#include <userverclient.h>

Public Member Functions
bool	blockSend (const char *buffer, int length, int msTimeout)

char *	getClientName ()

int	getCnn ()

const char *	getLogFilename ()

bool	getLogReply ()

bool	getLogTimestamp ()

const char *	getNamespace ()

const char *	getNamespaceAttributes ()

USmlTagIn *	getNamespaceTag ()

int	getSerial ()

const UTime *	getTimeOfLastMessage ()

bool	initConnection (int clientNumber, int clnt, struct sockaddr_in from, UServerInQueue queue, UTime aliveTime)

bool	isActive ()

bool	isLogOpen ()

virtual bool	justConnected ()

bool	lock ()

void	logClose ()

bool	logOpen ()

void	print (char *preStr)

bool	receiveData ()

void	resourceUpdated ()

void	sendAliveReply ()

void	setLogReply (bool value)

void	setLogTimestamp (bool value)

void	setResLink (UResLink *resourceLinks)

void	stopConnection (bool sendHUP, const char *namespaceName)

bool	tryLock ()

void	unlock ()

	UServerClient (int index)

virtual	~UServerClient ()

Public Attributes
int	clientSerial

UTime	connectTime

UTime	punkTime

bool	queueRawData

Protected Member Functions
void	connectionLost ()

int	findEndTag (const char *fromPos, int size)

void	gotNewMessage ()

bool	logWrite (const char *data, const int dataCnt, bool isReply=false)

void	sendStreamRequest (const char *reqTyp)

Protected Attributes
char	clientNamespaceCloseTag [MAX_SML_NAME_LENGTH+3]

int	clientNamespaceCloseTagCnt

int	clientNamespaceLevel

char	clientNamespaceMsg [MAX_MESSAGE_LENGTH_TO_CAM]

USmlTagIn	clientNamespaceTag

ULogFile	logCmd

ULock	logLock

bool	logReply

bool	logTimestamp

Private Member Functions
void	sendPingReply (USmlTagIn *tag, int length)

bool	trapMessage (int client, const char *msg, int size)

Private Attributes
int	clientIndex

struct sockaddr_in	clientInfo

int	conn

bool	connected

int	msgBufCnt

char	msgBuff [MAX_MESSAGE_LENGTH_TO_CAM *2+1]

UTime	msgBufTime

unsigned int	msgReceived

unsigned int	msgSend

unsigned int	msgSkippedBytes

UResLink *	resLink

UServerInQueue *	rxQueue

UTime *	serverAlive

unsigned int	tcpipReceived

pthread_mutex_t	txlock

Detailed Description

Class of functions to handle one accepted connection for a socket server.

Author: Christian Andersen

Constructor & Destructor Documentation

UServerClient::UServerClient ( int index )

Constructor

Parameters

index	is the client number of this client connection.
parent	port is a pointer to the port object where this client belong.

References clientIndex, clientNamespaceLevel, clientNamespaceMsg, clientNamespaceTag, clientSerial, conn, connected, logReply, logTimestamp, msgBufCnt, msgReceived, msgSend, msgSkippedBytes, queueRawData, resLink, serverAlive, USmlTagIn::setTag(), tcpipReceived, and txlock.

UServerClient::~UServerClient ( )

virtual

Destructor

Member Function Documentation

bool UServerClient::blockSend	(	const char *	buffer,
		int	length,
		int	msTimeout
	)

Send data to client. if connection to client is open the data is send. returns false if client do not exist or data could not be send within timeout period.

References conn, connected, connectionLost(), logReply, logWrite(), mini(), msgSend, and Wait().

Referenced by getCnn(), UServerPort::gotNewClient(), URawServerPort::runServer(), sendAliveReply(), UCmdExe::sendMsg(), UCmdExe::sendMsgAll(), sendPingReply(), sendStreamRequest(), and stopConnection().

void UServerClient::connectionLost ( )

protected

Connection is lost - if ant cleanup is needed

References clientIndex, UResLink::connectionLost(), and resLink.

Referenced by blockSend(), getTimeOfLastMessage(), and stopConnection().

int UServerClient::findEndTag	(	const char *	fromPos,
		int	size
	)

protected

Search from 'fromPos' and at maximum 'size' characters for an matshing end tag (or a '
') return 0 if not found.

Referenced by getTimeOfLastMessage(), and gotNewMessage().

char * UServerClient::getClientName ( )

Get IP number of client as string.

References clientInfo, and connected.

Referenced by getCnn(), URawServerPort::gotNewClient(), UServerPort::gotNewClient(), UCmdExe::handleServerCommand(), logOpen(), print(), and UServerPort::serviceClients().

int UServerClient::getCnn ( )

inline

Get connection stream handle - for use in poll, etc.

References blockSend(), conn, getClientName(), initConnection(), print(), receiveData(), and stopConnection().

Referenced by UServerPort::serviceClients().

const char* UServerClient::getLogFilename ( )

inline

Get logfile name

References ULogFile::getLogFileName(), and logCmd.

Referenced by URawServerPort::gotNewClient(), UCmdExe::handleServerCommand(), logClose(), logOpen(), and setLogReply().

bool UServerClient::getLogReply ( )

inline

is logfile open for reply?

References logReply.

Referenced by UCmdExe::handleServerCommand().

bool UServerClient::getLogTimestamp ( )

inline

is a timestamp to be added to logfile

References logTimestamp.

Referenced by UCmdExe::handleServerCommand().

const char* UServerClient::getNamespace ( )

inline

Get namespace (last used namespace for client) .

References clientNamespaceTag, and USmlTagIn::getTagName().

Referenced by resourceUpdated().

const char* UServerClient::getNamespaceAttributes ( )

inline

Get the the attribute part of the current namespace message from this client.

References clientNamespaceMsg.

USmlTagIn* UServerClient::getNamespaceTag ( )

inline

Get namespace tag (last used namespace for client) .

References clientNamespaceTag, resourceUpdated(), and setResLink().

Referenced by UCmdExe::handleServerCommand().

int UServerClient::getSerial ( )

inline

Get serial number for the connection

References clientSerial.

const UTime* UServerClient::getTimeOfLastMessage ( )

inline

Get pointer to time of last received message for this client

References connectionLost(), data, findEndTag(), gotNewMessage(), logWrite(), msgBufTime, sendAliveReply(), sendPingReply(), sendStreamRequest(), and trapMessage().

Referenced by UServerPort::serviceClients().

void UServerClient::gotNewMessage ( )

protected

Called when data or additional data is received from socket port. message is in msgBuff with a length of msgBuffCnt.

References UServerInQueue::addMessage(), clientIndex, clientNamespaceCloseTag, clientNamespaceCloseTagCnt, clientNamespaceLevel, clientNamespaceMsg, clientNamespaceTag, findEndTag(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), isLogOpen(), logWrite(), MAX_MESSAGE_LENGTH_TO_CAM, MAX_SML_NAME_LENGTH, mini(), msgBufCnt, msgBuff, msgReceived, msgSkippedBytes, queueRawData, resourceUpdated(), rxQueue, USmlTagIn::setTag(), and trapMessage().

Referenced by getTimeOfLastMessage(), and receiveData().

bool UServerClient::initConnection	(	int	clientNumber,
		int	clnt,
		struct sockaddr_in	from,
		UServerInQueue *	queue,
		UTime *	aliveTime
	)

Set connection handle (clnt) and the struct with the client info - name etc.

References clientInfo, conn, connected, connectTime, justConnected(), msgBufCnt, msgBufTime, msgReceived, msgSend, UTime::Now(), UTime::now(), rxQueue, serverAlive, and tcpipReceived.

Referenced by getCnn(), and UServerPort::runServerThread().

bool UServerClient::isActive ( )

inline

returns true if connection is open.

References connected.

Referenced by UCmdExe::executeFunction(), UServerPort::getFreeClientHandle(), UCmdExe::handleServerCommand(), UCmdExe::isClientAlive(), print(), UCmdExe::sendMsg(), UCmdExe::sendMsgAll(), and UServerPort::serviceClients().

bool UServerClient::isLogOpen ( )

inline

Is logfile open?

References ULogFile::isOpen(), and logCmd.

Referenced by gotNewMessage(), and UCmdExe::handleServerCommand().

bool UServerClient::justConnected ( )

virtual

This is also the place to send any welcome messages. The virtual function is called before receive thread is activated. Must returns true if connection is acceptable.

References appName, clientIndex, logCmd, logName, MAX_FILENAME_LENGTH, and ULogFile::setLogName().

Referenced by initConnection().

bool UServerClient::lock ( )

inline

Lock communication to client. Returns false, if an error occured. Returns true when the client can be and is locked.

References txlock.

Referenced by UCmdExe::executeFunction(), UCmdExe::sendMsgAll(), and sendStreamRequest().

void UServerClient::logClose ( )

Close logfile. Resets any flags used (e.g. log also reply)

References clientIndex, ULogFile::closeLog(), getLogFilename(), ULock::lock(), logCmd, logLock, logReply, logTimestamp, and ULock::unlock().

Referenced by UCmdExe::handleServerCommand(), and setLogTimestamp().

bool UServerClient::logOpen ( )

Open a logfile dataPath with the application name with client-number added, e.g. /mnt/ram/userver_client_1.log.

References clientIndex, ULogFile::closeLog(), getClientName(), getLogFilename(), ULogFile::isOpen(), logCmd, logWrite(), and ULogFile::openLog().

