mirror of https://github.com/ArduPilot/ardupilot
336 lines
7.8 KiB
C++
336 lines
7.8 KiB
C++
// -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Copyright (c) 2010 Michael Smith. All rights reserved.
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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//
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include <limits.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <stdarg.h>
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#include <AP_Math.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include "print_vprintf.h"
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#include "UARTDriver.h"
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#include "SITL_State.h"
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using namespace AVR_SITL;
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#define LISTEN_BASE_PORT 5760
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// On OSX, MSG_NOSIGNAL doesn't exist. The equivalent is to set SO_NOSIGPIPE
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// in setsockopt for the socket. However, if we just skip that, and don't use
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// MSG_NOSIGNAL, everything seems to work fine and SIGPIPE doesn't seem to be
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// generated.
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#ifndef MSG_NOSIGNAL
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#define MSG_NOSIGNAL 0
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#endif
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bool SITLUARTDriver::_console;
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/* UARTDriver method implementations */
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void SITLUARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
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{
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if (txSpace != 0) {
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_txSpace = txSpace;
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}
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if (rxSpace != 0) {
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_rxSpace = rxSpace;
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}
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switch (_portNumber) {
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case 0:
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_tcp_start_connection(true);
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break;
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case 1:
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/* gps */
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_connected = true;
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_fd = _sitlState->gps_pipe();
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break;
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default:
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_tcp_start_connection(false);
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break;
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}
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}
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void SITLUARTDriver::end()
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{
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}
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int16_t SITLUARTDriver::available(void)
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{
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_check_connection();
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if (!_connected) {
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return 0;
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}
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if (_select_check(_fd)) {
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#ifdef FIONREAD
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// use FIONREAD to get exact value if possible
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int num_ready;
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if (ioctl(_fd, FIONREAD, &num_ready) == 0) {
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if (num_ready > _rxSpace) {
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return _rxSpace;
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}
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if (num_ready == 0) {
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// EOF is reached
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fprintf(stdout, "Closed connection on serial port %u\n", _portNumber);
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close(_fd);
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_connected = false;
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return 0;
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}
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return num_ready;
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}
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#endif
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return 1; // best we can do is say 1 byte available
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}
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return 0;
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}
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int16_t SITLUARTDriver::txspace(void)
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{
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// always claim there is space available
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return _txSpace;
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}
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int16_t SITLUARTDriver::read(void)
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{
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char c;
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if (available() <= 0) {
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return -1;
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}
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if (_portNumber == 1) {
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if (_sitlState->gps_read(_fd, &c, 1) == 1) {
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return (uint8_t)c;
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}
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return -1;
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}
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if (_console) {
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return ::read(0, &c, 1);
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}
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int n = recv(_fd, &c, 1, MSG_DONTWAIT | MSG_NOSIGNAL);
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if (n <= 0) {
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// the socket has reached EOF
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close(_fd);
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_connected = false;
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fprintf(stdout, "Closed connection on serial port %u\n", _portNumber);
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fflush(stdout);
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return -1;
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}
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if (n == 1) {
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return (uint8_t)c;
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}
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return -1;
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}
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void SITLUARTDriver::flush(void)
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{
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}
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size_t SITLUARTDriver::write(uint8_t c)
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{
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int flags = MSG_NOSIGNAL;
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_check_connection();
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if (!_connected) {
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return 0;
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}
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if (_nonblocking_writes) {
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flags |= MSG_DONTWAIT;
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}
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if (_console) {
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return ::write(_fd, &c, 1);
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}
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return send(_fd, &c, 1, flags);
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}
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// BetterStream method implementations /////////////////////////////////////////
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void SITLUARTDriver::print_P(const prog_char_t *s)
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{
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char c;
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while ('\0' != (c = pgm_read_byte((const prog_char *)s++)))
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write(c);
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}
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void SITLUARTDriver::println_P(const prog_char_t *s)
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{
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print_P(s);
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println();
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}
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void SITLUARTDriver::printf(const char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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vprintf(fmt, ap);
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va_end(ap);
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}
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void SITLUARTDriver::vprintf(const char *fmt, va_list ap) {
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print_vprintf((AP_HAL::Print*)this, 0, fmt, ap);
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}
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void SITLUARTDriver::_printf_P(const prog_char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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vprintf_P(fmt, ap);
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va_end(ap);
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}
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void SITLUARTDriver::vprintf_P(const prog_char *fmt, va_list ap) {
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print_vprintf((AP_HAL::Print*)this, 1, fmt, ap);
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}
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/*
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start a TCP connection for the serial port. If wait_for_connection
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is true then block until a client connects
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*/
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void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
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{
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int one=1;
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struct sockaddr_in sockaddr;
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int ret;
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if (_connected) {
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return;
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}
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if (_console) {
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// hack for console access
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_connected = true;
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_listen_fd = -1;
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_fd = 1;
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return;
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}
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if (_fd != -1) {
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close(_fd);
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}
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if (_listen_fd == -1) {
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memset(&sockaddr,0,sizeof(sockaddr));
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(LISTEN_BASE_PORT + _portNumber);
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sockaddr.sin_family = AF_INET;
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_listen_fd = socket(AF_INET, SOCK_STREAM, 0);
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if (_listen_fd == -1) {
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fprintf(stderr, "socket failed - %s\n", strerror(errno));
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exit(1);
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}
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/* we want to be able to re-use ports quickly */
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setsockopt(_listen_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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fprintf(stderr, "bind port %u for %u\n",
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(unsigned)ntohs(sockaddr.sin_port),
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(unsigned)_portNumber),
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ret = bind(_listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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if (ret == -1) {
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fprintf(stderr, "bind failed on port %u - %s\n",
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(unsigned)ntohs(sockaddr.sin_port),
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strerror(errno));
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exit(1);
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}
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ret = listen(_listen_fd, 5);
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if (ret == -1) {
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fprintf(stderr, "listen failed - %s\n", strerror(errno));
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exit(1);
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}
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fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber);
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fflush(stdout);
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}
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if (wait_for_connection) {
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fprintf(stdout, "Waiting for connection ....\n");
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fflush(stdout);
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_fd = accept(_listen_fd, NULL, NULL);
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if (_fd == -1) {
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fprintf(stderr, "accept() error - %s", strerror(errno));
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exit(1);
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}
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setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
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_connected = true;
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}
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}
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/*
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see if a new connection is coming in
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*/
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void SITLUARTDriver::_check_connection(void)
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{
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if (_connected) {
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// we only want 1 connection at a time
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return;
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}
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if (_select_check(_listen_fd)) {
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_fd = accept(_listen_fd, NULL, NULL);
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if (_fd != -1) {
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int one = 1;
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_connected = true;
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setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
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setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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fprintf(stdout, "New connection on serial port %u\n", _portNumber);
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}
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}
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}
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/*
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use select() to see if something is pending
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*/
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bool SITLUARTDriver::_select_check(int fd)
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{
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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// zero time means immediate return from select()
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tv.tv_sec = 0;
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tv.tv_usec = 0;
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if (select(fd+1, &fds, NULL, NULL, &tv) == 1) {
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return true;
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}
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return false;
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}
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void SITLUARTDriver::_set_nonblocking(int fd)
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{
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unsigned v = fcntl(fd, F_GETFL, 0);
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fcntl(fd, F_SETFL, v | O_NONBLOCK);
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}
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#endif
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