summaryrefslogtreecommitdiffstats
path: root/rob/robot/ur/ur-sim.c
blob: 22a9f8004268ade19862bc3163eaadeb120ab3ba (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
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 **********************************************************
 ******************************************************************************/