diff options
Diffstat (limited to 'source/ct-Bot/pc/tcp-server.c')
| -rw-r--r-- | source/ct-Bot/pc/tcp-server.c | 274 |
1 files changed, 274 insertions, 0 deletions
diff --git a/source/ct-Bot/pc/tcp-server.c b/source/ct-Bot/pc/tcp-server.c new file mode 100644 index 0000000..7d1f53b --- /dev/null +++ b/source/ct-Bot/pc/tcp-server.c @@ -0,0 +1,274 @@ +/* + * c't-Sim - Robotersimulator fuer den c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file tcp-server.c + * @brief Demo-TCP-Server + * @author Benjamin Benz (bbe@heise.de) + * @date 26.12.05 +*/ +#include "ct-Bot.h" + +#ifdef PC + +#include "bot-2-sim.h" +#include "tcp.h" +#include "display.h" +#include "command.h" + +#include <time.h> +#include <sys/time.h> + + +/* Linux with glibc: + * _REENTRANT to grab thread-safe libraries + * _POSIX_SOURCE to get POSIX semantics + */ +#ifndef WIN32 +# define _REENTRANT +//# define _POSIX_SOURCE +#else +// #define WIN32 +#endif + +/* Hack for LinuxThreads */ +#ifdef __linux__ +# define _P __P +#endif + +#include <pthread.h> + +#ifdef WIN32 + #include <winsock.h> +#else + #include <arpa/inet.h> + #include <sys/socket.h> + #include <netinet/in.h> +#endif + +#include <stdio.h> // for printf() and fprintf() +#include <stdlib.h> // for atoi() and exit() +#include <string.h> // for memset() +#include <unistd.h> // for close() + +#include "global.h" + +int server; /*!< Server-Socket */ + +struct sockaddr_in serverAddr; /*!< Lokale Adresse */ +struct sockaddr_in clientAddr; /*!< Client-Adresse */ +unsigned int clntLen; /*!< Laenge der Datenstruktur der Client-Adresse */ + +/*! + * Init TCP-Server + */ +void tcp_server_init(void){ + #ifdef DISPLAY_AVAILABLE +// display_init(); + #endif + + #ifdef WIN32 + WSADATA wsaData; + WORD wVersionRequested; + int err; + + wVersionRequested = MAKEWORD( 2, 0 ); // 2.0 and above version of WinSock + err = WSAStartup( wVersionRequested, &wsaData ); + if ( err != 0 ) { + fprintf(stderr, "Couldn't not find a usable WinSock DLL.\n"); + exit(1); + } + #endif + + + // Create socket for incoming connections + if ((server = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0){ + printf("socket() failed\n"); + exit(1); + } + + int i=1; + setsockopt(server,SOL_SOCKET,SO_REUSEADDR,(char*)&i,sizeof(i)); + + memset(&serverAddr, 0, sizeof(serverAddr)); // Clean up + serverAddr.sin_family = AF_INET; // Internet address family + serverAddr.sin_addr.s_addr = htonl(INADDR_ANY); // Any incoming interface + serverAddr.sin_port = htons(PORT); // Local port to listen on + + // Bind to the local address + if (bind(server, (struct sockaddr *) &serverAddr, sizeof(serverAddr)) <0 ){ + printf("bind() failed\n"); + exit(1); + } + + // Mark the socket so it will listen for incoming connections + if (listen(server, 5) < 0){ + printf("listen() failed\n"); + exit(1); + } +} + +/*! + * Hauptschleife des TCP-Servers + */ +int tcp_server_run (int runs){ + char buffer[MAX_PAYLOAD]; // Buffer + struct timeval start, stop; + printf("TCP-Server alive\n"); + + int seq=0; +// tcp_server_init(); + +// printf("Initialized\n"); + + for(;;){ + /* Set the size of the in-out parameter */ + clntLen = sizeof(clientAddr); + + printf("Waiting for client\n"); + // Wait for a client to connect + if ((tcp_sock = accept(server, (struct sockaddr *) &clientAddr, &clntLen)) < 0) + printf("accept() failed"); + + printf("Connected to %s on Port: %d\n", inet_ntoa(clientAddr.sin_addr),PORT); + + int16 simultime=0; + int i; + for(i=0;i<runs;i++){ + simultime+=10; + + command_write(CMD_SENS_IR, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_ENC, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_BORDER, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_LINE, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_LDR, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_TRANS, SUB_CMD_NORM ,(int16*)&simultime,0,0); + command_write(CMD_SENS_DOOR, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_MOUSE, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_ERROR, SUB_CMD_NORM ,(int16*)&simultime,(int16*)&simultime,0); + command_write(CMD_SENS_RC5, SUB_CMD_NORM ,0,0,0); + + command_write(CMD_DONE, SUB_CMD_NORM ,(int16*)&simultime,0,0); + flushSendBuffer(); + + GETTIMEOFDAY(&stop, NULL); + int t2= (stop.tv_sec - start.tv_sec)*1000000 + stop.tv_usec - start.tv_usec; + printf("X-Token (%d) out after %d usec ",simultime,t2); + + + received_command.request.command =0; + while(received_command.request.command != CMD_DONE ){ + if (command_read() != 0){ + // Fehler + printf("Probleme beim Lesen eines Kommandos\n"); + } else { + // Alles ok, evtl. muessen wir aber eine Payload abholen + if (received_command.payload != 0) { + // printf ("fetching payload (%d bytes)\n",received_command.payload); + low_read(buffer,received_command.payload); + } + if (received_command.seq != seq){ + printf("Sequenzzaehler falsch! Erwartet: %d Empfangen %d \n",seq,received_command.seq); + } + } + seq=received_command.seq+1; + } + GETTIMEOFDAY(&start, NULL); + + + int t= (start.tv_sec - stop.tv_sec)*1000000 + start.tv_usec - stop.tv_usec; + printf("X-Token (%d) back after %d usec\n",received_command.data_l,t); + + + if (received_command.data_l != simultime){ + printf("Falschen X-Frame erhalten ==> Exit\n"); + exit(0); + } + +/* + printf("Rechenzeit: %d usec\n",(stop.tv_sec - start.tv_sec)*1000000 +stop.tv_usec - start.tv_usec); + + command_read(); + if + #ifdef LOG_AVAILABLE + command_display(&received_command); + #endif + + received_command.request.direction=DIR_ANSWER; + tcp_send_cmd(&received_command); + */ + } + + printf("TCP-Server hat seine %d runs durch und beendet sich. So long and thanks for all the fish\n",runs); + + #ifdef WIN32 + WSACleanup(); + #endif + exit(0); + } + + return 1; +} + + +/*! + * Init TCP-test-Client + */ +void tcp_test_client_init(void){ + tcp_init(); + printf("Connecting Testclient to %s on Port: %d ", tcp_hostname, 10001); + + if ((tcp_sock=tcp_openConnection(tcp_hostname)) != -1) + printf ("established \n"); + else { + printf ("failed\n"); + exit(1); + } +} + +/*! + * Hauptschleife des TCP-Test-Clients + */ +int tcp_test_client_run (int runs){ + char buffer[255]; + + int len=0; + int i=0; + + if (runs > 0) + printf("Answering %d frames\n",runs); + else + printf("Answering all frames\n"); + + for(;;){ + if ((runs > 0) && (i > runs)) + break; + i++; + buffer[0]=0; + len=0; + + len= tcp_read(&buffer,255); + tcp_write(&buffer,len); + } + printf("Finished %d frames\n",runs); + + exit(1); + return 1; +} + +#endif |