tcp and jgrafchart examples tweaks

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

examples/jgrafchart/turtle_dec.c

+#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);
+}

examples/jgrafchart/turtle_dec.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>
+
+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) ;

examples/jgrafchart/turtle_enc.c

+#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);
+}

examples/jgrafchart/turtle_enc.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"
+
+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) ;

examples/jgrafchart/turtleclient.c

+#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;
+}

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=)
 

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

lib/Makefile

 all:
 	cd c ; make
-	cd csharp ; make
+#	cd csharp ; make
 	cd java ; make
 
 test: