From eb88e395dd9f6c591fd01bcebbb0d98f9339833d Mon Sep 17 00:00:00 2001
From: "Sven G. Robertz" <sven.robertz@cs.lth.se>
Date: Fri, 29 Nov 2013 08:46:11 -0500
Subject: [PATCH] tcp and jgrafchart examples tweaks
---
examples/jgrafchart/Makefile | 16 +++++-
examples/jgrafchart/turtle_dec.c | 61 ++++++++++++++++++++
examples/jgrafchart/turtle_dec.h | 9 +++
examples/jgrafchart/turtle_enc.c | 51 +++++++++++++++++
examples/jgrafchart/turtle_enc.h | 10 ++++
examples/jgrafchart/turtleclient.c | 65 ++++++++++++++++++++++
examples/tcp/Makefile | 6 ++
examples/tcp/example_tcp_client_decoder.py | 1 -
lib/Makefile | 2 +-
9 files changed, 216 insertions(+), 5 deletions(-)
create mode 100644 examples/jgrafchart/turtle_dec.c
create mode 100644 examples/jgrafchart/turtle_dec.h
create mode 100644 examples/jgrafchart/turtle_enc.c
create mode 100644 examples/jgrafchart/turtle_enc.h
create mode 100644 examples/jgrafchart/turtleclient.c
diff --git a/examples/jgrafchart/Makefile b/examples/jgrafchart/Makefile
index 83e667f..08a8239 100644
--- a/examples/jgrafchart/Makefile
+++ b/examples/jgrafchart/Makefile
@@ -8,6 +8,8 @@ LCLIBDIR=${LCDIR}/lib/c
LCFILE=jg
AUX=enc.c dec.c
+TLCFILE=turtle1
+TAUX=turtle_enc.c turtle_dec.c
${JAVA_PKG}/gen/foo.java: ${LCFILE}.lc
${LCC} --javapackage=${JAVA_PKG}.gen --java=${JAVA_PKG}/gen $<
@@ -35,14 +37,19 @@ client: client.c ${LCFILE}.c ${AUX} ${AUX:.c=.h}
testserver: testserver.c ${LCFILE}.c ${AUX} ${AUX:.c=.h}
${CC} -o $@ testserver.c ${AUX} ${LCFILE}.c -I${LCLIBDIR} -L${LCLIBDIR} -llabcomm
+turtleclient: turtleclient.c ${TLCFILE}.c ${TAUX} ${TAUX:.c=.h}
+ ${CC} -o $@ turtleclient.c ${TAUX} ${TLCFILE}.c -I${LCLIBDIR} -L${LCLIBDIR} -llabcomm
${LCFILE}.c : ${LCFILE}.lc
${LCC} -C ${LCFILE}.lc
-all: client testserver ${JAVA_PKG}/server/TestServer.class ${JAVA_PKG}/client/TestClient.class
+${TLCFILE}.c : ${TLCFILE}.lc
+ ${LCC} -C ${TLCFILE}.lc
-.PHONY: clean runclient runserver runjavaserver runjavaclient
+all: client testserver ${JAVA_PKG}/server/TestServer.class ${JAVA_PKG}/client/TestClient.class turtleclient
+
+.PHONY: clean runclient runserver runjavaserver runjavaclient turtleclient
clean :
- rm ${LCFILE}.c ${LCFILE}.h client testserver
+ rm ${LCFILE}.c ${LCFILE}.h client testserver turtleclient
rm ${JAVA_PKG}/server/*.class ${JAVA_PKG}/client/*.class ${JAVA_PKG}/gen/*
runclient : client
@@ -50,3 +57,6 @@ runclient : client
runserver : testserver
LD_LIBRARY_PATH=${LCLIBDIR} ./$< 9999
+
+runtclient : turtleclient
+ LD_LIBRARY_PATH=${LCLIBDIR} ./$< localhost 8082
diff --git a/examples/jgrafchart/turtle_dec.c b/examples/jgrafchart/turtle_dec.c
new file mode 100644
index 0000000..813ff5f
--- /dev/null
+++ b/examples/jgrafchart/turtle_dec.c
@@ -0,0 +1,61 @@
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_reader.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include <stdio.h>
+#include "turtle1.h"
+
+static struct labcomm_encoder *encoder;
+
+static void handle_pose(turtle1_pose *v, void *context) {
+#if 1
+ printf("got pose\n");
+#else
+ turtle1_velocity vel;
+ sleep(1);
+
+ labcomm_encode_turtle1_velocity(encoder, vel);
+ vel.angular = -1;
+ sleep(1);
+
