root / trunk / code / projects / colonet / ColonetServer / ColonetServer.cpp @ 443
History | View | Annotate | Download (6.7 KB)
1 | 161 | emarinel | /**
|
---|---|---|---|
2 | 29 | jknichel | * @file ColonetServer.cpp
|
3 | 11 | emarinel | *
|
4 | * @brief colonet_server - primary server application for Colonet
|
||
5 | *
|
||
6 | * @author Jason Knichel
|
||
7 | * @author Eugene Marinelli
|
||
8 | * @date 10/31/06
|
||
9 | */
|
||
10 | |||
11 | 118 | emarinel | #include <arpa/inet.h> |
12 | #include <fcntl.h> |
||
13 | #include <errno.h> |
||
14 | #include <netinet/in.h> |
||
15 | #include <string.h> |
||
16 | 409 | emarinel | #include <unistd.h> |
17 | 11 | emarinel | #include <sys/select.h> |
18 | #include <sys/socket.h> |
||
19 | |||
20 | 20 | jknichel | #include <colonet_wireless.h> |
21 | |||
22 | 391 | emarinel | #include <ColonetServer.h> |
23 | #include <ConnectionPool.h> |
||
24 | #include <options.h> |
||
25 | #include <Log.h> |
||
26 | 11 | emarinel | |
27 | #define LISTEN_BACKLOG 5 |
||
28 | #define LOG_BUFFER_LENGTH 128 |
||
29 | 424 | emarinel | #define MAX_MSG_BUFFER_LENGTH 128 |
30 | 11 | emarinel | |
31 | 347 | emarinel | #define u_int32_t unsigned |
32 | |||
33 | 441 | jknichel | //TODO: is this needed anymore? it still compiles when i comment it out
|
34 | //static ConnectionPool* connection_pool;
|
||
35 | 20 | jknichel | |
36 | 29 | jknichel | /**
|
37 | * @brief Default constructor for ColonetServer
|
||
38 | */
|
||
39 | 426 | emarinel | ColonetServer::ColonetServer() { |
40 | 24 | jknichel | listen_socket = 0;
|
41 | 20 | jknichel | } |
42 | |||
43 | 29 | jknichel | /**
|
44 | * @brief Destructor for ColonetServer
|
||
45 | */
|
||
46 | 20 | jknichel | ColonetServer::~ColonetServer() { |
47 | } |
||
48 | |||
49 | 29 | jknichel | /**
|
50 | * @brief Initializes the various elements needed for the server to run
|
||
51 | *
|
||
52 | * @param argc The number of command line arguments passed to the program
|
||
53 | * @param argv The command line arguments passed to the program
|
||
54 | *
|
||
55 | * @return 0 on success, negative error code on failure
|
||
56 | */
|
||
57 | 20 | jknichel | int ColonetServer::initialize_server(int argc, char * argv[]) { |
58 | 426 | emarinel | options_parseCmdLine(argc, argv); |
59 | 20 | jknichel | |
60 | 426 | emarinel | if (optionsG.logging_enabled) {
|
61 | logger = new Log("colonet_server_log.txt"); |
||
62 | } |
||
63 | |||
64 | 27 | jknichel | if (initialize_connection(optionsG.listen_port) < 0) { |
65 | 20 | jknichel | return -1; |
66 | 27 | jknichel | } |
67 | 20 | jknichel | |
68 | 22 | jknichel | if (initialize_wireless() < 0) { |
69 | 20 | jknichel | fprintf(stderr, "%s: initWireless failed\n", __FUNCTION__);
|
70 | return -1; |
||
71 | } |
||
72 | |||
73 | return 0; |
||
74 | } |
||
75 | |||
76 | 29 | jknichel | /**
|
77 | * @brief Starts the server listening on the socket that was opened for listening
|
||
78 | *
|
||
79 | * @return 0 on success, negative error code on failure
|
||
80 | */
|
||
81 | 25 | jknichel | int ColonetServer::start_listening() {
|
82 | if (listen(listen_socket, LISTEN_BACKLOG) < 0) { |
||
83 | 426 | emarinel | if (optionsG.logging_enabled) {
|
84 | logger->log_error("\t\nThere was an error telling the socket to listen for connections from clients. "
|
||
85 | "Terminating Server...\n");
|
||
86 | } |
||
