root / branches / library_refactor / projects / colonet / server / ColonetServer.cpp @ 1390
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/**
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* @file ColonetServer.cpp
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*
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* @brief colonet_server - primary server application for Colonet
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*
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* @author Jason Knichel
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* @author Eugene Marinelli
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* @date 10/31/06
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*/
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#include <arpa/inet.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <netinet/in.h> |
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#include <string.h> |
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#include <unistd.h> |
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#include <sys/select.h> |
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#include <sys/socket.h> |
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#include <colonet_wireless.h> |
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#include <ColonetServer.h> |
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#include <ConnectionPool.h> |
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#include <options.h> |
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#include <Log.h> |
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#define LISTEN_BACKLOG 5 |
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#define LOG_BUFFER_LENGTH 128 |
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#define MAX_MSG_BUFFER_LENGTH 128 |
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#define REFRESH_VIRTUAL_WALL_PERIOD 400 |
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#define u_int32_t unsigned |
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/**
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* @brief Default constructor for ColonetServer
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*/
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ColonetServer::ColonetServer() { |
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listen_socket = 0;
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connection_pool = new ConnectionPool(this); |
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} |
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/**
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* @brief Destructor for ColonetServer
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*/
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ColonetServer::~ColonetServer() { |
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} |
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/**
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* @brief Initializes the various elements needed for the server to run
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*
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* @param argc The number of command line arguments passed to the program
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* @param argv The command line arguments passed to the program
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*
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* @return 0 on success, negative error code on failure
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*/
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int ColonetServer::initialize_server(int argc, char * argv[]) { |
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options_parseCmdLine(argc, argv); |
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if (optionsG.logging_enabled) {
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logger = new Log("colonet_server_log.txt"); |
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} |
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if (initialize_connection(optionsG.listen_port) < 0) { |
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return -1; |
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} |
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if (initialize_wireless() < 0) { |
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fprintf(stderr, "%s: initWireless failed\n", __FUNCTION__);
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//TODO: Can we continue safely without wireless?
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//return -1;
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} |
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return 0; |
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} |
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/**
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* @brief Starts the server listening on the socket that was opened for listening
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*
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* @return 0 on success, negative error code on failure
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*/
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int ColonetServer::start_listening() {
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if (listen(listen_socket, LISTEN_BACKLOG) < 0) { |
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if (optionsG.logging_enabled) {
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logger->log_error("\t\nThere was an error telling the socket to listen for connections from clients. "
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"Terminating Server...\n");
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} |
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return -1; |
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} |
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return 0; |
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} |
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/**
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* @brief The function that is run in the new pthread in order to do the position monitoring
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*
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* @param arg the argument to give to the new thread
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*/
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void* loop_position_monitor(void* arg) { |
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PositionMonitor* p = (PositionMonitor*) arg; |
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p->run(); |
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return NULL; |
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} |
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/**
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* @brief This function spawns a new thread to do the position monitoring based off data
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* retrieved from the library that parses the image from the camera
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*/
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int ColonetServer::run_position_monitor() {
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pthread_t posmon_thread; |
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pthread_create(&posmon_thread, NULL, loop_position_monitor, &position_monitor);
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return 0; |
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} |
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/**
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* @brief The function that is run in the new pthread in order to do the client processing
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*/
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void ColonetServer::loop_server() {
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//add the socket that you will listen to connections on to the connection pool
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connection_pool->add_new_socket_to_pool(listen_socket); |
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int accept_socket = 0; |
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struct sockaddr_in client_addr;
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socklen_t client_addr_size = sizeof(client_addr);
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if (optionsG.logging_enabled) {
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logger->log_message("Server initialized. About to start listening for connections");
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} |
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while(1) { |
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//sleep for a little bit so this program doesn't hog cpu
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usleep(10000);
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//tell the connection pool to look at the file descriptors and see which ones are ready
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connection_pool->perform_select(listen_socket); |
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//either no descriptors are ready or there was an error
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if (connection_pool->get_number_clients_ready() <= 0) { |
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continue;
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} |
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//check to see if a new client is trying to connect
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if (connection_pool->is_socket_ready_to_read(listen_socket)) {
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printf("Something is trying to connect...\n");
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//accept the connection
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if ((accept_socket = accept(listen_socket, (struct sockaddr*) &client_addr, &client_addr_size)) < 0) { |
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if (errno == EMFILE) {
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printf("\tWhen attempting to accept a connection, reached the per process limit of file descriptors."
