ArSocket_LIN.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 "ArExport.h"
#include "ariaOSDef.h"
#include "ArSocket.h"
#include "ArLog.h"
#include <errno.h>
#include <stdio.h>
#include <netdb.h>
#include <arpa/inet.h>
#include "ArFunctor.h"
#include <sys/socket.h>
#include <netinet/ip.h>
#include <netinet/tcp.h>

bool ArSocket::ourInitialized=true;


bool ArSocket::init()
{
  return(true);
}

void ArSocket::shutdown()
{
}

ArSocket::ArSocket() :
  myType(Unknown),
  myError(NoErr),
  myErrorStr(),
  myDoClose(true),
  myFD(-1),
  myNonBlocking(false),
  mySin()
{
  internalInit();
}

ArSocket::ArSocket(const char *host, int port, Type type) :
  myType(type),
  myError(NoErr),
  myErrorStr(),
  myDoClose(true),
  myFD(-1),
  myNonBlocking(false),
  mySin()
{
  internalInit();
  connect(host, port, type);
}

ArSocket::ArSocket(int port, bool doClose, Type type) :
  myType(type),
  myError(NoErr),
  myErrorStr(),
  myDoClose(doClose),
  myFD(-1),
  myNonBlocking(false),
  mySin()
{
  internalInit();
  open(port, type);
}

ArSocket::~ArSocket()
{
  close();
}

bool ArSocket::hostAddr(const char *host, struct in_addr &addr)
{
  struct hostent *hp;
  if (!(hp=gethostbyname(host)))
  {
    perror("gethostbyname");
    memset(&addr, 0, sizeof(in_addr));
    return(false);
  }
  else
  {
    bcopy(hp->h_addr, &addr, hp->h_length);
    return(true);
  }
}

bool ArSocket::addrHost(struct in_addr &addr, char *host)
{
  struct hostent *hp;

  hp=gethostbyaddr((char*)&addr.s_addr, sizeof(addr.s_addr), AF_INET);
  if (hp)
    strcpy(host, hp->h_name);
  else
    strcpy(host, inet_ntoa(addr));

  return(true);
}

std::string ArSocket::getHostName()
{
  char localhost[maxHostNameLen()];

  if (gethostname(localhost, sizeof(localhost)) == 1)
    return("");
  else
    return(localhost);
}

bool ArSocket::connect(const char *host, int port, Type type)
{
  char localhost[maxHostNameLen()];

  if (!host)
  {
    if (gethostname(localhost, sizeof(localhost)) == 1)
    {
      myError=ConBadHost;
      myErrorStr="Failure to locate host '";
      myErrorStr+=localhost;
      myErrorStr+="'";
      perror("gethostname");
      return(false);
    }
    host=localhost;
  }

  bzero(&mySin, sizeof(mySin));
  // MPL taking out this next code line from the if since it makes
  // everything we can't resolve try to connect to localhost
  // &&  !hostAddr("localhost", mySin.sin_addr))
  if (!hostAddr(host, mySin.sin_addr))
    return(false);
  setIPString();
  mySin.sin_family=AF_INET;
  mySin.sin_port=hostToNetOrder(port);

  if ((type == TCP) && ((myFD=socket(AF_INET, SOCK_STREAM, 0)) < 0))
  {
    myError=NetFail;
    myErrorStr="Failure to make TCP socket";
    perror("socket");
    return(false);
  }
  else if ((type == UDP) && ((myFD=socket(AF_INET, SOCK_DGRAM, 0)) < 0))
  {
    myError=NetFail;
    myErrorStr="Failure to make UDP socket";
    perror("socket");
    return(false);
  }

  myType=type;

  if (::connect(myFD, (struct sockaddr *)&mySin,
        sizeof(struct sockaddr_in)) < 0)
  {
    myErrorStr="Failure to connect socket";
    switch (errno)
    {
    case ECONNREFUSED:
      myError=ConRefused;
      myErrorStr+="; Connection refused";
      break;
    case ENETUNREACH:
      myError=ConNoRoute;
      myErrorStr+="; No route to host";
      break;
    default:
      myError=NetFail;
      break;
    }
    //perror("connect");
    ::close(myFD);
    myFD = -1;
    return(false);
  }

  return(true);
}

bool ArSocket::open(int port, Type type, const char *openOnIP)
{
  int ret;
  char localhost[maxHostNameLen()];

  if ((type == TCP) && ((myFD=socket(AF_INET, SOCK_STREAM, 0)) < 0))
  {
    myErrorStr="Failure to make TCP socket";
    perror("socket");
    return(false);
  }
  else if ((type == UDP) && ((myFD=socket(AF_INET, SOCK_DGRAM, 0)) < 0))
  {
    myErrorStr="Failure to make UDP socket";
    perror("socket");
    return(false);
  }

  myType=type;