87 | 25 | jknichel | return -1; |
88 | } |
||
89 | 433 | emarinel | |
90 | 25 | jknichel | return 0; |
91 | } |
||
92 | 22 | jknichel | |
93 | 29 | jknichel | /**
|
94 | * @brief Starts the server running (starts an infinite loop)
|
||
95 | */
|
||
96 | 24 | jknichel | int ColonetServer::run_server() {
|
97 | 143 | jknichel | connection_pool.add_new_socket_to_pool(listen_socket); |
98 | 20 | jknichel | |
99 | 143 | jknichel | int accept_socket = 0; |
100 | struct sockaddr_in client_addr;
|
||
101 | socklen_t client_addr_size = sizeof(client_addr);
|
||
102 | 20 | jknichel | |
103 | 426 | emarinel | if (optionsG.logging_enabled) {
|
104 | logger->log_message("Server initialized. About to start listening for connections");
|
||
105 | } |
||
106 | 11 | emarinel | |
107 | 143 | jknichel | while(1) { |
108 | 409 | emarinel | |
109 | 143 | jknichel | connection_pool.perform_select(listen_socket); |
110 | 11 | emarinel | |
111 | 143 | jknichel | //either no descriptors are ready or there was an error
|
112 | if (connection_pool.get_number_clients_ready() <= 0) { |
||
113 | continue;
|
||
114 | } |
||
115 | 11 | emarinel | |
116 | 143 | jknichel | if (connection_pool.is_socket_ready_to_read(listen_socket)) {
|
117 | printf("Something is trying to connect...\n");
|
||
118 | if ((accept_socket = accept(listen_socket, (struct sockaddr*) &client_addr, &client_addr_size)) < 0) { |
||
119 | 424 | emarinel | if (errno == EMFILE) {
|
120 | printf("\tWhen attempting to accept a connection, reached the per process limit of file descriptors."
|
||
121 | " Dropping the new connection.\n");
|
||
122 | continue;
|
||
123 | } else {
|
||
124 | printf("\tThere was an error when attempting to accept a connection");
|
||
125 | } |
||
126 | continue;
|
||
127 | 11 | emarinel | } |
128 | |||
129 | 426 | emarinel | if (optionsG.logging_enabled) {
|
130 | 433 | emarinel | char log_buffer[LOG_BUFFER_LENGTH];
|
131 | snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s attempting to connect.",
|
||
132 | inet_ntoa(client_addr.sin_addr)); |
||
133 | logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
||
134 | 426 | emarinel | } |
135 | 11 | emarinel | |
136 | 143 | jknichel | if (connection_pool.add_client(accept_socket) < 0) { |
137 | 424 | emarinel | printf("\tThere was an error when trying to add a client to the connection pool.");
|
138 | continue;
|
||
139 | 11 | emarinel | } |
140 | |||
141 | 426 | emarinel | if (optionsG.logging_enabled) {
|
142 | 433 | emarinel | char log_buffer[LOG_BUFFER_LENGTH];
|
143 | 426 | emarinel | snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s successfully added to connection pool.",
|
144 | inet_ntoa(client_addr.sin_addr)); |
||
145 | logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
||
146 | } |
||
147 | 11 | emarinel | } |
148 | 143 | jknichel | |
149 | if (connection_pool.check_clients() < 0) { |
||
150 | printf("\tThere was an error trying to update the clients.");
|
||
151 | continue;
|
||
152 | } |
||
153 | 11 | emarinel | } |
154 | |||
155 | 20 | jknichel | return 0; |
156 | 11 | emarinel | } |
157 | 20 | jknichel | |
158 | 424 | emarinel | /**
|
159 | * @param source - ID of robot that message is from.
|
||
160 | * @param dest - ID of internet client to send message to.
|
||
161 | * @param data - Data to send to internet client.
|
||
162 | * @param len - Length of the data param.
