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/*
* 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
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