commserver.cpp

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *
 *                                                                         *
 *   Achievements of ZJUBase in RoboCup Soccer 3D Simulation League:       *
 *    In RoboCup championship,                                             *
 *      - June 2006 - 3rd place in RoboCup 2006, Bremen, Germany (lost     *
 *        the semi-final with a coin toss)                                 *
 *      - July 2005 - 3rd place in RoboCup 2005, Osaka, Japan (share the   *
 *        3rd place with team Caspian)                                     *
 *    In RoboCup local events,                                             *
 *      - April 2006 - 2nd place in RoboCup Iran Open 2006, Tehran, Iran   *
 *        (lost the final with a coin toss)                                *
 *      - December 2005 - 2nd place in AI Games 2005, Isfahan, Iran        *
 *      - July 2005 - champion in China Robot Competition 2005, Changzhou, *
 *        China                                                            *
 *      - October 2004 - champion in China Soccer Robot Competition 2004,  *
 *        Guangzhou, China                                                 *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
 *                                                                         *
 *   If you met any problems or you have something to discuss about        *
 *   ZJUBase. Please feel free to contact us through EMails given below.   *
 *                                                                         *
 *   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.             *
 ***************************************************************************/

#ifndef WIN32

#include "commserver.h"
#include <netinet/in.h>
#include <iostream>
#include <unistd.h>
using namespace std;

CommServer::CommServer() : mReadFd(3), mWriteFd(4)
{
}

CommServer::~CommServer()
{
}

bool
CommServer::SelectInput()
{
    fd_set readfds;
    FD_ZERO(&readfds);
    FD_SET(mReadFd,&readfds);
    return select(mReadFd+1,&readfds, 0, 0, 0) > 0;
}

void
CommServer::PutOutput(const char* out)
{
    unsigned int len = strlen(out);
    unsigned int netlen = htonl(len);
    memcpy(mBuffer + sizeof(long), out, len + 1);
    memcpy(mBuffer,&netlen,sizeof(netlen));
	write(mWriteFd, mBuffer, len + sizeof(netlen));
}

bool
CommServer::GetInput()
{
    memset(mBuffer,0,sizeof(mBuffer));
    // read the first message segment
    if (! SelectInput()) {
        return false;
    }

    unsigned int bytesRead = read(mReadFd, mBuffer, sizeof(mBuffer));
    if (bytesRead < sizeof(unsigned int)) {
        return false;
    }
    
	// msg is prefixed with it's total length
    unsigned int msgLen = ntohl(*(unsigned int*)mBuffer);

    // read remaining message segments
    unsigned int msgRead = bytesRead - sizeof(unsigned int);
    char *offset = mBuffer + bytesRead;
    while (msgRead < msgLen) {
        if (! SelectInput()) {
            return false;
        }
        msgRead += read(mReadFd, offset, sizeof(mBuffer) - msgRead);
        offset += msgRead;
    }

    // zero terminate received data
    (*offset) = 0;
    return true;
}

#endif