  /* MPL removed this since with what I Took out down below months ago 
  if (gethostname(localhost, sizeof(localhost)) == 1)
  {
    myErrorStr="Failure to locate localhost";
    perror("gethostname");
    return(false);
  }
  */
  bzero(&mySin, sizeof(mySin));
  /* MPL took this out since it was just overriding it with the
     INADDR_ANY anyways and it could cause slowdowns if a machine wasn't
     configured so lookups are quick
  if (!hostAddr(localhost, mySin.sin_addr) && 
      !hostAddr("localhost", mySin.sin_addr))
    return(false); */

  if (openOnIP != NULL)
  {
    
    if (!hostAddr(openOnIP, mySin.sin_addr))
    {
      ArLog::log(ArLog::Normal, "Couldn't find ip of %s to open on", openOnIP);
      return(false); 
    }
    else
    {
      //printf("Opening on %s\n", openOnIP);
    }
  }
  else
  {
    mySin.sin_addr.s_addr=htonl(INADDR_ANY);
  }

  setIPString();
  mySin.sin_family=AF_INET;
  mySin.sin_port=hostToNetOrder(port);

  if ((ret=bind(myFD, (struct sockaddr *)&mySin, sizeof(mySin))) < 0)
  {
    myErrorStr="Failure to bind socket to port ";
    sprintf(localhost, "%d", port);
    myErrorStr+=localhost;
    perror("socket");
    return(false);
  }

  if ((type == TCP) && (listen(myFD, 5) < 0))
  {
    myErrorStr="Failure to listen on socket";
    perror("listen");
    return(false);
  }

  return(true);
}

bool ArSocket::create(Type type)
{
  if ((type == TCP) && ((myFD=socket(AF_INET, SOCK_STREAM, 0)) < 0))
  {
    myErrorStr="Failure to make TCP socket";
    perror("socket");
    return(false);
  }
  else if ((type == UDP) && ((myFD=socket(AF_INET, SOCK_DGRAM, 0)) < 0))
  {
    myErrorStr="Failure to make UDP socket";
    perror("socket");
    return(false);
  }

  myType=type;

  if (getSockName())
    return(true);
  else
    return(false);
}

bool ArSocket::findValidPort(int startPort, const char *openOnIP)
{
  char localhost[maxHostNameLen()];

  /*
  if (gethostname(localhost, sizeof(localhost)) == 1)
  {
    myErrorStr="Failure to locate localhost";
    perror("gethostname");
    return(false);
  }
  */

  for (int i=0; i+startPort < 65000; ++i)
  {
    bzero(&mySin, sizeof(mySin));
    /*
    if (!hostAddr(localhost, mySin.sin_addr) && 
    !hostAddr("localhost", mySin.sin_addr))
      return(false);
    */
    setIPString();
    
    if (openOnIP != NULL)
    {
      
      if (!hostAddr(openOnIP, mySin.sin_addr))
      {
    ArLog::log(ArLog::Normal, "Couldn't find ip of %s to open udp on", openOnIP);
    return(false); 
      }
      else
      {
    //printf("Opening on %s\n", openOnIP);
      }
    }
    else
    {
      mySin.sin_addr.s_addr=htonl(INADDR_ANY);
    }
    
    mySin.sin_family=AF_INET;
    mySin.sin_port=hostToNetOrder(startPort+i);

    if (bind(myFD, (struct sockaddr *)&mySin, sizeof(mySin)) == 0)
      break;
  }

  return(true);
}

bool ArSocket::connectTo(const char *host, int port)
{
  char localhost[maxHostNameLen()];

  if (myFD < 0)
    return(false);

  if (!host)
  {
    if (gethostname(localhost, sizeof(localhost)) == 1)
    {
      myErrorStr="Failure to locate host '";
      myErrorStr+=localhost;
      myErrorStr+="'";
      perror("gethostname");
      return(false);
    }
    host=localhost;
  }

  bzero(&mySin, sizeof(mySin));
  if (!hostAddr(host, mySin.sin_addr))
    return(false);
  setIPString();
  mySin.sin_family=AF_INET;
  mySin.sin_port=hostToNetOrder(port);

