2); */
ec_rv( pthread_create(&errThread, NULL, echoErrorsSilently, &errFdB) );
announce("Listening to PVS\n");
parsePVSThenEcho("\ncl-user(", pout[0], STDOUT_FILENO);
write(pin[1], "(in-package 'pvs)\n", strlen("(in-package 'pvs)\n"));
announce("Listening to PVS\n");
parsePVSThenEcho("\npvs(", pout[0], STDOUT_FILENO);
while(1){
int length, retval;
msg *query = NULL, *response = NULL;
char *sender, *command;
announce("Listening to IO\n");
query = acceptMsg(STDIN_FILENO);
if(query == NULL) continue;
retval = parseActorMsg(query->data, &sender, &command);
write(pin[1], command, strlen(command));
write(pin[1], "\n", 1);
announce("Listening to PVS\n");
response = readPVSMsg("\npvs(", pout[0]);
if(response != NULL){
length = parseString(response->data, response->bytesUsed);
response->bytesUsed = length;
sendFormattedMsgFP(stdout, "%s\n%s\n%s\n", sender, self, response->data);
if(self_debug_flag)writeMsg(STDERR_FILENO, response);
announce("\nparseThenEcho wrote %d bytes\n", response->bytesUsed);
}
freeMsg(query);
freeMsg(response);
}
}
exit(EXIT_SUCCESS);
EC_CLEANUP_BGN
exit(EXIT_FAILURE);
EC_CLEANUP_END
}