trainer.cpp

来自「RoboCup 3D 仿真组清华大学2005的源代码」· C++ 代码 · 共 121 行

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#include <sys/socket.h>
#include <netdb.h>
#include "trainer.h"

Trainer::Trainer()
{
    mConnected = false;
}

Trainer::~Trainer()
{
}

bool Trainer::IsConnected(){
    return mConnected;
}

bool Trainer::Connect(const char* ip)
{
    struct sockaddr_in server;
    struct hostent *hp;
                                                                                                 
    if((sock = socket(AF_INET,SOCK_STREAM,0)) < 0)
    {
        log.Log("Error in opening stream socket.\n");
        return false;
    }
  
    if((hp = gethostbyname(ip)) == 0)
    {
        log.Log("Error in gethostbyname()\n");
        return false;
    }
  
    server.sin_family=AF_INET;
    server.sin_port=htons(12001);
    memcpy((char*)&server.sin_addr, (char*)hp->h_addr, hp->h_length);
  
    if(connect(sock,(struct sockaddr *)&server, sizeof(server)) < 0)
    {
        log.Log("Error in connecting to stream socket.\n");
        return false;
    }
  
    mConnected = true;
    return true;
}

// check if data is a well-formed s-expression
bool Trainer::match(const char* data){
    int p = 0;
    for(int i = 0; i < strlen(data); i++)
        if(data[i] == '(') p++; else if(data[i] == ')') p--;
    return (p == 0);
}

bool Trainer::send_data(const char* data){
    int n, c = 0;
    int len = strlen(data);
    unsigned long l = htonl(strlen(data));
  
    log.Log("Sending %s\n", data);
  
    if((n = write(sock, &l, sizeof(unsigned long))) < 0)
    {
        log.Log("Error in writing data length\n");
        return false; 
    }  
  
    while(1){  // send data. may need more than one call
      if((n = write(sock, data + c, len - c)) < 0)
      {
          log.Log("Error in writing data\n");
          return false; 
      }
      c += n;
      if(c == len) break;
    }
    return true;
}

bool Trainer::get_data(char* data){
  int n, c = 0;
  while(1){
    if((n = read(sock, data + c, 1)) < 0)
    {
        log.Log("Error in reading socket\n");
        return false; 
    }
    data[c += n] = '\0';
    if(c > 1 && match(data)) break;
  }
  return true;
}

void Trainer::send_command(const char* str)
{
    char s[1024]; 
    sprintf(s, "W%s", str); 
    send_data(s); 
}