ArNetServer.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include <ctype.h>
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArNetServer.h"
#include "ArRobot.h"
#include "ArLog.h"
#include "ariaUtil.h"
#include "ArSyncTask.h"
#include "ArArgumentBuilder.h"
#include "ariaInternal.h"

ArNetServer::ArNetServer(bool addAriaExitCB) :
  myTaskCB(this, &ArNetServer::runOnce),
  myHelpCB(this, &ArNetServer::internalHelp),
  myEchoCB(this, &ArNetServer::internalEcho),
  myQuitCB(this, &ArNetServer::internalQuit),
  myShutdownServerCB(this, &ArNetServer::internalShutdownServer),
  myAriaExitCB(this, &ArNetServer::close)
{
  myRobot = NULL;
  myPort = 0;
  myMultipleClients = false;
  myOpened = false;
  myWantToClose = false;
  myLoggingDataSent = false;
  myLoggingDataReceived = false;
  mySquelchNormal = false;
  addCommand("help", &myHelpCB, "gives the listing of available commands");
  addCommand("echo", &myEchoCB, "with no args gets echo, with args sets echo");
  addCommand("quit", &myQuitCB, "closes this connection to the server");
  addCommand("shutdownServer", &myShutdownServerCB, "shuts down the server");

  myAriaExitCB.setName("ArNetServerExit");
  if (addAriaExitCB)
    Aria::addExitCallback(&myAriaExitCB, 40);
}

ArNetServer::~ArNetServer()
{
  ArSyncTask *rootTask = NULL;
  ArSyncTask *proc = NULL;
  // get rid of us running on the robot task
  if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
  {
    proc = rootTask->findNonRecursive(&myTaskCB);
    if (proc != NULL)
      delete proc;
  }
  close();
}

AREXPORT bool ArNetServer::open(ArRobot *robot, unsigned int port, 
                const char *password, bool multipleClients,
                const char *openOnIP)
{
  ArSyncTask *rootTask = NULL;
  ArSyncTask *proc = NULL;
  std::string taskName;

  if (myOpened)
  {
    ArLog::log(ArLog::Terse, "ArNetServer already inited, cannot reinit");
    return false;
  }

  myRobot = robot;
  myPort = port;
  myPassword = password;
  myMultipleClients = multipleClients;
  
  if (myServerSocket.open(myPort, ArSocket::TCP, openOnIP))
  {
    myServerSocket.setLinger(0);
    myServerSocket.setNonBlock();
    if (openOnIP != NULL)
      ArLog::log(ArLog::Normal, "ArNetServer opened on port %d on ip %s.", 
         myPort, openOnIP);
    else
      ArLog::log(ArLog::Normal, "ArNetServer opened on port %d.", myPort);
    myOpened = true;
  }
  else
  {
    ArLog::log(ArLog::Terse, "ArNetServer failed to open: %s", 
           myServerSocket.getErrorStr().c_str());
    myOpened = false;
    return false;
  }

  // add ourselves to the robot if we aren't already there
  if (myRobot != NULL && (rootTask = myRobot->getSyncTaskRoot()) != NULL)
  {    
    proc = rootTask->findNonRecursive(&myTaskCB);
    if (proc == NULL)
    {
      // toss in a netserver
      taskName = "Net Servers ";
      taskName += myPort;
      rootTask->addNewLeaf(taskName.c_str(), 60, &myTaskCB, NULL);
    }
  }
  return true;
  
}

AREXPORT bool ArNetServer::addCommand(const char *command, 
                  ArFunctor3<char **, int, ArSocket *> *functor,
                      const char *help)
{
  std::map<std::string, ArFunctor3<char **, int, ArSocket *> *, ArStrCaseCmpOp>::iterator it;

  if ((it = myFunctorMap.find(command)) != myFunctorMap.end())
  {
    ArLog::log(ArLog::Normal, "ArNetServer::addCommand: Already a command for %s", command);
    return false;
  }

  myFunctorMap[command] = functor;
  myHelpMap[command] = help;
  return true;
}

AREXPORT bool ArNetServer::remCommand(const char *command)
{
  if (myFunctorMap.find(command) == myFunctorMap.end())
  {
    return false;
  }
  myFunctorMap.erase(command);
  myHelpMap.erase(command);
  return true;  
}


