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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 <sys/select.h> |
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#include <sys/socket.h> |
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#include <colonet_wireless.h> |
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#include "includes/ColonetServer.h" |
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#include "includes/ConnectionPool.h" |
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#include "includes/wirelessMessageHandler.h" |
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#include "includes/options.h" |
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#include "includes/Log.h" |
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#define LISTEN_BACKLOG 5 |
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#define LOG_BUFFER_LENGTH 128 |
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ConnectionPool * connection_pool; |
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/**
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* @brief Default constructor for ColonetServer
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*/
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ColonetServer::ColonetServer(): logger("logFile.txt") {
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listen_socket = 0;
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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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printf("Initializing Server...\n");
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parseCmdLine(argc, argv); |
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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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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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logger.log_error("\t\nThere was an error telling the socket to "
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"listen for connections from clients. Terminating Server...\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 Starts the server running (starts an infinite loop)
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*/
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int ColonetServer::run_server() {
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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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logger.log_message("Server initialized. About to start listening for connections");
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while(1) { |
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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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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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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, "
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"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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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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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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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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if (connection_pool.check_clients() < 0) { |
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printf("\tThere was an error trying to update the clients.");
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continue;
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} |
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} |
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return 0; |
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} |
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int ColonetServer::process_received_wireless_message(unsigned char type, short source, int dest, |
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unsigned char * data, int len) { |
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if (type == COLONET_RESPONSE) {
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printf("response\n");
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char buffer[WRITE_BUFFER_SIZE];
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int value = (int)(data[0]); |
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snprintf(buffer, WRITE_BUFFER_SIZE, "%d\n", value);
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int buflen = strlen(buffer);
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if (connection_pool.write_to_client(dest, buffer, buflen)
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== ERROR_INVALID_CLIENT_ID) { |
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printf("The robot wanted to pass the data to a client not in the "
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"pool.\n");
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return -1; |
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} |
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printf("Put data in write buffer for client.\n");
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} else {
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printf("not a response\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 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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log_filename = optionsG.log_filename; |
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} |
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/*
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colonet_wl_init(optionsG.wireless_port, wirelessMessageHandler,
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log_filename);
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if (!colonet_wl_run_listener_thread()) {
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fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n",
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__FUNCTION__);
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return -1;
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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 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 "
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"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 a 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 The main function of the server
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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 error
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*/
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ColonetServer colonet_server; |
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int main(int argc, char** argv) { |
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if (colonet_server.initialize_server(argc, argv) < 0) { |
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printf("\t\nThere was an error initializing the server. "
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"Terminating server...\n");
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return -1; |
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} |
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if (colonet_server.start_listening() < 0) { |
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return -1; |
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} |
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colonet_server.run_server(); |
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return 0; |
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} |