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" Dropping the new connection.\n");
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continue;
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} else {
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printf("\tThere was an error when attempting to accept a connection");
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} |
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continue;
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} |
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if (optionsG.logging_enabled) {
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char log_buffer[LOG_BUFFER_LENGTH];
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snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s attempting to connect.",
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inet_ntoa(client_addr.sin_addr)); |
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logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
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} |
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//add the new client to the connection pool
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if (connection_pool->add_client(accept_socket) < 0) { |
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printf("\tThere was an error when trying to add a client to the connection pool.");
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continue;
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} |
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if (optionsG.logging_enabled) {
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char log_buffer[LOG_BUFFER_LENGTH];
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snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s successfully added to connection pool.",
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inet_ntoa(client_addr.sin_addr)); |
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logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
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} |
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} |
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//check all the clients in the connection pool
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if (connection_pool->check_clients() < 0) { |
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printf("\tThere was an error trying to update the clients.");
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} |
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} |
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} |
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/**
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* @brief Launchpad function to start loop_server() since callbacks don't support member functions
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*
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* @param arg the argument to give to the new thread
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*/
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void * launch_loop_server(void *arg) { |
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ColonetServer *object = (ColonetServer*) arg; |
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object->loop_server(); |
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return NULL; |
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} |
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/**
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* @brief Starts the server running (starts an infinite loop)
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*/
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int ColonetServer::run_server() {
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pthread_t server_thread; |
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pthread_create(&server_thread, NULL, launch_loop_server, this); |
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return 0; |
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} |
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/**
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* @brief Main loop of the server, runs periodic tasks
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*
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* @return 0 on success, negative error code on failure
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*/
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int ColonetServer::run_loop() {
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int refresh_virtual_wall_count = 0; |
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while(1) { |
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//sleep for a little bit so this program doesn't hog cpu
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usleep(10000);
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/* Refresh virtual wall. */
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if (refresh_virtual_wall_count++ == REFRESH_VIRTUAL_WALL_PERIOD) {
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fprintf(stderr, "Sending virtual wall info to robots.\n");
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refresh_virtual_wall_count = 0;
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virtual_wall.send_to_robots(); |
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} |
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} |
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return 0; |
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} |
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/**
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* @brief when the server receives a new wireless message, it calls this function to process it
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*
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* @param source - ID of robot that message is from.
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* @param dest - ID of internet client to send message to.
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* @param data - Data to send to internet client.
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* @param len - Length of the data param.
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*/
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int ColonetServer::process_received_wireless_message(int dest, char* data, int len) { |
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//try to pass the robot's response onto the client it wanted to respond to
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if (connection_pool->write_to_client(dest, data, len) == ERROR_INVALID_CLIENT_ID) {
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printf("The robot wanted to pass the data to a client not in the pool.\n");
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return -1; |
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} |
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printf("Processing data from robot: %s\n", data);
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return 0; |
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} |
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/**
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* @brief Initializes the wireless
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*
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* @return 0 on success, negative error code on error
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*/
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int ColonetServer::initialize_wireless() {
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char* log_filename = NULL; |
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if (optionsG.logging_enabled) {
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printf("Logging enabled. Log filename: %s\n", optionsG.log_filename);
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log_filename = optionsG.log_filename; |
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} else {
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printf("Logging disabled.\n");
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} |
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//initialize the wireless library giving it the port and the log file name
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if (colonet_wl_init(optionsG.wireless_port, log_filename) != 0) { |
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fprintf(stderr, "ERROR - colonet_wl_init failed.\n");
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return -1; |
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} |
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//call the function that will start the thread that will listen for wireless messages
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if (colonet_wl_run_listener_thread()) {
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fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n", __FUNCTION__);
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return -1; |
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} |
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return 0; |
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} |
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/**
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* @brief Initialize a connection to listen on
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*
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* @port The port to try to open to listen on
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*
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* @return 0 on success, negative error code on error
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*/
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int ColonetServer::initialize_connection(int port) { |
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printf("Initializing connection that will be used to listen for clients...\n");
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int options = 1; |
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struct sockaddr_in my_address;
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//get a socket fd
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if ((listen_socket = socket(AF_INET, SOCK_STREAM, 0)) < 0) { |
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printf("\tThere was an error creating socket\n");
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return -1; |
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} |
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//set up the address struct
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memset(&my_address,'\0',sizeof(my_address)); |
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my_address.sin_family = AF_INET; |
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my_address.sin_addr.s_addr = htonl(INADDR_ANY); |
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my_address.sin_port = htons(port); |
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setsockopt(listen_socket, SOL_SOCKET, SO_REUSEADDR, &options, sizeof(options));
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//get the current socket options
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if ((options = fcntl(listen_socket, F_GETFL)) < 0) { |
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printf("\tThere was an error getting the socket options.\n");
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return -1; |
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} |
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//set the socket to non blocking
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options = (options | O_NONBLOCK); |
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if (fcntl(listen_socket, F_SETFL, options) < 0) { |
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printf("\tThere was an error setting the socket to be non blocking.\n");
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return -1; |
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} |
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//bind the socket to listen on the specified port
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if (bind(listen_socket, (struct sockaddr *) &my_address, sizeof(my_address)) < 0) { |
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printf("\tThere was an error binding the socket\n");
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return -1; |
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} |
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return 0; |
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} |
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/**
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* @brief returns the position monitor
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*/
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PositionMonitor* ColonetServer::getPositionMonitor() { |
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return &position_monitor;
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} |
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VirtualWall* ColonetServer::getVirtualWall() { |
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return &virtual_wall;
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} |