root / trunk / code / projects / colonet / server / ColonetServer.cpp @ 768
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1 | 161 | emarinel | /**
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2 | 29 | jknichel | * @file ColonetServer.cpp
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3 | 11 | emarinel | *
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4 | * @brief colonet_server - primary server application for Colonet
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5 | *
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6 | * @author Jason Knichel
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7 | * @author Eugene Marinelli
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8 | * @date 10/31/06
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9 | */
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10 | |||
11 | 118 | emarinel | #include <arpa/inet.h> |
12 | #include <fcntl.h> |
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13 | #include <errno.h> |
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14 | #include <netinet/in.h> |
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15 | #include <string.h> |
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16 | 409 | emarinel | #include <unistd.h> |
17 | 11 | emarinel | #include <sys/select.h> |
18 | #include <sys/socket.h> |
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19 | |||
20 | 20 | jknichel | #include <colonet_wireless.h> |
21 | |||
22 | 391 | emarinel | #include <ColonetServer.h> |
23 | #include <ConnectionPool.h> |
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24 | #include <options.h> |
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25 | #include <Log.h> |
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26 | 11 | emarinel | |
27 | #define LISTEN_BACKLOG 5 |
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28 | #define LOG_BUFFER_LENGTH 128 |
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29 | 424 | emarinel | #define MAX_MSG_BUFFER_LENGTH 128 |
30 | 661 | jknichel | #define REFRESH_VIRTUAL_WALL_PERIOD 400 |
31 | 11 | emarinel | |
32 | 347 | emarinel | #define u_int32_t unsigned |
33 | |||
34 | 441 | jknichel | //TODO: is this needed anymore? it still compiles when i comment it out
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35 | //static ConnectionPool* connection_pool;
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36 | 20 | jknichel | |
37 | 29 | jknichel | /**
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38 | * @brief Default constructor for ColonetServer
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39 | */
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40 | 426 | emarinel | ColonetServer::ColonetServer() { |
41 | 24 | jknichel | listen_socket = 0;
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42 | 453 | emarinel | connection_pool = new ConnectionPool(this); |
43 | 20 | jknichel | } |
44 | |||
45 | 29 | jknichel | /**
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46 | * @brief Destructor for ColonetServer
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47 | */
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48 | 20 | jknichel | ColonetServer::~ColonetServer() { |
49 | } |
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50 | |||
51 | 29 | jknichel | /**
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52 | * @brief Initializes the various elements needed for the server to run
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53 | *
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54 | * @param argc The number of command line arguments passed to the program
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55 | * @param argv The command line arguments passed to the program
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56 | *
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57 | * @return 0 on success, negative error code on failure
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58 | */
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59 | 20 | jknichel | int ColonetServer::initialize_server(int argc, char * argv[]) { |
60 | 426 | emarinel | options_parseCmdLine(argc, argv); |
61 | 20 | jknichel | |
62 | 426 | emarinel | if (optionsG.logging_enabled) {
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63 | logger = new Log("colonet_server_log.txt"); |
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64 | } |
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65 | |||
66 | 27 | jknichel | if (initialize_connection(optionsG.listen_port) < 0) { |
67 | 20 | jknichel | return -1; |
68 | 27 | jknichel | } |
69 | 20 | jknichel | |
70 | 22 | jknichel | if (initialize_wireless() < 0) { |
71 | 20 | jknichel | fprintf(stderr, "%s: initWireless failed\n", __FUNCTION__);
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72 | return -1; |
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73 | } |
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74 | |||
75 | return 0; |
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76 | } |
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77 | |||
78 | 29 | jknichel | /**
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79 | * @brief Starts the server listening on the socket that was opened for listening
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80 | *
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81 | * @return 0 on success, negative error code on failure
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82 | */
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83 | 25 | jknichel | int ColonetServer::start_listening() {
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84 | if (listen(listen_socket, LISTEN_BACKLOG) < 0) { |
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85 | 426 | emarinel | if (optionsG.logging_enabled) {
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86 | logger->log_error("\t\nThere was an error telling the socket to listen for connections from clients. "
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87 | "Terminating Server...\n");
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88 | } |
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89 | 25 | jknichel | return -1; |
90 | } |
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91 | 433 | emarinel | |
92 | 25 | jknichel | return 0; |
93 | } |
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94 | 22 | jknichel | |
95 | 618 | jknichel | /**
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96 | * @brief The function that is run in the new pthread in order to do the position monitoring
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97 | *
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98 | * @param arg the argument to give to the new thread
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99 | */
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100 | 508 | emarinel | void* run_thread(void* arg) { |
101 | PositionMonitor* p = (PositionMonitor*) arg; |
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102 | p->run(); |
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103 | return NULL; |
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104 | } |
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105 | |||
106 | 618 | jknichel | /**
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107 | * @brief This function spawns a new thread to do the position monitoring based off data
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108 | * retrieved from the library that parses the image from the camera
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109 | */
