[2] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | // created: 2013/11/17
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| 6 | // filename: Socket_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe pour une Socket_impl
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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[178] | 17 | #include "UdpSocket_impl.h"
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| 18 | #include "UdpSocket.h"
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[2] | 19 | #include "FrameworkManager.h"
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| 20 | #include <fcntl.h>
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| 21 | #include <cstdlib>
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| 22 | #include <unistd.h>
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| 23 | #include <string.h>
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| 24 | #ifdef __XENO__
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| 25 | #include "config.h"
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| 26 | #endif
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 |
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[178] | 31 | UdpSocket_impl::UdpSocket_impl(const UdpSocket *self, string name, uint16_t port) {
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[15] | 32 | this->self = self;
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| 33 | this->port = port;
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| 34 | this->address = "";
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| 35 | this->broadcast = false;
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| 36 | Init();
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[2] | 37 | }
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| 38 |
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[178] | 39 | UdpSocket_impl::UdpSocket_impl(const UdpSocket *self, string name, string address,
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[15] | 40 | bool broadcast) {
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| 41 | this->self = self;
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| 42 | int pos = address.find(":");
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| 43 | this->address = address.substr(0, pos);
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| 44 | port = atoi(address.substr(pos + 1).c_str());
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| 45 | this->broadcast = broadcast;
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[2] | 46 |
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[15] | 47 | if (pos == 0 || address == "") {
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| 48 | self->Err("address %s is not correct\n", address.c_str());
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| 49 | }
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| 50 | Init();
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[2] | 51 | }
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| 52 |
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[178] | 53 | void UdpSocket_impl::Init(void) {
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[15] | 54 | int yes = 1;
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[363] | 55 | sock_in_size=0;
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| 56 | sock_in=NULL;
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[2] | 57 |
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[15] | 58 | fd = socket(AF_INET, SOCK_DGRAM, 0); // UDP
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[2] | 59 |
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[15] | 60 | if (broadcast == true) {
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| 61 | if (setsockopt(fd, SOL_SOCKET, SO_BROADCAST, &yes, sizeof(int)) != 0)
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| 62 | self->Err("Setsockopt error\n");
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| 63 | }
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[2] | 64 |
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[15] | 65 | if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int)) != 0)
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| 66 | self->Err("Setsockopt error\n");
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[2] | 67 |
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[15] | 68 | if (address == "" || broadcast == true) {
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| 69 | sockaddr_in sin = {0};
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[2] | 70 |
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[15] | 71 | if (broadcast == true) {
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| 72 | struct hostent *hostinfo;
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[2] | 73 |
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[15] | 74 | hostinfo = gethostbyname(this->address.c_str());
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| 75 | if (hostinfo == NULL) {
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| 76 | self->Err("hostinfo error\n");
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| 77 | }
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| 78 | sin.sin_addr = *(in_addr *)hostinfo->h_addr;
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| 79 | } else {
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| 80 | sin.sin_addr.s_addr = INADDR_ANY;
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| 81 | }
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[2] | 82 |
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[15] | 83 | sin.sin_port = htons(port);
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| 84 | sin.sin_family = AF_INET;
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| 85 | if (bind(fd, (sockaddr *)&sin, sizeof sin) == -1) {
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| 86 | self->Err("bind error\n");
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[2] | 87 | }
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[15] | 88 | }
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[2] | 89 |
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| 90 | #ifdef __XENO__
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[15] | 91 | string tmp_name;
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| 92 | int status;
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| 93 | is_running = true;
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[2] | 94 |
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[15] | 95 | // pipe
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| 96 | tmp_name =
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| 97 | getFrameworkManager()->ObjectName() + "-" + self->ObjectName() + "-pipe";
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| 98 | // xenomai limitation
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| 99 | if (tmp_name.size() > 31)
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| 100 | self->Err("rt_pipe_create error (%s is too long)\n", tmp_name.c_str());
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[2] | 101 | #ifdef RT_PIPE_SIZE
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[15] | 102 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
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[2] | 103 | #else
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[15] | 104 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, 0);
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[2] | 105 | #endif
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[15] | 106 | if (status != 0) {
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[133] | 107 | char errorMsg[256];
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| 108 | self->Err("rt_pipe_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 109 | }
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[2] | 110 |
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[15] | 111 | // start user side thread
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[2] | 112 | #ifdef NRT_STACK_SIZE
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[15] | 113 | // Initialize thread creation attributes
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| 114 | pthread_attr_t attr;
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| 115 | if (pthread_attr_init(&attr) != 0) {
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| 116 | self->Err("pthread_attr_init error\n");
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| 117 | }
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| 118 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
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| 119 | self->Err("pthread_attr_setstacksize error\n");
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| 120 | }
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| 121 | if (pthread_create(&user_thread, &attr, user, (void *)this) < 0) {
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| 122 | self->Err("pthread_create error\n");
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| 123 | }
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| 124 | if (pthread_attr_destroy(&attr) != 0) {
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| 125 | self->Err("pthread_attr_destroy error\n");
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| 126 | }
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| 127 | #else // NRT_STACK_SIZE
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| 128 | if (pthread_create(&user_thread, NULL, user, (void *)this) < 0) {
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| 129 | self->Err("pthread_create error\n");
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| 130 | }
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| 131 | #endif // NRT_STACK_SIZE
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[2] | 132 | #endif //__XENO__
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| 133 |
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[15] | 134 | if (address != "") {
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| 135 | struct hostent *hostinfo;
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| 136 | hostinfo = gethostbyname(address.c_str());
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| 137 | if (hostinfo == NULL) {
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| 138 | self->Err("gethostbyname\n");
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| 139 | }
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[363] | 140 | sock_in=(struct sockaddr_in*)malloc(sizeof(struct sockaddr_in));
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| 141 | sock_in[0].sin_addr = *(in_addr *)hostinfo->h_addr;
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| 142 | sock_in[0].sin_port = htons(port);
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| 143 | sock_in[0].sin_family = AF_INET;
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| 144 | sock_in_size++;
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[15] | 145 | }
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[2] | 146 | }
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| 147 |
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[178] | 148 | UdpSocket_impl::~UdpSocket_impl() {
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[2] | 149 | #ifdef __XENO__
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[15] | 150 | is_running = false;
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[2] | 151 |
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[15] | 152 | pthread_join(user_thread, NULL);
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| 153 | int status = rt_pipe_delete(&pipe);
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[133] | 154 | if (status != 0) {
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| 155 | char errorMsg[256];
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| 156 | self->Err("rt_pipe_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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| 157 | }
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[2] | 158 | #endif
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[15] | 159 | close(fd);
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[363] | 160 | free(sock_in);
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[2] | 161 | }
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| 162 |
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[363] | 163 | void UdpSocket_impl::SendMessage(const char *msg, size_t msg_len,int dst_id) {
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[15] | 164 | ssize_t written;
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| 165 | string to_send;
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[213] | 166 |
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[15] | 167 | if (broadcast == true) {
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[363] | 168 | to_send = getFrameworkManager()->ObjectName() + ":" + string(msg, msg_len);
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| 169 | msg_len = to_send.size();
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| 170 | msg = (char *)to_send.c_str();
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[15] | 171 | }
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[2] | 172 |
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| 173 | #ifdef __XENO__
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[15] | 174 | // Printf("send pipe %s\n",src);
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[363] | 175 | written = rt_pipe_write(&pipe, msg, msg_len, P_NORMAL);
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[2] | 176 |
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[15] | 177 | if (written < 0) {
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[213] | 178 | char errorMsg[256];
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[133] | 179 | self->Err("rt_pipe_write error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
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[363] | 180 | } else if (written != (ssize_t)msg_len) {
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[15] | 181 | self->Err("rt_pipe_write error %i/%i\n", written, to_send.size());
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| 182 | }
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[2] | 183 | #else
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[363] | 184 | written = sendto(fd, msg, msg_len, 0, (struct sockaddr *)&(sock_in[dst_id]), sizeof(struct sockaddr_in));
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[93] | 185 | if(written==-1) {
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[133] | 186 | char errorMsg[256];
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| 187 | self->Err("sendto error (%s)\n",strerror_r(errno, errorMsg, sizeof(errorMsg)));
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[363] | 188 | } else if (written != (ssize_t)msg_len) {
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| 189 | self->Err("sendto error %i/%i\n",written,msg_len);
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[15] | 190 | }
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[2] | 191 | #endif
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| 192 | }
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| 193 |
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[178] | 194 | void UdpSocket_impl::SendMessage(string message) {
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[15] | 195 | ssize_t written;
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[2] | 196 |
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[15] | 197 | if (broadcast == true)
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| 198 | message = self->Parent()->ObjectName() + ":" + message;
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| 199 | // Printf("SendMessage %s\n",message.c_str());
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[2] | 200 | #ifdef __XENO__
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[15] | 201 | written = rt_pipe_write(&pipe, message.c_str(), message.size(), P_NORMAL);
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[2] | 202 |
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[15] | 203 | if (written < 0) {
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[133] | 204 | char errorMsg[256];
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| 205 | self->Err("rt_pipe_write error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
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[15] | 206 | } else if (written != (ssize_t)message.size()) {
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| 207 | self->Err("rt_pipe_write error %i/%i\n", written, message.size());
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| 208 | }
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[2] | 209 | #else
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[363] | 210 | written = sendto(fd, message.c_str(), message.size(), 0, (struct sockaddr *)&sock_in, sizeof(struct sockaddr_in));
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[15] | 211 | if (written != (ssize_t)message.size()) {
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| 212 | self->Err("sendto error\n");
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| 213 | }
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[2] | 214 |
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| 215 | #endif
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| 216 | }
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| 217 |
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[178] | 218 | ssize_t UdpSocket_impl::RecvMessage(char *msg, size_t msg_len, Time timeout,
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[363] | 219 | char *src, size_t *src_len,int* src_id) {
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[15] | 220 | ssize_t nb_read;
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| 221 | char buffer[128];
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[2] | 222 | #ifdef __XENO__
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[15] | 223 | nb_read = rt_pipe_read(&pipe, &buffer, sizeof(buffer), timeout);
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[2] | 224 | #else
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| 225 |
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[15] | 226 | if (timeout != TIME_NONBLOCK) {
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[363] | 227 | struct timeval tv;
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[15] | 228 | int attr = fcntl(fd, F_GETFL, 0);
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| 229 | fcntl(fd, F_SETFL, attr & (~O_NONBLOCK));
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[2] | 230 |
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[15] | 231 | tv.tv_sec = timeout / 1000000000;
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| 232 | timeout = timeout - (timeout / 1000000000) * 1000000000;
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| 233 | tv.tv_usec = timeout / 1000;
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| 234 | if (setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
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| 235 | self->Err("setsockopt SO_RCVTIMEO failed\n");
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[2] | 236 | }
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[15] | 237 | } else {
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| 238 | fcntl(fd, F_SETFL, O_NONBLOCK);
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| 239 | }
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[2] | 240 |
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[363] | 241 | struct sockaddr_in sock_in_tmp;
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[15] | 242 | if (broadcast == false) {
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[363] | 243 | socklen_t sinsize = sizeof(struct sockaddr_in);
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| 244 | nb_read = recvfrom(fd, buffer, sizeof(buffer), 0, (sockaddr *)&sock_in_tmp, &sinsize);
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[15] | 245 | } else {
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| 246 | nb_read = recvfrom(fd, buffer, sizeof(buffer), 0, NULL, NULL);
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| 247 | }
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[363] | 248 |
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| 249 | if(broadcast==false && nb_read>0) {
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| 250 | int i;
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| 251 | for(i=0;i<sock_in_size;i++) {
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| 252 | if(sock_in[i].sin_port==sock_in_tmp.sin_port) {
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[364] | 253 | //Printf("match found in former adress\n");
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| 254 | if(src_id!=NULL) *src_id=i;
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[363] | 255 | break;
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| 256 | }
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| 257 | }
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| 258 | if(i==sock_in_size) {
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[364] | 259 | //Printf("no match found in former adress\n");
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[363] | 260 | sock_in_size++;
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| 261 | sock_in=(sockaddr_in*)realloc(sock_in,sock_in_size*sizeof(sockaddr_in));
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| 262 | sock_in[sock_in_size-1]=sock_in_tmp;
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[364] | 263 | if(src_id!=NULL) *src_id=sock_in_size-1;
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[363] | 264 | }
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| 265 | }
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[2] | 266 | #endif
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[15] | 267 | if (nb_read <= 0) {
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| 268 | return nb_read;
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| 269 | } else {
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| 270 | // printf("%s\n",buffer);
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| 271 | if (broadcast == true) {
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| 272 | int index = -1;
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| 273 | for (int i = 0; i < nb_read; i++) {
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| 274 | if (buffer[i] == ':') {
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| 275 | index = i;
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| 276 | break;
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| 277 | }
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| 278 | }
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| 279 | if (index < 0) {
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| 280 | self->Warn("Malformed message\n");
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| 281 | return -1;
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| 282 | } else if (src_len != NULL && src != NULL) {
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[364] | 283 | if (index + 1 > (int)(*src_len) && src != NULL) { //+1 pour inserer un 0)
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[15] | 284 | self->Warn("insufficent src size\n");
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| 285 | return -1;
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| 286 | }
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[363] | 287 | } else if (nb_read - index - 1 + 1 > (int)msg_len) { //+1 pour inserer un 0
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| 288 | self->Warn("insufficent msg size (%i/%i)\n", nb_read - index - 1 + 1, msg_len);
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[15] | 289 | return -1;
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| 290 | }
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| 291 | if (src != NULL) {
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| 292 | memcpy(src, buffer, index);
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| 293 | src[index] = 0;
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| 294 | }
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| 295 | memcpy(msg, &buffer[index + 1], nb_read - index - 1);
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| 296 | msg[nb_read - index - 1] = 0;
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| 297 | return nb_read - index;
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[2] | 298 | } else {
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[15] | 299 | if (nb_read > (int)msg_len) {
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| 300 | self->Warn("insufficent msg size (%i/%i)\n", nb_read, msg_len);
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| 301 | return -1;
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| 302 | }
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| 303 | memcpy(msg, buffer, nb_read);
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| 304 | return nb_read;
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[2] | 305 | }
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[15] | 306 | }
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[2] | 307 | }
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| 308 |
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| 309 | #ifdef __XENO__
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[178] | 310 | void *UdpSocket_impl::user(void *arg) {
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| 311 | UdpSocket_impl *caller = (UdpSocket_impl *)arg;
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[15] | 312 | int pipe_fd = -1;
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| 313 | string devname;
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[2] | 314 |
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[15] | 315 | devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
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| 316 | caller->self->ObjectName() + "-pipe";
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| 317 | while (pipe_fd < 0) {
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| 318 | pipe_fd = open(devname.c_str(), O_RDWR);
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[133] | 319 | if (pipe_fd < 0 && errno != ENOENT) {
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| 320 | char errorMsg[256];
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| 321 | caller->self->Err("open pipe_fd error (%s)\n", strerror_r(errno, errorMsg, sizeof(errorMsg)));
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| 322 | }
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[15] | 323 | usleep(1000);
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| 324 | }
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[2] | 325 |
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[15] | 326 | while (caller->is_running == true) {
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| 327 | fd_set set;
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| 328 | struct timeval timeout;
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| 329 | int rv;
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[2] | 330 |
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[15] | 331 | FD_ZERO(&set); // clear the set
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| 332 | FD_SET(caller->fd, &set); // add our file descriptor to the set
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| 333 | FD_SET(pipe_fd, &set); // add our file descriptor to the set
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[2] | 334 |
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[15] | 335 | timeout.tv_sec = 0;
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| 336 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
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| 337 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
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[2] | 338 |
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[15] | 339 | if (rv == -1) {
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| 340 | caller->self->Err("select error\n"); // an error occured
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| 341 | } else if (rv == 0) {
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| 342 | // printf("timeout\n");
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| 343 | } else {
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| 344 | ssize_t nb_read, nb_write;
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| 345 | char buffer[1024];
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| 346 |
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| 347 | if (FD_ISSET(caller->fd, &set)) {
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[363] | 348 | socklen_t sinsize = sizeof(struct sockaddr_in);
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[15] | 349 | if (caller->broadcast == false) {
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| 350 | nb_read = recvfrom(caller->fd, buffer, sizeof(buffer), 0,
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| 351 | (sockaddr *)&(caller->sock_in), &sinsize);
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| 352 | } else {
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| 353 | nb_read = recvfrom(caller->fd, buffer, sizeof(buffer), 0, NULL, NULL);
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[2] | 354 | }
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[15] | 355 | if (nb_read < 0) {
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| 356 | caller->self->Err("recvfrom error\n");
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[2] | 357 | }
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[15] | 358 | // printf("user %s\n",buffer);
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| 359 | // on ne garde que les messages venant pas de soi meme
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| 360 | if (caller->broadcast == false ||
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| 361 | (caller->broadcast == true &&
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| 362 | getFrameworkManager()->ObjectName().compare(
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| 363 | 0, getFrameworkManager()->ObjectName().size(), buffer,
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| 364 | getFrameworkManager()->ObjectName().size()) != 0)) {
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| 365 | nb_write = write(pipe_fd, buffer, nb_read);
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| 366 | if (nb_write != nb_read) {
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| 367 | caller->self->Err("write error\n");
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| 368 | }
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| 369 | } else {
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| 370 | // printf("self %s\n",buffer);
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[2] | 371 | }
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[15] | 372 | }
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| 373 | if (FD_ISSET(pipe_fd, &set)) {
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| 374 | nb_read = read(pipe_fd, buffer, sizeof(buffer));
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| 375 | // printf("read pipe %i %s\n",nb_read,buffer);
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| 376 | if (nb_read > 0) {
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| 377 | // printf("send %s\n",buffer);
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| 378 | nb_write = sendto(caller->fd, buffer, nb_read, 0,
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| 379 | (struct sockaddr *)&(caller->sock_in),
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[363] | 380 | sizeof(struct sockaddr_in));
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[15] | 381 | if (nb_write != nb_read) {
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| 382 | caller->self->Err("sendto error\n");
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| 383 | }
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| 384 | }
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| 385 | }
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[2] | 386 | }
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[15] | 387 | }
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[2] | 388 |
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[15] | 389 | close(pipe_fd);
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| 390 | pthread_exit(0);
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[2] | 391 | }
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| 392 | #endif
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