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camtrk-cli/trkcli.cpp
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trkcli.cpp
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/**
* \file trkcli.cpp
* \author Alessandro Crespi
* \date 15.4.2009
* \brief Class for accessing the BIOROB LED tracking system over TCP/IP
*/
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <cmath>
#ifdef _WIN32
#include <winsock.h>
#include "wperror.h"
#define perror wperror
#else
#include <unistd.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <netdb.h>
#include <sys/socket.h>
#include <sys/types.h>
#define closesocket ::close
#endif
#include "trkcli.h"
#include "netutil.h"
CTrackingClient::CTrackingClient()
{
#ifdef _WIN32
WSADATA ws;
WSAStartup(0x0101, &ws);
#endif
connected = false;
pos_count = 0;
memset(positions, 0, sizeof(positions));
}
CTrackingClient::~CTrackingClient()
{
if (connected) closesocket(sock);
#ifdef _WIN32
WSACleanup();
#endif
}
bool CTrackingClient::connect(const char* hostname, uint16_t port)
{
if (connected) {
fprintf(stderr, "Tracking client already connected.\n");
return false;
}
u_long IP = gethostaddress(hostname);
if (IP==INADDR_NONE) {
fprintf(stderr, "Invalid hostname: %s.\n", hostname);
return false;
}
sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if (sock==-1) return false;
struct sockaddr_in sai;
sai.sin_family = AF_INET;
sai.sin_port = htons(port);
sai.sin_addr.s_addr = IP;
if (::connect(sock, (sockaddr*) &sai, sizeof(sai))==-1) {
fprintf(stderr, "Unable to connect to %s:%d.\n", hostname, port);
closesocket(sock);
return false;
}
int i;
i = 1;
#ifdef _WIN32
setsockopt(sock, SOL_SOCKET, TCP_NODELAY, (char*) &i, sizeof(i));
#else
setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*) &i, sizeof(i));
#endif
connected = true;
return true;
}
bool CTrackingClient::start_tracking_file(const char* filename)
{
if (!connected) return false;
int len = strlen(filename) + 2;
char* buf = new char[len + 1];
buf[0] = 'S';
buf[1] = strlen(filename);
strcpy(&buf[2], filename);
if (send(sock, buf, len, 0)!=len) {
perror("send");
closesocket(sock);
connected = false;
return false;
}
if (recv(sock, buf, 1, 0)!=1) {
perror("recv");
closesocket(sock);
connected = false;
return false;
}
if (buf[0]!='+') {
fprintf(stderr, "Tracking start failed on the server.\n");
return false;
} else return true;
}
bool CTrackingClient::stop_tracking_file()
{
if (!connected) return false;
char c('s');
if (send(sock, &c, 1, 0)!=1) {
perror("send");
closesocket(sock);
connected = false;
return false;
}
if (recv(sock, &c, 1, 0)!=1) {
perror("recv");
closesocket(sock);
connected = false;
return false;
}
if (c!='+') {
fprintf(stderr, "Tracking stop failed on the server.\n");
return false;
} else return true;
}
bool CTrackingClient::update(uint32_t& time)
{
if (!connected) return false;
char c('U');
if (send(sock, &c, 1, 0)!=1) {
perror("send");
closesocket(sock);
connected = false;
return false;
}
if (recv(sock, (char*) &time, 4, 0)!=4) {
perror("recv");
closesocket(sock);
connected = false;
return false;
}
if (recv(sock, &c, 1, 0)!=1) {
perror("recv");
closesocket(sock);
connected = false;
return false;
}
if (c > MAX_POINTS) {
fprintf(stderr, "Error: server wants to return %d spots, only %d allowed.\n", c, MAX_POINTS);
fprintf(stderr, "Connection closed.");
closesocket(sock);
connected = false;
return false;
}
int size = (int) c * sizeof(track_point);
if (block_recv(sock, (uint8_t*) positions, size)!=size) {
fprintf(stderr, "Error while receiving data block from server, closing connection.\n");
closesocket(sock);
connected = false;
return false;
} else pos_count = c;
return true;
}
bool CTrackingClient::get_pos(const int id, double &x, double &y)
{
for (int i(0); i<pos_count; i++) {
if (positions[i].id==id) {
x = positions[i].x;
y = positions[i].y;
return true;
}
}
return false;
}
int CTrackingClient::get_first_id()
{
if (pos_count>0)
return positions[0].id;
else
return -1;
}
const track_point* CTrackingClient::get_pos_table(int& count) const
{
count = pos_count;
return positions;
}
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