ListeningSocket.cc

/*  
    (C) Copyright 2005, ActivMedia Robotics LLC <http://www.activmedia.com>
    (C) Copyright 2006-2010 MobileRobots, Inc. <http://www.mobilerobots.com>
    (C) Copyright 2011-2015 Adept MobileRobots <http://www.mobilerobots.com>
    (C) Copyright 2016-2017 Omron Adept Technologies

    This 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.

    This software 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 this software; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "ListeningSocket.hh"
#include "MobileSim.hh"

#include "RobotFactory.hh"

ListeningSocket::ListeningSocket()
{
  //ArLog::log(ArLog::Normal, "ListeningSocket ctor");
}

ListeningSocket::~ListeningSocket()
{
  //ArLog::log(ArLog::Normal, "ListeningSocket dtor");
}

ArSocket *ListeningSocket::init(int port, RobotFactory *parentFactory, const char *listenAddress/* = NULL*/)
{
  myPort = port;
  myFactory = parentFactory;
  if(mySocket.open(myPort, ArSocket::TCP, listenAddress))
  {
    mySocket.setNonBlock();
    mySocket.setReuseAddress();

    //ArLog::log(ArLog::Normal, "ListeningSocket: Opened socket for RobotFactory(%s)", myFactory->getModelName().c_str());
    return &mySocket;
  }
  else
  {
    ArLog::log(ArLog::Normal, "ListeningSocket: Error %d opening socket on port %d for RobotFactory(%s): %s\n",
        mySocket.getError(), myPort, myFactory->getModelName().c_str(), mySocket.getErrorStr().c_str());
    return NULL;
  }
}

void * ListeningSocket::runThread(void *arg)
{
  threadStarted();

  while (myRunning) {

    runLoop();

    //ArUtil::sleep(1); // TODO: For how long?

  }
  threadFinished();
  return NULL;

} // end method runThread

void ListeningSocket::runLoop()
{
  //ArLog::log(ArLog::Normal, "ListeningSocket::runLoop()");

  //ArLog::log(ArLog::Normal, "ListeningSocket: listening on port (%d), fd = %d", myPort, mySocket.getFD());

  //ArLog::log(ArLog::Normal, "ListeningSocket: about to 'select', blocking");

  fd_set readfds;

  FD_SET( mySocket.getFD(), &readfds );

  int maxfd = mySocket.getFD();

  int activity = select( maxfd + 1, &readfds, NULL, NULL, NULL );

  if (activity < 0)
    ArLog::log(ArLog::Normal, "ListeningSocket: select error");
  if (activity == 0)
    return;

  if( FD_ISSET( mySocket.getFD(), &readfds ) )
  {
    //ArLog::log(ArLog::Normal, "ListeningSocket: Activity on ListeningSocket. Creating new connection", mySocket.getFD());


    ArSocket *clientSocket = new ArSocket;
    if(!mySocket.accept(clientSocket))
    {
      ArLog::log(ArLog::Normal, "ListeningSocket: error accepting client:");
      ArLog::log(ArLog::Normal, mySocket.getErrorStr().c_str());
      delete clientSocket;
      return;
    }
    if(!clientSocket->isOpen())
    {
      ArLog::log(ArLog::Normal, "ListeningSocket: error accepting client: new client socket not open.");
      delete clientSocket;
      return;
    }

    //ArLog::log(ArLog::Normal, "ListeningSocket: Accepted client. Sending to RobotFactory...");

    myFactory->acceptNewClientFromListenerThread(clientSocket);

  }
  else
  {
    //ArLog::log(ArLog::Normal, "ListeningSocket: No activity on ListeningSocket");
  }
}