/* -*- Mode: C++ -*- */ /* netif.C * CMUnited99 (soccer client for Robocup99) * Peter Stone * Computer Science Department * Carnegie Mellon University * Copyright (C) 1999 Peter Stone * * CMUnited-99 was created by Peter Stone, Patrick Riley, and Manuela Veloso * * You may copy and distribute this program freely as long as you retain this notice. * If you make any changes or have any comments we would appreciate a message. * For more information, please see http://www.cs.cmu.edu/~robosoccer/ */ /* * udp client program. */ #include #include "netif.h" #include "client.h" int wait_message(char *buf, Socket *sock) { if (receive_message(buf, sock) == 1) { while (receive_message(buf, sock) == 1); return 1; } else for (int i = 0; i < 100; i++) { if (receive_message(buf, sock) == 1) return 1; //my_error("sleeping, waiting for message"); usleep(50000); } return 0; } Socket init_connection(char *host, int port) { struct hostent *host_ent ; struct in_addr *addr_ptr ; struct sockaddr_in cli_addr ; int sockfd, val ; Socket sock ; sock.socketfd = -1 ; if((host_ent = (struct hostent *)gethostbyname(host)) == NULL) { /* Check if a numeric address */ if((int)inet_addr(host) == -1){ return sock ; } } else{ addr_ptr = (struct in_addr *) *host_ent->h_addr_list ; host = inet_ntoa(*addr_ptr) ; } sigset_t sigmask; sigemptyset(&sigmask); sigaddset(&sigmask, SIGIO); sigprocmask(SIG_BLOCK, &sigmask, NULL); /* * Open UDP socket. */ if( (sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0){ return sock ; /* Can't open socket. */ } if (fcntl(sockfd, F_SETOWN, getpid()) == -1) return sock; val = fcntl(sockfd, F_GETFL, 0) ; /* was "defined NewsOS || defined IRIX" */ #if 1 val |= O_NDELAY ; #else val |= O_NONBLOCK ; #endif val |= FASYNC; fcntl(sockfd, F_SETFL, val) ; /* * Bind any local address. */ bzero((char *) &cli_addr, sizeof(cli_addr)) ; cli_addr.sin_family = AF_INET ; cli_addr.sin_addr.s_addr = htonl(INADDR_ANY) ; cli_addr.sin_port = htons(0) ; if(bind(sockfd, (struct sockaddr *) &cli_addr, sizeof(cli_addr)) < 0){ return sock ; /* Can't bind local address */ } /* * Fill in the structure with the address of the server. */ sock.socketfd = sockfd ; bzero((char *) &sock.serv_addr, sizeof(sock.serv_addr)) ; sock.serv_addr.sin_family = AF_INET ; sock.serv_addr.sin_addr.s_addr = inet_addr(host) ; sock.serv_addr.sin_port = htons(port) ; return sock ; } int send_message(char *buf, Socket *sock) { //struct timeval tv_new; int n ; if (!buf) return 0; n = strlen(buf) ; if (Mem->CP_save_log && Mem->Initialized) fprintf(Mem->SaveLogFile, ">> %s\n\n",buf); /* not needed after server 5.23 gettimeofday(&tv_new, NULL); // no time zone info; Mem->SetRealTimeOfLastSend(tv_new); */ if( sendto(sock->socketfd, buf, n, 0, (struct sockaddr *)&sock->serv_addr, sizeof(sock->serv_addr)) != n ) return (-1) ; else { return 0; } } int receive_message(char *buf, Socket *sock) { int n,servlen ; struct sockaddr_in serv_addr ; servlen = sizeof(serv_addr) ; n = recvfrom(sock->socketfd, buf, MAXMESG, 0, (struct sockaddr *)&serv_addr, &servlen); if(n < 0) if( n == -1 && errno == EWOULDBLOCK){ /* buf[0] = '\0' ; by Pat- don't want to erase previous messages */ /* my_error("Receive would block: %d", sock->socketfd); */ return 0 ; } else { my_error("Receive error: %d on %d", errno, sock->socketfd); perror(""); fflush(stderr); return (-1) ; } else{ buf[n] = '\0' ; if (Mem->CP_save_log && Mem->Initialized){ fprintf(Mem->SaveLogFile, "%s\n", buf); if (Mem->SaveLogCounter++ % Mem->CP_save_freq == 0){ fclose(Mem->SaveLogFile); Mem->SaveLogFile = fopen(Mem->SaveLogFileName,"a"); } } if (Mem->CP_save_sound_log && Mem->Initialized && buf[1] == 'h'){ /* Hear message */ fprintf(Mem->SaveSoundLogFile, "%s\n", buf); if (Mem->SaveSoundLogCounter++ % Mem->CP_save_sound_freq == 0){ fclose(Mem->SaveSoundLogFile); Mem->SaveSoundLogFile = fopen(Mem->SaveSoundLogFileName,"a"); } } sock->serv_addr.sin_port = serv_addr.sin_port ; if(n == 0) { my_error("Received null message"); return 0 ; } else return 1 ; } } void close_connection(Socket *sock) { close(sock->socketfd) ; }
