socketServerExample.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 "Aria.h"


int main()
{
  // The string to send to the client. 
  char *strToSend="Hello Client";
  // The buffer in which to recieve the hello from the client
  char buff[100];
  // The size of the string the client sent
  size_t strSize;

  // The socket objects: one for accepting new client connections,
  // and another for communicating with a client after it connects.
  ArSocket serverSock, clientSock;

  // Initialize Aria.  This is especially essential on Windows,
  // because it will initialize Windows's sockets sytem.
  Aria::init();

  // Open the server socket
  if (serverSock.open(7777, ArSocket::TCP))
    ArLog::log(ArLog::Normal, "socketServerExample: Opened the server port.");
  else
  {
    ArLog::log(ArLog::Normal, "socketServerExample: Failed to open the server port: %s.",
       serverSock.getErrorStr().c_str());
    return(-1);
  }

  // Wait for a client to connect to us.
  if (serverSock.accept(&clientSock))
    ArLog::log(ArLog::Normal, "socketServerExample: Client has connected.");
  else
    ArLog::log(ArLog::Terse, "socketServerExample: Error in accepting a connection from the client: %s.",
       serverSock.getErrorStr().c_str());

  // Send the string 'Hello Client' to the client. write() should
  // return the same number of bytes that we told it to write. Otherwise,
  // its an error condition.
  if (clientSock.write(strToSend, strlen(strToSend)) == strlen(strToSend))
    ArLog::log(ArLog::Normal, "socketServerExample: Said hello to the client.");
  else
  {
    ArLog::log(ArLog::Normal, "socketServerExample: Error in sending hello string to the client.");
    return(-1);
  }

  // Read data from the client. read() will block until data is
  // received. 
  strSize=clientSock.read(buff, sizeof(buff));

  // If the amount read is 0 or less, its an error condition.
  if (strSize > 0)
  {
    // Terminate the string with a NULL character.
    buff[strSize]='\0';
    ArLog::log(ArLog::Normal, "socketServerExample: Client said: %s.", buff);
  }
  else
  {
    ArLog::log(ArLog::Normal, "socketServerExample: Error in waiting/reading the hello from the client.");
    return(-1);
  }

  // Now lets close the connection to the client
  clientSock.close();
  ArLog::log(ArLog::Normal, "socketServerExample: Socket to client closed.");
  

  // And lets close the server port
  serverSock.close();
    ArLog::log(ArLog::Normal, "socketServerExample: Server socket closed.");


  // Uninitialize Aria
  Aria::uninit();

  // All done
  return(0);
}

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