|
||
163 | */
|
||
164 | int ColonetServer::process_received_wireless_message(int dest, char* data, int len) { |
||
165 | if (connection_pool.write_to_client(dest, data, len) == ERROR_INVALID_CLIENT_ID) {
|
||
166 | printf("The robot wanted to pass the data to a client not in the pool.\n");
|
||
167 | 140 | jknichel | return -1; |
168 | } |
||
169 | |||
170 | return 0; |
||
171 | 20 | jknichel | } |
172 | 22 | jknichel | |
173 | 29 | jknichel | /**
|
174 | * @brief Initializes the wireless
|
||
175 | *
|
||
176 | * @return 0 on success, negative error code on error
|
||
177 | */
|
||
178 | 27 | jknichel | int ColonetServer::initialize_wireless() {
|
179 | 23 | jknichel | char* log_filename = NULL; |
180 | 22 | jknichel | |
181 | 23 | jknichel | if (optionsG.logging_enabled) {
|
182 | 348 | emarinel | printf("Logging enabled. Log filename: %s\n", optionsG.log_filename);
|
183 | 23 | jknichel | log_filename = optionsG.log_filename; |
184 | 347 | emarinel | } else {
|
185 | printf("Logging disabled.\n");
|
||
186 | 23 | jknichel | } |
187 | |||
188 | 424 | emarinel | if (colonet_wl_init(optionsG.wireless_port, log_filename) != 0) { |
189 | 397 | emarinel | fprintf(stderr, "ERROR - colonet_wl_init failed.\n");
|
190 | return -1; |
||
191 | } |
||
192 | 347 | emarinel | |
193 | 164 | emarinel | if (colonet_wl_run_listener_thread()) {
|
194 | 348 | emarinel | fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n", __FUNCTION__);
|
195 | 34 | emarinel | return -1; |
196 | 161 | emarinel | } |
197 | 23 | jknichel | |
198 | 34 | emarinel | return 0; |
199 | 23 | jknichel | } |
200 | |||
201 | 29 | jknichel | /**
|
202 | * @brief Initialize a connection to listen on
|
||
203 | *
|
||
204 | * @port The port to try to open to listen on
|
||
205 | *
|
||
206 | * @return 0 on success, negative error code on error
|
||
207 | */
|
||
208 | 27 | jknichel | int ColonetServer::initialize_connection(int port) { |
209 | 348 | emarinel | printf("Initializing connection that will be used to listen for clients...\n");
|
210 | 27 | jknichel | int options = 1; |
211 | struct sockaddr_in my_address;
|
||
212 | 23 | jknichel | |
213 | //get a socket fd
|
||
214 | 24 | jknichel | if ((listen_socket = socket(AF_INET, SOCK_STREAM, 0)) < 0) { |
215 | 408 | emarinel | printf("\tThere was an error creating socket\n");
|
216 | 23 | jknichel | return -1; |
217 | } |
||
218 | |||
219 | //set up the address struct
|
||
220 | 27 | jknichel | memset(&my_address,'\0',sizeof(my_address)); |
221 | my_address.sin_family = AF_INET; |
||
222 | my_address.sin_addr.s_addr = htonl(INADDR_ANY); |
||
223 | my_address.sin_port = htons(port); |
||
224 | 161 | emarinel | |
225 | 27 | jknichel | setsockopt(listen_socket, SOL_SOCKET, SO_REUSEADDR, &options, sizeof(options));
|
226 | 23 | jknichel | |
227 | //get the current socket options
|
||
228 | 27 | jknichel | if ((options = fcntl(listen_socket, F_GETFL)) < 0) { |
229 | 23 | jknichel | printf("\tThere was an error getting the socket options.\n");
|
230 | return -1; |
||
231 | } |
||
232 | |||
233 | //set the socket to non blocking
|
||
234 | 27 | jknichel | options = (options | O_NONBLOCK); |
235 | if (fcntl(listen_socket, F_SETFL, options) < 0) { |
||
236 | 23 | jknichel | printf("\tThere was an error setting the socket to be non blocking.\n");
|
237 | return -1; |
||
238 | } |
||
239 | 161 | emarinel | |
240 | 23 | jknichel | //bind the socket to listen on the specified port
|
241 | 27 | jknichel | if (bind(listen_socket, (struct sockaddr *) &my_address, sizeof(my_address)) < 0) { |
242 | 23 | jknichel | printf("\tThere was an error binding the socket\n");
|
243 | return -1; |
||
244 | } |
||
245 | 161 | emarinel | |
246 | 23 | jknichel | return 0; |
247 | } |
||
248 | 443 | emarinel | |
249 | PositionMonitor ColonetServer::getPositionMonitor() { |
||
250 | return position_monitor;
|
||
251 | } |