/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8: * $Id: Server.cpp,v 2.5 2003/03/25 17:25:23 tramm Exp $ * * (c) Aaron Kahn * (c) Trammell Hudson * * Socket manipulation code for the server side * ************* * * This file is part of the autopilot simulation package. * * For more details: * * http://autopilot.sourceforge.net/ * * Autopilot 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. * * Autopilot 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 Autopilot; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ #include #include #include #include #include #include #include #include #include #include #include "macros.h" namespace libstate { using namespace std; using namespace util; static void command_nop( void * UNUSED( priv ), const host_t * UNUSED( src ), int UNUSED( type ), const struct timeval * UNUSED( when ), const void * UNUSED( data ), size_t UNUSED( len ) ) { } static void command_open( void * priv, const host_t * src, int UNUSED( type ), const struct timeval * UNUSED( when ), const void * UNUSED( data ), size_t UNUSED( len ) ) { Server * self = (Server*) priv; self->add_client( src ); } Server::Server( int port ) : sock(-1) { this->serve( port ); } Server::Server( const char * server_host, int server_port, int port ) : sock(-1) { this->serve( port ); this->connect( server_host, server_port ); } void Server::serve( int port ) { if( this->sock >= 0 ) close( this->sock ); // Create the socket this->sock = udp_serve( port ); if( this->sock < 0 ) { perror( "socket" ); return; } int yes = 1; if( setsockopt( this->sock, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int) ) < 0 ) { perror("setsockopt"); return; } host_t self; udp_self( this->sock, &self ); cerr sock // Zero our handler table and install the defaults for( int i=0 ; i < COMMAND_MAX ; i++ ) this->handle( i, 0, 0 ); this->handle( COMMAND_NOP, command_nop, 0 ); this->handle( COMMAND_ACK, command_nop, 0 ); this->handle( COMMAND_OPEN, command_open, (void*) this ); } void Server::connect( const char * hostname, int port ) { if( host_lookup( &this->server, hostname, port ) < 0 ) { perror( hostname ); return; } /* Try to connect */ udp_send( this->sock, &this->server, COMMAND_OPEN, 0, 0 ); } void Server::add_client( const host_t * src ) { cout udp_send( this->sock, src, COMMAND_ACK, 0, 0 ); /* Don't add a client more than once */ FOR_ALL_CONST( clientmap_t, client, this->clients, if( client->sin_addr.s_addr == src->sin_addr.s_addr && client->sin_port == src->sin_port ) return; ); this->clients.push_back( *src ); } void Server::del_client( const host_t * src ) { cout FOR_ALL( clientmap_t, client, this->clients, if( client->sin_addr.s_addr == src->sin_addr.s_addr && client->sin_port == src->sin_port ) this->clients.erase( client ); ); udp_send( this->sock, src, COMMAND_ACK, 0, 0 ); } void Server::send_packet( int type, const void * buf, size_t len ) { struct timeval now; gettimeofday( &now, 0 ); FOR_ALL_CONST( clientmap_t, i, this->clients, const host_t &client( *i ); udp_send_raw( this->sock, &client, type, &now, buf, len ); ); } void Server::send_command( int type ) { udp_send( this->sock, &this->server, type, 0, 0 ); } void Server::send_parameter( int type, double value ) { udp_send( this->sock, &this->server, type, &value, sizeof(value) ); } int Server::poll( int usec ) { return udp_poll( this->sock, usec ); } int Server::get_packet() { int len; host_t src; char buf[ 1024 ]; char * data; struct timeval * when; uint32_t type; len = udp_read( this->sock, &src, buf, sizeof(buf) ); len -= sizeof( struct timeval ) + sizeof( uint32_t ); data = udp_parse( buf, &when, &type ); if( type > COMMAND_MAX ) { cerr return -1; } if( !this->handlers[type].func ) { cerr } else { this->handlers[type].func( this->handlers[type].data, &src, type, when, data, len ); } return type; } Server::~Server() { close( this->sock ); } void Server::update( int UNUSED( fd ), void * voidp ) { Server * server = (Server*) voidp; server->get_packet(); } void Server::process_ahrs( void * priv, const host_t * src, int UNUSED( type ), const struct timeval * when, const void* data, size_t len ) { static struct timeval last_packet; state_t * state = (state_t*) priv; if( len != sizeof( state_t ) ) { cerr return; } if( timercmp( &last_packet, when, > ) ) { cerr return; } last_packet = *when; memcpy( (void*) state, (void*) data, sizeof(state_t) ); } }