  return(connectTo(&mySin));
}

bool ArSocket::connectTo(struct sockaddr_in *sin)
{
  if (::connect(myFD, (struct sockaddr *)sin,
        sizeof(struct sockaddr_in)) < 0)
  {
    myErrorStr="Failure to connect socket";
    perror("connect");
    return(0);
  }

  return(1);
}


bool ArSocket::close()
{
  if (myFD != -1)
    ArLog::log(ArLog::Verbose, "Closing socket");
  if (myCloseFunctor != NULL)
    myCloseFunctor->invoke();
  if (myDoClose && ::close(myFD))
  {
    myFD=-1;
    return(false);
  }
  else
  {
    myFD=-1;
    return(true);
  }
}

bool ArSocket::setLinger(int time)
{
  struct linger lin;

  if (time)
  {
    lin.l_onoff=1;
    lin.l_linger=time;
  }
  else
  {
    lin.l_onoff=0;
    lin.l_linger=time;
  }

  if (setsockopt(myFD, SOL_SOCKET, SO_LINGER, &lin, sizeof(lin)) != 0)
  {
    myErrorStr="Failure to setsockopt LINGER";
    perror("setsockopt");
    return(false);
  }
  else
    return(true);
}

bool ArSocket::setBroadcast()
{
  if (setsockopt(myFD, SOL_SOCKET, SO_BROADCAST, NULL, 0) != 0)
  {
    myErrorStr="Failure to setsockopt BROADCAST";
    perror("setsockopt");
    return(false);
  }
  else
    return(true);
}

bool ArSocket::setReuseAddress()
{
  int opt=1;

  if (setsockopt(myFD, SOL_SOCKET, SO_REUSEADDR,
         (char*)&opt, sizeof(opt)) != 0)
  {
    myErrorStr="Failure to setsockopt REUSEADDR";
    perror("setsockopt");
    return(false);
  }
  else
    return(true);
}

bool ArSocket::setNonBlock()
{
  if (fcntl(myFD, F_SETFL, O_NONBLOCK) != 0)
  {
    myErrorStr="Failure to fcntl O_NONBLOCK";
    perror("fcntl");
    return(false);
  }
  else
  {
    myNonBlocking = true;
    return(true);
  }
}

bool ArSocket::copy(int fd, bool doclose)
{
  socklen_t len;

  myFD=fd;
  myDoClose=doclose;
  myType=Unknown;

  len=sizeof(struct sockaddr_in);
  if (getsockname(myFD, (struct sockaddr*)&mySin, &len))
  {
    myErrorStr="Failed to getsockname on fd ";
    perror("setsockopt");
    return(false);
  }
  else
    return(true);
}

bool ArSocket::accept(ArSocket *sock)
{
  socklen_t len;
  unsigned char *bytes;
  
  len=sizeof(struct sockaddr_in);
  sock->myFD=::accept(myFD, (struct sockaddr*)&(sock->mySin), &len);
  sock->myType=myType;
  bytes = (unsigned char *)sock->inAddr();
  sprintf(sock->myIPString, "%d.%d.%d.%d", bytes[0], bytes[1], bytes[2], 
      bytes[3]);
  if ((sock->myFD < 0 && !myNonBlocking) || 
      (sock->myFD < 0 && errno != EWOULDBLOCK && myNonBlocking))
  {
    myErrorStr="Failed to accept on socket";
    perror("accept");
    return(false);
  }

  return(true);
}

void ArSocket::inToA(struct in_addr *addr, char *buff)
{
  strcpy(buff, inet_ntoa(*addr));
}

bool ArSocket::getSockName()
{
  socklen_t size;

  if (myFD < 0)
  {
    myErrorStr="Trying to get socket name on an unopened socket";
    printf(myErrorStr.c_str());
    return(false);
  }

  size=sizeof(mySin);
  if (getsockname(myFD, (struct sockaddr *)&mySin, &size) != 0)
  {
    myErrorStr="Error getting socket name";
    perror(myErrorStr.c_str());
    return(false);
  }

  return(true);
}

unsigned int ArSocket::hostToNetOrder(int i)
{
  return(htons(i));
}

unsigned int ArSocket::netToHostOrder(int i)
{
  return(ntohs(i));
}

bool ArSocket::setNoDelay(bool flag)
{
  if(myType != TCP) return false;
  int f = flag?1:0;
  int r = setsockopt(myFD, IPPROTO_TCP, TCP_NODELAY, (char*)&f, sizeof(f));
  return (r != -1);
}

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