Referenced by URawServerPort::gotNewClient(), UCmdExe::handleServerCommand(), and setLogTimestamp().

bool UServerClient::logWrite	(	const char *	data,
		const int	dataCnt,
		bool	isReply = `false`
	)

protected

Log this string to logfile. Returns false if no logfile is open. File must be opened by a logOpen(.) call, and closed with a logClose(). Only the first 'dataCnt' characters are saved, or until a '\0' is found..

References data, ULogFile::getF(), UTime::getMicrosec(), UTime::getSec(), UTime::getTimeAsString(), ULogFile::isOpen(), ULock::lock(), logCmd, logLock, logTimestamp, UTime::now(), and ULock::unlock().

Referenced by blockSend(), getTimeOfLastMessage(), gotNewMessage(), and logOpen().

void UServerClient::print ( char * preStr )

Print client status

References clientNamespaceMsg, getClientName(), UTime::getTimeAsString(), isActive(), msgBufTime, msgReceived, msgSend, and msgSkippedBytes.

Referenced by getCnn(), and UServerPort::print().

bool UServerClient::receiveData ( )

Data is available to receive, so receive the data and process as needed (i.e. put in queue)

References conn, gotNewMessage(), MAX_MESSAGE_LENGTH_TO_CAM, msgBufCnt, msgBuff, msgBufTime, msgSkippedBytes, UTime::Now(), stopConnection(), tcpipReceived, and Wait().

Referenced by getCnn(), and UServerPort::serviceClients().

void UServerClient::resourceUpdated ( )

Ressource is updated - action may be needed

References getNamespace(), UResLink::isStreamingPoseHist(), UResLink::lockPoseHist(), resLink, sendStreamRequest(), and UResLink::unlockPoseHist().

Referenced by getNamespaceTag(), and gotNewMessage().

void UServerClient::sendAliveReply ( )

Send message to client with alive time for for the main thread in this server

References blockSend(), UTime::getTimePassed(), serverAlive, tryLock(), and unlock().

Referenced by getTimeOfLastMessage(), UServerPort::serviceClients(), and trapMessage().

void UServerClient::sendPingReply	(	USmlTagIn *	tag,
		int	length
	)

private

Send a ping reply directly from client handler

References blockSend(), UTime::getMicrosec(), USmlTagIn::getNextAttribute(), UTime::getSec(), USmlTagIn::getTagName(), MAX_SML_NAME_LENGTH, UTime::Now(), and UTime::setTime().

Referenced by getTimeOfLastMessage(), and trapMessage().

void UServerClient::sendStreamRequest ( const char * reqTyp )

protected

Send request for streaming data. Typically used for request of robot pose.

References blockSend(), lock(), and unlock().

Referenced by getTimeOfLastMessage(), and resourceUpdated().

void UServerClient::setLogReply ( bool value )

inline

Set logging of reply messages.

References bool2str(), clientIndex, getLogFilename(), and logReply.

Referenced by UCmdExe::handleServerCommand().

void UServerClient::setLogTimestamp ( bool value )

inline

Set timestamping of logged items.

References logClose(), logOpen(), and logTimestamp.

Referenced by URawServerPort::gotNewClient(), and UCmdExe::handleServerCommand().

void UServerClient::setResLink ( UResLink * resourceLinks )

Set ressource for fast responce messages

References resLink.

Referenced by UServerPort::getFreeClientHandle(), and getNamespaceTag().

void UServerClient::stopConnection	(	bool	sendHUP,
		const char *	namespaceName
	)

Stop connection and send a HUP (hangup) if 'sendHUP' is true.

References blockSend(), clientNamespaceLevel, conn, connected, connectionLost(), MAX_SML_NAME_LENGTH, and Wait().

Referenced by UCmdExe::closeClient(), getCnn(), receiveData(), and UServerPort::serviceClients().

bool UServerClient::trapMessage	(	int	client,
		const char *	msg,
		int	size
	)

private

Trap high speed messages that needs immidiate action and should not be queued

References UResPoseHist::addIfNeeded(), clientIndex, USmlTag::getPoseTVQ(), USmlTagIn::isTagA(), UResLink::lockPoseHist(), resLink, sendAliveReply(), sendPingReply(), UResLink::setStreamingPoseHist(), USmlTagIn::setTag(), and UResLink::unlockPoseHist().

Referenced by getTimeOfLastMessage(), and gotNewMessage().

bool UServerClient::tryLock ( )

inline

Lock communication to client and return emmidiately. Returns false, if an error occured or the client is locked already. Returns true if the client is locked by the calling thread.

References txlock.

Referenced by sendAliveReply().

void UServerClient::unlock ( )

inline

Unlock communication to client and return emmidiately.

References txlock.

Referenced by UCmdExe::executeFunction(), sendAliveReply(), UCmdExe::sendMsgAll(), and sendStreamRequest().

