From 0c731a4093168094cc28d161907fd73c27ba334b Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Thu, 27 Oct 2016 11:18:58 -0500
Subject: [PATCH] Began backend socket
---
groundStation/src/config.h | 9 ++++++
groundStation/src/microcart_cli.c | 49 +++++++++++++++++++++++++++++--
2 files changed, 55 insertions(+), 3 deletions(-)
create mode 100644 groundStation/src/config.h
diff --git a/groundStation/src/config.h b/groundStation/src/config.h
new file mode 100644
index 00000000..c5a2582e
--- /dev/null
+++ b/groundStation/src/config.h
@@ -0,0 +1,9 @@
+#ifndef __BACKEND_H
+#define __BACKEND_H
+
+
+#define DEFAULT_SOCKET "/var/run/ucart.socket"
+#define SOCKET_ENV "UCART_SOCKET"
+
+
+#endif
diff --git a/groundStation/src/microcart_cli.c b/groundStation/src/microcart_cli.c
index bf2fbc95..4f9ca016 100644
--- a/groundStation/src/microcart_cli.c
+++ b/groundStation/src/microcart_cli.c
@@ -9,6 +9,7 @@
#include <unistd.h>
#include <signal.h>
#include <sys/socket.h>
+#include <sys/un.h>
#include <sys/select.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
@@ -21,6 +22,7 @@
#include "vrpn_tracker.hpp"
#include "type_def.h"
#include "logger.h"
+#include "config.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL 0x01
@@ -52,6 +54,7 @@ static ssize_t writeQuad(const char * buf, size_t count);
static volatile int keepRunning = 1;
const char *TRACKER_IP = "UAV@192.168.0.120:3883";
static int zyboSocket;
+static int backendSocket;
struct ucart_vrpn_tracker * tracker = NULL;
const char *logHeader = "";//"#\n#\tDefault log header\n#\tEverything after '#'`s will be printed as is in the processed logs.\n#\n\0";
@@ -92,6 +95,41 @@ int main(int argc, char **argv)
fd_set rfds;
int activity;
int max_fd = 0;
+ FD_ZERO(&rfds);
+
+ /*
+ * Create backend listening socket
+ */
+ /* Determine socket path */
+ char * backend_socket_path = DEFAULT_SOCKET;
+ if (getenv(SOCKET_ENV)) {
+ backend_socket_path = getenv(SOCKET_ENV);
+ }
+ /* Unlink if it exists */
+ unlink(backend_socket_path);
+
+ /* Create socket */
+ backendSocket = socket(AF_UNIX, SOCK_STREAM | SOCK_NONBLOCK, 0);
+ if (backendSocket < 0) {
+ err(-1, "socket");
+ }
+
+ /* Create sockaddr and bind */
+ struct sockaddr_un sa;
+ sa.sun_family = AF_UNIX;
+ strncpy(sa.sun_path, backend_socket_path, 107);
+ sa.sun_path[107] = '\0';
+ if (bind(backendSocket, (struct sockaddr *) &sa, sizeof(sa))) {
+ err(-1, "bind");
+ }
+
+ /* Listen */
+ if (listen(backendSocket, 16)) {
+ err(-1, "listen");
+ }
+
+ /* Add to socket set */
+ safe_fd_set(backendSocket, &rfds, &max_fd);
signal(SIGINT, killHandler);
@@ -123,8 +161,6 @@ int main(int argc, char **argv)
// writeStringToLog(logHeader);
- // clear the fd set
- FD_ZERO(&rfds);
// watch for input from stdin (fd 0) to see when it has input
safe_fd_set(fileno(stdin), &rfds, &max_fd);
// watch for input from the zybo socket
@@ -148,7 +184,7 @@ int main(int argc, char **argv)
if(activity == -1) {
perror("select() ");
} else if (activity) {
- for(unsigned int fd = 0; fd <= max_fd; ++fd) {
+ for(int fd = 0; fd <= max_fd; ++fd) {
if (FD_ISSET(fd, &rfds)) {
if (fd == fileno(stdin)) {
unsigned char userCommand[CMD_MAX_LENGTH] = {};
@@ -180,6 +216,13 @@ int main(int argc, char **argv)
memset(userCommand, 0, cmdLen);
} else if (fd == zyboSocket) {
+ } else if (fd == backendSocket) {
+ int new_fd = 0;
+ new_fd = accept(backendSocket, NULL, NULL);
+ if (new_fd < 0) {
+ warn("accept");
+ } else {
+ }
}
}
}
--
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