diff options
Diffstat (limited to 'src/robot/ur-sim/ur-sim.c')
| -rw-r--r-- | src/robot/ur-sim/ur-sim.c | 137 |
1 files changed, 137 insertions, 0 deletions
diff --git a/src/robot/ur-sim/ur-sim.c b/src/robot/ur-sim/ur-sim.c new file mode 100644 index 0000000..22a9f80 --- /dev/null +++ b/src/robot/ur-sim/ur-sim.c @@ -0,0 +1,137 @@ +/****************************************************************************** + * Copyright (C) 2020 Alejandro Colomar Andrés * + * SPDX-License-Identifier: GPL-2.0-only * + ******************************************************************************/ + + +/****************************************************************************** + ******* include ************************************************************** + ******************************************************************************/ +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdnoreturn.h> +#include <string.h> +//#include <time.h> + +#include <netdb.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> + +#define ALX_NO_PREFIX +#include <libalx/base/compiler.h> +#include <libalx/base/errno.h> +#include <libalx/base/stdio.h> +#include <libalx/base/sys.h> + + +/****************************************************************************** + ******* define *************************************************************** + ******************************************************************************/ +#define SERVER_PORT "30002" +#define LISTEN_BACKLOG (50) +#define CYCLE_DELAY (1000) + +#define LINEBUF (80) + + +/****************************************************************************** + ******* enum ***************************************************************** + ******************************************************************************/ + + +/****************************************************************************** + ******* struct / union ******************************************************* + ******************************************************************************/ + + +/****************************************************************************** + ******* static variables ***************************************************** + ******************************************************************************/ + + +/****************************************************************************** + ******* static functions (prototypes) **************************************** + ******************************************************************************/ +noreturn void tcp_session (int rob, int i) +{ + char buf[LINEBUF]; + ssize_t n; + int j; + + for (j = 0; true; j++) { + n = recv(rob, buf, ARRAY_SIZE(buf) - 1, 0); + if (n < 0) + goto err; + buf[n] = 0; + printf("%s", buf); + fflush(stdout); + if (!n) + break; + usleep(CYCLE_DELAY); + } + fprintf(stderr, "session#%i: session finished succesfully!\n", i); + close(rob); + exit(EXIT_SUCCESS); +err: + fprintf(stderr, "session#%i: msg#%i: read() failed; session ended\n", i, j); + close(rob); + exit(EXIT_FAILURE); +} + + +/****************************************************************************** + ******* main ***************************************************************** + ******************************************************************************/ +int main (void) +{ + int tcp; + int rob; + struct sockaddr_storage cli_addr = {0}; + socklen_t cli_addr_len; + int status; + pid_t pid; + + status = EXIT_FAILURE; + tcp = tcp_server_open(SERVER_PORT, LISTEN_BACKLOG); + if (tcp < 0) { + perrorx("tcp_server_open();"); + goto out; + } + + cli_addr_len = sizeof(cli_addr); + + for (int i = 0; true; i++) { + rob = accept(tcp, (struct sockaddr *)&cli_addr, &cli_addr_len); + if (rob < 0) { + fprintf(stderr, "session#%i: accept() failed\n", i); + continue; + } + + pid = fork(); + if (pid < 0) { + fprintf(stderr, "session#%i: fork() failed\n", i); + continue; + } else if (!pid) { + tcp_session(rob, i); + __builtin_unreachable(); + } else { + close(rob); + } + } + status = EXIT_SUCCESS; +out: + return close(tcp) || status; +} + + +/****************************************************************************** + ******* static functions (definitions) *************************************** + ******************************************************************************/ + + +/****************************************************************************** + ******* end of file ********************************************************** + ******************************************************************************/ + |