Member Data Documentation

int UServerClient::clientIndex

private

Index number of client - set at creation

Referenced by connectionLost(), gotNewMessage(), justConnected(), logClose(), logOpen(), setLogReply(), trapMessage(), and UServerClient().

struct sockaddr_in UServerClient::clientInfo

private

Structure with adress information etc.

Referenced by getClientName(), and initConnection().

char UServerClient::clientNamespaceCloseTag[MAX_SML_NAME_LENGTH+3]

protected

Namespace close tag to look for

Referenced by gotNewMessage().

int UServerClient::clientNamespaceCloseTagCnt

protected

Length of the namespace close tag

Referenced by gotNewMessage().

int UServerClient::clientNamespaceLevel

protected

debug log Tag level 0 = no namespace, 1 = root level, 2 = normal instde namespace

Referenced by gotNewMessage(), stopConnection(), and UServerClient().

char UServerClient::clientNamespaceMsg[MAX_MESSAGE_LENGTH_TO_CAM]

protected

The attribute string send after the namespace name

Referenced by getNamespaceAttributes(), gotNewMessage(), print(), and UServerClient().

USmlTagIn UServerClient::clientNamespaceTag

protected

Tag with namespace

Referenced by getNamespace(), getNamespaceTag(), gotNewMessage(), and UServerClient().

int UServerClient::clientSerial

The client connection serial number - set at creation, and is unique for the session

Referenced by UServerPort::getFreeClientHandle(), getSerial(), and UServerClient().

int UServerClient::conn

private

Connection handle

Referenced by blockSend(), getCnn(), initConnection(), receiveData(), stopConnection(), and UServerClient().

bool UServerClient::connected

private

Is a client connected

Referenced by blockSend(), getClientName(), initConnection(), isActive(), stopConnection(), and UServerClient().

UTime UServerClient::connectTime

connect time - set when connection was established

Referenced by initConnection(), and UCmdExe::isClientAlive().

ULogFile UServerClient::logCmd

protected

Logfile handle for logging of commands (and reply)

Referenced by getLogFilename(), isLogOpen(), justConnected(), logClose(), logOpen(), and logWrite().

ULock UServerClient::logLock

protected

Lock on logfile. As tx and reply is executed in different threads a lock is needed

Referenced by logClose(), and logWrite().

bool UServerClient::logReply

protected

Should reply be logged too?

Referenced by blockSend(), getLogReply(), logClose(), setLogReply(), and UServerClient().

bool UServerClient::logTimestamp

protected

Should logging be timestamped.

Referenced by getLogTimestamp(), logClose(), logWrite(), setLogTimestamp(), and UServerClient().

int UServerClient::msgBufCnt

private

Already received part of message buffer

Referenced by gotNewMessage(), initConnection(), receiveData(), and UServerClient().

char UServerClient::msgBuff[MAX_MESSAGE_LENGTH_TO_CAM *2+1]

private

Message buffer for partially received messages

Referenced by gotNewMessage(), and receiveData().

UTime UServerClient::msgBufTime

private

Time of last received data, used to empty part of buffer if out of byte sync.

Referenced by getTimeOfLastMessage(), initConnection(), print(), and receiveData().

unsigned int UServerClient::msgReceived

private

statistics - Number of received messages

Referenced by gotNewMessage(), initConnection(), print(), and UServerClient().

unsigned int UServerClient::msgSend

private

statistics - messages send to this client

Referenced by blockSend(), initConnection(), print(), and UServerClient().

unsigned int UServerClient::msgSkippedBytes

private

Statistics - skipped bytes in seach of byte-sync

Referenced by gotNewMessage(), print(), receiveData(), and UServerClient().

UTime UServerClient::punkTime

Time of last punk beeing send (to test if client connection is alive)

Referenced by UServerPort::serviceClients().

bool UServerClient::queueRawData

queue the raw data - one entry per read

Referenced by URawServerPort::gotNewClient(), gotNewMessage(), and UServerClient().

UResLink* UServerClient::resLink

private

A pose history resource pointer - if module is loaded

Referenced by connectionLost(), resourceUpdated(), setResLink(), trapMessage(), and UServerClient().

UServerInQueue* UServerClient::rxQueue

private

Queue, where to put received data

Referenced by gotNewMessage(), and initConnection().

UTime* UServerClient::serverAlive

private

Server alive time. The last time the server thread was reported alive.

Referenced by initConnection(), sendAliveReply(), and UServerClient().

unsigned int UServerClient::tcpipReceived

private

statistics - Number of received TCP/IP packeges

Referenced by initConnection(), receiveData(), and UServerClient().

pthread_mutex_t UServerClient::txlock

private

lock, when reading or writing. This lock is locked, when a function is initiated and unlocked after the function returns. So this lock should not be tested or used inside a function.

Referenced by lock(), tryLock(), unlock(), and UServerClient().

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation