/* fpont 1/00 */ /* pont.net */ #include #include #include #include #include #include #include /* close */ #include #define SUCCESS 0 #define ERROR 1 #define END_LINE 0x0 #define SERVER_PORT 1500 #define MAX_MSG 100 #define FORWARD 7 #define REVERSE 5 #define RIGHT 4 #define LEFT 3 int debug=0; /* function readline */ int read_line(); void enable(unsigned int pinset); void disable(unsigned int pinset); int poll(int pin); void processMsg(char *msg); int main (int argc, char *argv[]) { int sd, newSd, cliLen; struct sockaddr_in cliAddr, servAddr; char line[MAX_MSG]; /* create socket */ sd = socket(AF_INET, SOCK_STREAM, 0); if(sd<0) { perror("cannot open socket "); return ERROR; } /* bind server port */ servAddr.sin_family = AF_INET; servAddr.sin_addr.s_addr = htonl(INADDR_ANY); servAddr.sin_port = htons(SERVER_PORT); if(bind(sd, (struct sockaddr *) &servAddr, sizeof(servAddr))<0) { perror("cannot bind port "); return ERROR; } listen(sd,5); while(1) { printf("%s: waiting for data on port TCP %u\n",argv[0],SERVER_PORT); cliLen = sizeof(cliAddr); newSd = accept(sd, (struct sockaddr *) &cliAddr, &cliLen); if(newSd<0) { perror("cannot accept connection "); return ERROR; } /* init line */ memset(line,0x0,MAX_MSG); /* receive segments */ while(read_line(newSd,line)!=ERROR) { printf("%s: received from %s:TCP%d : %s\n", argv[0], inet_ntoa(cliAddr.sin_addr), ntohs(cliAddr.sin_port), line); /* init line */ processMsg(line); memset(line,0x0,MAX_MSG); } /* while(read_line) */ } /* while (1) */ } /* WARNING WARNING WARNING WARNING WARNING WARNING WARNING */ /* this function is experimental.. I don't know yet if it works */ /* correctly or not. Use Steven's readline() function to have */ /* something robust. */ /* WARNING WARNING WARNING WARNING WARNING WARNING WARNING */ /* rcv_line is my function readline(). Data is read from the socket when */ /* needed, but not byte after bytes. All the received data is read. */ /* This means only one call to recv(), instead of one call for */ /* each received byte. */ /* You can set END_CHAR to whatever means endofline for you. (0x0A is \n)*/ /* read_lin returns the number of bytes returned in line_to_return */ int read_line(int newSd, char *line_to_return) { static int rcv_ptr=0; static char rcv_msg[MAX_MSG]; static int n; int offset; offset=0; while(1) { if(rcv_ptr==0) { /* read data from socket */ memset(rcv_msg,0x0,MAX_MSG); /* init buffer */ n = recv(newSd, rcv_msg, MAX_MSG, 0); /* wait for data */ if (n<0) { perror(" cannot receive data "); return ERROR; } else if (n==0) { printf(" connection closed by client\n"); close(newSd); return ERROR; } } /* if new data read on socket */ /* OR */ /* if another line is still in buffer */ /* copy line into 'line_to_return' */ while(*(rcv_msg+rcv_ptr)!=END_LINE && rcv_ptr return line */ if(rcv_ptr==n-1) { /* set last byte to END_LINE */ *(line_to_return+offset)=END_LINE; rcv_ptr=0; return ++offset; } /* end of line but still some data in buffer => return line */ if(rcv_ptr */ /* wait for more data to arrive on socket */ if(rcv_ptr == n) { rcv_ptr = 0; } } /* while */ } void enable(unsigned int pinset) { unsigned int gpio; unsigned int pin=1<