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110 | 508 | emarinel | int ColonetServer::run_position_monitor() {
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111 | pthread_t posmon_thread; |
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112 | pthread_create(&posmon_thread, NULL, run_thread, &position_monitor);
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113 | |||
114 | return 0; |
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115 | } |
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116 | |||
117 | 29 | jknichel | /**
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118 | * @brief Starts the server running (starts an infinite loop)
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119 | */
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120 | 24 | jknichel | int ColonetServer::run_server() {
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121 | 618 | jknichel | //add the socket that you will listen to connections on to the connection pool
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122 | 453 | emarinel | connection_pool->add_new_socket_to_pool(listen_socket); |
123 | 20 | jknichel | |
124 | 143 | jknichel | int accept_socket = 0; |
125 | struct sockaddr_in client_addr;
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126 | socklen_t client_addr_size = sizeof(client_addr);
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127 | 20 | jknichel | |
128 | 426 | emarinel | if (optionsG.logging_enabled) {
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129 | logger->log_message("Server initialized. About to start listening for connections");
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130 | } |
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131 | 11 | emarinel | |
132 | 661 | jknichel | int refresh_virtual_wall_count = 0; |
133 | |||
134 | 143 | jknichel | while(1) { |
135 | 618 | jknichel | //sleep for a little bit so this program doesn't hog cpu
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136 | 469 | emarinel | usleep(10000);
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137 | |||
138 | 661 | jknichel | /* Refresh virtual wall. */
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139 | 662 | jknichel | if (refresh_virtual_wall_count++ == REFRESH_VIRTUAL_WALL_PERIOD) {
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140 | 661 | jknichel | fprintf(stderr, "Sending virtual wall info to robots.\n");
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141 | refresh_virtual_wall_count = 0;
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142 | virtual_wall.send_to_robots(); |
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143 | } |
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144 | |||
145 | 618 | jknichel | //tell the connection pool to look at the file descriptors and see which ones are ready
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146 | 453 | emarinel | connection_pool->perform_select(listen_socket); |
147 | 409 | emarinel | |
148 | 143 | jknichel | //either no descriptors are ready or there was an error
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149 | 453 | emarinel | if (connection_pool->get_number_clients_ready() <= 0) { |
150 | 143 | jknichel | continue;
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151 | } |
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152 | 11 | emarinel | |
153 | 618 | jknichel | //check to see if a new client is trying to connect
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154 | 453 | emarinel | if (connection_pool->is_socket_ready_to_read(listen_socket)) {
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155 | 143 | jknichel | printf("Something is trying to connect...\n");
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156 | 618 | jknichel | //accept the connection
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157 | 143 | jknichel | if ((accept_socket = accept(listen_socket, (struct sockaddr*) &client_addr, &client_addr_size)) < 0) { |
158 | 424 | emarinel | if (errno == EMFILE) {
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159 | printf("\tWhen attempting to accept a connection, reached the per process limit of file descriptors."
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160 | 618 | jknichel | " Dropping the new connection.\n");
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161 | 424 | emarinel | continue;
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162 | } else {
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163 | printf("\tThere was an error when attempting to accept a connection");
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164 | } |
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165 | continue;
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166 | 11 | emarinel | } |
167 | |||
168 | 426 | emarinel | if (optionsG.logging_enabled) {
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169 | 433 | emarinel | char log_buffer[LOG_BUFFER_LENGTH];
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170 | snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s attempting to connect.",
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171 | 648 | emarinel | inet_ntoa(client_addr.sin_addr)); |
172 | 433 | emarinel | logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
173 | 426 | emarinel | } |
174 | 11 | emarinel | |
175 | 618 | jknichel | //add the new client to the connection pool
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176 | 453 | emarinel | if (connection_pool->add_client(accept_socket) < 0) { |
177 | 424 | emarinel | printf("\tThere was an error when trying to add a client to the connection pool.");
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178 | continue;
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179 | 11 | emarinel | } |
180 | |||
181 | 426 | emarinel | if (optionsG.logging_enabled) {
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182 | 433 | emarinel | char log_buffer[LOG_BUFFER_LENGTH];
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183 | 426 | emarinel | snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s successfully added to connection pool.",
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184 | inet_ntoa(client_addr.sin_addr)); |
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185 | logger->log_string(LOG_TYPE_CONNECT, log_buffer); |
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186 | } |
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187 | 11 | emarinel | } |
188 | 143 | jknichel | |
189 | 618 | jknichel | //check all the clients in the connection pool
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190 | 453 | emarinel | if (connection_pool->check_clients() < 0) { |
191 | 143 | jknichel | printf("\tThere was an error trying to update the clients.");
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192 | } |
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193 | 11 | emarinel | } |
194 | |||
195 | 20 | jknichel | return 0; |
196 | 11 | emarinel | } |
197 | 20 | jknichel | |
198 | 424 | emarinel | /**
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199 | 618 | jknichel | * @brief when the server receives a new wireless message, it calls this function to process it
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200 | *
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201 | * @param source - ID of robot that message is from.
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202 | * @param dest - ID of internet client to send message to.
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203 | * @param data - Data to send to internet client.
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204 | * @param len - Length of the data param.