AREXPORT void ArNetServer::sendToAllClientsPlain(const char *str)
{
  std::list<ArSocket *>::iterator it;

  if (myLoggingDataSent)
    ArLog::log(ArLog::Terse, "ArNetServer::sendToAllClients: Sending %s", str);
  for (it = myConns.begin(); it != myConns.end(); ++it)
  {
    (*it)->setLogWriteStrings(false);
    (*it)->writeString(str);
    (*it)->setLogWriteStrings(myLoggingDataSent);
  }
}

AREXPORT void ArNetServer::sendToAllClients(const char *str, ...)
{
  char buf[2049];
  va_list ptr;
  va_start(ptr, str);
  vsprintf(buf, str, ptr);

  sendToAllClientsPlain(buf);
  
  va_end(ptr);
}

AREXPORT bool ArNetServer::isOpen(void)
{
  return myOpened;
}


AREXPORT void ArNetServer::setLoggingDataSent(bool loggingData)
{
  myLoggingDataSent = loggingData;
  std::list<ArSocket *>::iterator it;
  for (it = myConnectingConns.begin(); it != myConnectingConns.end(); ++it)
    (*it)->setLogWriteStrings(loggingData);
  for (it = myConns.begin(); it != myConns.end(); ++it)
    (*it)->setLogWriteStrings(loggingData);
}

AREXPORT bool ArNetServer::getLoggingDataSent(void)
{
  return myLoggingDataSent;
}

AREXPORT void ArNetServer::setLoggingDataReceived(bool loggingData)
{
  myLoggingDataReceived = loggingData;
}

AREXPORT bool ArNetServer::getLoggingDataReceived(void)
{
  return myLoggingDataReceived;
}


AREXPORT void ArNetServer::runOnce(void)
{

  ArSocket acceptingSocket;
  ArSocket *socket;
  char *str;
  std::list<ArSocket *> removeList;
  std::list<ArSocket *>::iterator it;
  ArArgumentBuilder *args = NULL;
  std::string command;

  if (!myOpened)
  {
    return;
  }

  lock();
  // get any new sockets that want to connect
  while (myServerSocket.accept(&acceptingSocket) && acceptingSocket.getFD() >= 0)
  {
    acceptingSocket.setNonBlock();
    // see if we want more sockets
    if (!myMultipleClients && (myConns.size() > 0 ||
                   myConnectingConns.size() > 0))
    {
      // we didn't want it, so politely tell it to go away
      acceptingSocket.writeString("Conn refused.");
      acceptingSocket.writeString(
          "Only client allowed and it is already connected.");
      acceptingSocket.close();
      ArLog::log(ArLog::Terse, "ArNetServer not taking multiple clients and another client tried to connect from %s.", acceptingSocket.getIPString());
    }
    else 
    {
      // we want the client so we put it in our list of connecting
      // sockets, which means that it is waiting to give its password
      socket = new ArSocket;
      socket->setLogWriteStrings(myLoggingDataSent);
      socket->transfer(&acceptingSocket);
      socket->writeString("Enter password:");
      myConnectingConns.push_front(socket);
      ArLog::log(ArLog::Normal, 
         "Client connecting from %s.",
         socket->getIPString());
    }
  }

  // now we read in data from our connecting sockets and see if
  // they've given us the password
  for (it = myConnectingConns.begin(); it != myConnectingConns.end(); ++it)
  {
    socket = (*it);
    // read in what the client has to say
    if ((str = socket->readString()) != NULL)
    {
      if (str[0] == '\0')
    continue;
      // now see if the word matchs the password
      if (myPassword == str)
      {
    ArLog::log(ArLog::Normal, 
           "Client from %s gave password and connected.",
           socket->getIPString());
    myConns.push_front(socket);
    removeList.push_front(socket);
    internalGreeting(socket);
      }
      else
      {
    socket->close();
    myDeleteList.push_front(socket);
    ArLog::log(ArLog::Terse, 
           "Client from %s gave wrong password and is being disconnected.", 
           socket->getIPString());
      }
    }
    // if we couldn't read a string it means we lost a connection
    else
    {
      ArLog::log(ArLog::Normal, 
         "Connection to %s lost.", socket->getIPString());
      socket->close();
      myDeleteList.push_front(socket);
    }
  }
  // now we clear out the ones we want to remove from our connecting
  // clients list
  while ((it = removeList.begin()) != removeList.end())
  {
    socket = (*it);
    myConnectingConns.remove(socket);
    removeList.pop_front();
  }


  // now we read in data from our connecting sockets and see if
  // they've given us the password
  for (it = myConns.begin(); it != myConns.end() && myOpened; ++it)
  {
    socket = (*it);
    // read in what the client has to say
    while ((str = socket->readString()) != NULL)
    {
      // if this is null then there wasn't anything said
      if (str[0] == '\0')
    break;
      // make sure we read something
      // set up the arguments and then call the function for the
      // argument
      args = new ArArgumentBuilder;
      args->addPlain(str);
      //args->log();
      parseCommandOnSocket(args, socket);
      delete args;
      args = NULL;
    }
    // if str was NULL we lost connection
    if (str == NULL)
    {
      ArLog::log(ArLog::Normal, 
         "Connection to %s lost.", socket->getIPString());
      socket->close();
      myDeleteList.push_front(socket);
    }
  }

  // now we delete the ones we want to delete (we could do this above
  // but then it wouldn't be symetrical with above)
  while ((it = myDeleteList.begin()) != myDeleteList.end())
  {
    socket = (*it);
    myConnectingConns.remove(socket);
    myConns.remove(socket);
    socket->close();
    delete socket;
    myDeleteList.pop_front();
  }

  if (myWantToClose)
  {
    close();
  }
  unlock();
}

AREXPORT void ArNetServer::close(void)
{
  std::list<ArSocket *>::iterator it;
  ArSocket *socket;
  
  if (!myOpened)
    return;
  myWantToClose = false;
  ArLog::log(ArLog::Normal, "ArNetServer shutting down server.");
  sendToAllClients("Shutting down server");
  for (it = myConnectingConns.begin(); it != myConnectingConns.end(); ++it)
  {
    (*it)->writeString("Shutting down server");
  }
  myOpened = false;

  while ((it = myConnectingConns.begin())!= myConnectingConns.end())
  {
    socket = (*it);
    myConnectingConns.pop_front();
    socket->close();
    delete socket;
  }
  while ((it = myConns.begin()) != myConns.end())
  {
    socket = (*it);
    myConns.pop_front();
    socket->close();
    delete socket;
  }
  myServerSocket.close();
}

AREXPORT void ArNetServer::internalGreeting(ArSocket *socket)
{
  if (mySquelchNormal)
    return;
  socket->writeString("Welcome to the server.");
  socket->writeString("You can type 'help' at any time for the following help list.");
  internalHelp(socket);
}

AREXPORT void ArNetServer::internalHelp(ArSocket *socket)
{
 std::map<std::string, std::string, ArStrCaseCmpOp>::iterator it;
  
 socket->writeString("Commands:");
 for (it = myHelpMap.begin(); it != myHelpMap.end(); ++it)
   socket->writeString("%15s%10s%s", it->first.c_str(), "", 
               it->second.c_str());
}

AREXPORT void ArNetServer::internalHelp(char **argv, int argc, 
                    ArSocket *socket)
{
  internalHelp(socket);
}


AREXPORT void ArNetServer::internalEcho(char **argv, int argc, 
                        ArSocket *socket)
{
  // if they just typed it we tell them if its on or off
  if (argc == 1)
  {
    if (socket->getEcho())
      socket->writeString("Echo is on.");
    else
      socket->writeString("Echo is off.");
  }
  // if the have two words see if they have the right args
  else if (argc == 2 && strcasecmp(argv[1], "on") == 0)
  {
    socket->writeString("Echo turned on.");
    socket->setEcho(true);
  }
  else if (argc == 2 && strcasecmp(argv[1], "off") == 0)
  {
    socket->writeString("Echo turned off.");
    socket->setEcho(false);
  }
  else
  {
    socket->writeString("usage: echo <on/off>");
  }
}

AREXPORT void ArNetServer::internalQuit(char **argv, int argc, 
                     ArSocket *socket)
{
  socket->writeString("Closing connection");

  myDeleteList.push_front(socket);
  ArLog::log(ArLog::Normal, "Client from %s quit.", socket->getIPString());
}

AREXPORT void ArNetServer::internalShutdownServer(char **argv, int argc, 
                          ArSocket *socket)
{
  sendToAllClients("Shutting down server");
  myWantToClose = true;
  if (myRobot != NULL)
    myRobot->stopRunning();
  
}

AREXPORT void ArNetServer::parseCommandOnSocket(ArArgumentBuilder *args, 
                        ArSocket *socket, bool allowLog)
{

  std::map<std::string, ArFunctor3<char **, int, ArSocket *> *, ArStrCaseCmpOp>::iterator fIt;
  char **argv;
  int argc;

  if (myLoggingDataReceived && !mySquelchNormal && allowLog)
    ArLog::log(ArLog::Normal, "Command received from %s: %s",
           socket->getIPString(), args->getFullString());
  else if (myLoggingDataReceived && mySquelchNormal && allowLog)
    ArLog::log(ArLog::Normal, "%s: %s",
           socket->getIPString(), args->getFullString());
  argv = args->getArgv();
  argc = args->getArgc();
  // if we have some command see if it has a functor
  if (argc >= 1 && 
      (fIt = myFunctorMap.find(argv[0])) != myFunctorMap.end())
  {
    fIt->second->invoke(argv, argc, socket);
  }
  // it didn't have a functor so we don't know it as a command
  else if (argc >= 1)
  {
    if (!mySquelchNormal)
      socket->writeString("Unknown command %s", argv[0]);
  }
}

AREXPORT void ArNetServer::internalAddSocketToList(ArSocket *socket)
{
  myConns.push_front(socket);
}


AREXPORT void ArNetServer::internalAddSocketToDeleteList(ArSocket *socket)
{
  myDeleteList.push_front(socket);
}

AREXPORT void ArNetServer::squelchNormal(void)
{
  mySquelchNormal = true;
  remCommand("help");
  remCommand("echo");
  remCommand("quit");
  remCommand("shutdownServer");

}

AREXPORT void ArNetServer::sendToClientPlain(
    ArSocket *socket, const char *ipString, const char *str)
{
  std::list<ArSocket *>::iterator it;

  for (it = myConns.begin(); it != myConns.end(); ++it)
  {
    if ((*it) == socket && strcmp((*it)->getIPString(), ipString) == 0)
    {
      if (myLoggingDataSent)
    ArLog::log(ArLog::Terse, 
           "ArNetServer::sendToClient: Sending '%s' to %s", str,
           ipString);
      (*it)->setLogWriteStrings(false);
      (*it)->writeString(str);
      (*it)->setLogWriteStrings(myLoggingDataSent);
    }
  }
}

AREXPORT void ArNetServer::sendToClient(ArSocket *socket, const char *ipString,
               const char *str, ...)
{
  char buf[2049];
  va_list ptr;
  va_start(ptr, str);
  vsprintf(buf, str, ptr);

  sendToClientPlain(socket, ipString, buf);
  
  va_end(ptr);
}

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