+ labcomm_encode_turtle1_velocity(encoder, vel);
+ sleep(1);
+
+ vel.angular = -1;
+ labcomm_encode_turtle1_velocity(encoder, vel);
+#endif
+}
+
+struct labcomm_decoder *turtle_dec_init(int fd, struct labcomm_encoder *e) {
+ struct labcomm_decoder *decoder;
+ encoder = e;
+ void *context = NULL;
+
+ decoder = labcomm_decoder_new(labcomm_fd_reader_new(
+ labcomm_default_memory, fd, 1),
+ labcomm_default_error_handler,
+ labcomm_default_memory,
+ labcomm_default_scheduler);
+ if (!decoder) {
+ printf("Failed to allocate decoder %s:%d\n", __FUNCTION__, __LINE__);
+ return (void *)0;
+ }
+
+ labcomm_decoder_register_turtle1_pose(decoder, handle_pose, context);
+
+ return decoder;
+}
+
+
+void turtle_dec_run(struct labcomm_decoder *decoder) {
+ printf("Decoding:\n");
+ labcomm_decoder_run(decoder);
+ printf("--- End Of File ---:\n");
+}
+
+void turtle_dec_cleanup(struct labcomm_decoder *decoder) {
+ labcomm_decoder_free(decoder);
+}
diff --git a/examples/jgrafchart/turtle_dec.h b/examples/jgrafchart/turtle_dec.h
new file mode 100644
index 0000000..404db47
--- /dev/null
+++ b/examples/jgrafchart/turtle_dec.h
@@ -0,0 +1,9 @@
+#include <labcomm_fd_reader.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include <stdio.h>
+
+struct labcomm_decoder * turtle_dec_init(int fd, struct labcomm_encoder *e) ;
+void turtle_dec_run(struct labcomm_decoder *decoder) ;
+void turtle_dec_cleanup(struct labcomm_decoder *decoder) ;
diff --git a/examples/jgrafchart/turtle_enc.c b/examples/jgrafchart/turtle_enc.c
new file mode 100644
index 0000000..45cb8a3
--- /dev/null
+++ b/examples/jgrafchart/turtle_enc.c
@@ -0,0 +1,51 @@
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include "turtle1.h"
+#include <stdio.h>
+
+struct labcomm_encoder *turtle_enc_init( int fd) {
+ struct labcomm_encoder *encoder;
+
+ encoder = labcomm_encoder_new(labcomm_fd_writer_new(
+ labcomm_default_memory, fd, 1),
+ labcomm_default_error_handler,
+ labcomm_default_memory,
+ labcomm_default_scheduler);
+ labcomm_encoder_register_turtle1_velocity(encoder);
+ return encoder;
+}
+
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) {
+#if 0
+ jg_foo v;
+
+ v.b = 17.17;
+ v.c = 1742;
+ v.d = 4217;
+ v.e = "hello";
+ v.f = 17;
+ v.g = 42;
+ v.h = 2;
+ v.i = 42.42;
+#endif
+ printf("Encoding for turtle1\n");
+ v->turtle_name="/turtlesim1/turtle1";
+ labcomm_encode_turtle1_velocity(encoder, v);
+ sleep(1);
+ printf("Encoding for turtle1\n");
+ v->angular *= -1;
+ labcomm_encode_turtle1_velocity(encoder, v);
+ sleep(1);
+ v->angular *= -1;
+ //v->h += 42000000;
+ labcomm_encode_turtle1_velocity(encoder, v);
+}
+
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) {
+ labcomm_encoder_free(encoder);
+}
diff --git a/examples/jgrafchart/turtle_enc.h b/examples/jgrafchart/turtle_enc.h
new file mode 100644
index 0000000..8f70173
--- /dev/null
+++ b/examples/jgrafchart/turtle_enc.h
@@ -0,0 +1,10 @@
+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+
+#include "turtle1.h"
+
+struct labcomm_encoder *turtle_enc_init(int fd) ;
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) ;
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) ;
diff --git a/examples/jgrafchart/turtleclient.c b/examples/jgrafchart/turtleclient.c
new file mode 100644
index 0000000..f019a7d
--- /dev/null
+++ b/examples/jgrafchart/turtleclient.c
@@ -0,0 +1,65 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+#include "turtle_dec.h"
+#include "turtle_enc.h"
+
+void error(const char *msg)
+{
+ perror(msg);
+ exit(0);
+}
+
+void do_labcomm(int sockfd)
+{
+ void *turtle_enc = turtle_enc_init(sockfd);
+// void *turtle_dec = turtle_dec_init(sockfd, turtle_enc);
+ turtle1_velocity v;
+ v.linear=4;
+ v.angular=0.4;
+ turtle_enc_run(turtle_enc, &v);
+// turtle_dec_run(turtle_dec);
+// turtle_dec_cleanup(turtle_dec);
+ turtle_enc_cleanup(turtle_enc);
+}
+
+int main(int argc, char *argv[])
+{
+ int sockfd, portno, n;
+ struct sockaddr_in serv_addr;
+ struct hostent *server;
+
+ char buffer[256];
+ if (argc < 3) {
+ fprintf(stderr,"usage %s hostname port\n", argv[0]);
+ exit(0);
+ }
+ portno = atoi(argv[2]);
+ sockfd = socket(AF_INET, SOCK_STREAM, 0);
+ if (sockfd < 0)
+ error("ERROR opening socket");
+ server = gethostbyname(argv[1]);
+ if (server == NULL) {
+ fprintf(stderr,"ERROR, no such host\n");
+ exit(0);
+ }
+ bzero((char *) &serv_addr, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ bcopy((char *)server->h_addr,
+ (char *)&serv_addr.sin_addr.s_addr,
+ server->h_length);
+ serv_addr.sin_port = htons(portno);
+ if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0)
+ error("ERROR connecting");
+
+ do_labcomm(sockfd);
+
+ close(sockfd);
+ return 0;
+}
diff --git a/examples/tcp/Makefile b/examples/tcp/Makefile
index 6fe96a6..11d69b1 100644
--- a/examples/tcp/Makefile
+++ b/examples/tcp/Makefile
@@ -12,6 +12,9 @@ ${JAVA_PKG}/gen/FooSample.class: ${JAVA_PKG}/gen/FooSample.java
${JAVA_PKG}/server/TestServer.class: ${JAVA_PKG}/server/TestServer.java ${JAVA_PKG}/gen/FooSample.class
javac -cp ${CLASSPATH} $<
+${JAVA_PKG}/server/OneShotServer.class: ${JAVA_PKG}/server/OneShotServer.java ${JAVA_PKG}/gen/FooSample.class
+ javac -cp ${CLASSPATH} $<
+
${JAVA_PKG}/client/TestClient.class: ${JAVA_PKG}/client/TestClient.java ${JAVA_PKG}/gen//FooSample.class
javac -cp ${CLASSPATH} $<
@@ -20,6 +23,9 @@ ${JAVA_PKG}/client/TestClient.class: ${JAVA_PKG}/client/TestClient.java ${JAVA_P
runserver : ${JAVA_PKG}/server/TestServer.class
java -cp ${CLASSPATH} $(<:.class=)
+runOSserver : ${JAVA_PKG}/server/OneShotServer.class
+ java -cp ${CLASSPATH} $(<:.class=)
+
runclient : ${JAVA_PKG}/client/TestClient.class
java -cp ${CLASSPATH} $(<:.class=)
diff --git a/examples/tcp/example_tcp_client_decoder.py b/examples/tcp/example_tcp_client_decoder.py
index eebad4a..bf4f921 100755
--- a/examples/tcp/example_tcp_client_decoder.py
+++ b/examples/tcp/example_tcp_client_decoder.py
@@ -28,7 +28,6 @@ if __name__ == "__main__":
print data
except KeyError as e:
print 'KeyError : "%s"' % str(e)
- break
except:
print 'exception...', sys.exc_info()[0]
break
diff --git a/lib/Makefile b/lib/Makefile
index ed696a8..30d0b80 100644
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -1,6 +1,6 @@
all:
cd c ; make
- cd csharp ; make
+# cd csharp ; make
cd java ; make
test:
--
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