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205 | */
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206 | 424 | emarinel | int ColonetServer::process_received_wireless_message(int dest, char* data, int len) { |
207 | 618 | jknichel | //try to pass the robot's response onto the client it wanted to respond to
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208 | 453 | emarinel | if (connection_pool->write_to_client(dest, data, len) == ERROR_INVALID_CLIENT_ID) {
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209 | 424 | emarinel | printf("The robot wanted to pass the data to a client not in the pool.\n");
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210 | 140 | jknichel | return -1; |
211 | } |
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212 | 574 | gtress | printf("Processing data from robot: %s\n", data);
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213 | 140 | jknichel | return 0; |
214 | 20 | jknichel | } |
215 | 22 | jknichel | |
216 | 29 | jknichel | /**
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217 | * @brief Initializes the wireless
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218 | *
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219 | * @return 0 on success, negative error code on error
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220 | */
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221 | 27 | jknichel | int ColonetServer::initialize_wireless() {
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222 | 23 | jknichel | char* log_filename = NULL; |
223 | 22 | jknichel | |
224 | 23 | jknichel | if (optionsG.logging_enabled) {
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225 | 348 | emarinel | printf("Logging enabled. Log filename: %s\n", optionsG.log_filename);
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226 | 23 | jknichel | log_filename = optionsG.log_filename; |
227 | 347 | emarinel | } else {
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228 | printf("Logging disabled.\n");
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229 | 23 | jknichel | } |
230 | |||
231 | 618 | jknichel | //initialize the wireless library giving it the port and the log file name
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232 | 424 | emarinel | if (colonet_wl_init(optionsG.wireless_port, log_filename) != 0) { |
233 | 397 | emarinel | fprintf(stderr, "ERROR - colonet_wl_init failed.\n");
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234 | return -1; |
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235 | } |
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236 | 347 | emarinel | |
237 | 618 | jknichel | //call the function that will start the thread that will listen for wireless messages
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238 | 164 | emarinel | if (colonet_wl_run_listener_thread()) {
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239 | 348 | emarinel | fprintf(stderr, "%s: colonet_wl_run_listener_thread failed.\n", __FUNCTION__);
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240 | 34 | emarinel | return -1; |
241 | 161 | emarinel | } |
242 | 23 | jknichel | |
243 | 34 | emarinel | return 0; |
244 | 23 | jknichel | } |
245 | |||
246 | 29 | jknichel | /**
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247 | * @brief Initialize a connection to listen on
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248 | *
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249 | * @port The port to try to open to listen on
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250 | *
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251 | * @return 0 on success, negative error code on error
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252 | */
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253 | 27 | jknichel | int ColonetServer::initialize_connection(int port) { |
254 | 348 | emarinel | printf("Initializing connection that will be used to listen for clients...\n");
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255 | 27 | jknichel | int options = 1; |
256 | struct sockaddr_in my_address;
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257 | 23 | jknichel | |
258 | //get a socket fd
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259 | 24 | jknichel | if ((listen_socket = socket(AF_INET, SOCK_STREAM, 0)) < 0) { |
260 | 408 | emarinel | printf("\tThere was an error creating socket\n");
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261 | 23 | jknichel | return -1; |
262 | } |
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263 | |||
264 | //set up the address struct
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265 | 27 | jknichel | memset(&my_address,'\0',sizeof(my_address)); |
266 | my_address.sin_family = AF_INET; |
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267 | my_address.sin_addr.s_addr = htonl(INADDR_ANY); |
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268 | my_address.sin_port = htons(port); |
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269 | 161 | emarinel | |
270 | 27 | jknichel | setsockopt(listen_socket, SOL_SOCKET, SO_REUSEADDR, &options, sizeof(options));
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271 | 23 | jknichel | |
272 | //get the current socket options
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273 | 27 | jknichel | if ((options = fcntl(listen_socket, F_GETFL)) < 0) { |
274 | 23 | jknichel | printf("\tThere was an error getting the socket options.\n");
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275 | return -1; |
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276 | } |
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277 | |||
278 | //set the socket to non blocking
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279 | 27 | jknichel | options = (options | O_NONBLOCK); |
280 | if (fcntl(listen_socket, F_SETFL, options) < 0) { |
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281 | 23 | jknichel | printf("\tThere was an error setting the socket to be non blocking.\n");
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282 | return -1; |
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283 | } |
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284 | 161 | emarinel | |
285 | 23 | jknichel | //bind the socket to listen on the specified port
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286 | 27 | jknichel | if (bind(listen_socket, (struct sockaddr *) &my_address, sizeof(my_address)) < 0) { |
287 | 23 | jknichel | printf("\tThere was an error binding the socket\n");
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288 | return -1; |
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289 | } |
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290 | 161 | emarinel | |
291 | 23 | jknichel | return 0; |
292 | } |
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293 | 443 | emarinel | |
294 | 618 | jknichel | /**
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295 | * @brief returns the position monitor
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296 | */
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297 | 444 | emarinel | PositionMonitor* ColonetServer::getPositionMonitor() { |
298 | return &position_monitor;
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299 | 443 | emarinel | } |
300 | 659 | jknichel | |
301 | VirtualWall* ColonetServer::getVirtualWall() { |
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302 | return &virtual_wall;
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303 | } |