CServerTCPSocket_common.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "comms-precomp.h"  // Precompiled headers

#include <mrpt/comms/CServerTCPSocket.h>
#include <mrpt/comms/CClientTCPSocket.h>
#include <mrpt/comms/net_utils.h>
#include <mrpt/system/os.h>
#include <mrpt/core/exceptions.h>
#include <cstdio>  // stderr
using namespace mrpt::comms;

#if defined(MRPT_OS_LINUX) || defined(__APPLE__)
#define INVALID_SOCKET (-1)

#include <sys/socket.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <netdb.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#endif

#ifdef _WIN32
#include <winsock.h>
using socklen_t = int;
#endif

std::string CServerTCPSocket::getLastErrorStr()
{
    return mrpt::comms::net::getLastSocketErrorStr();
}

void CServerTCPSocket::setupSocket(
    unsigned short listenPort, const std::string& IPaddress,
    int maxConnectionsWaiting)
{
    MRPT_START

    // Create the socket:
    // ----------------------------
    m_serverSock = socket(AF_INET, SOCK_STREAM, 0);
    if (INVALID_SOCKET == m_serverSock) THROW_EXCEPTION(getLastErrorStr());

    // Bind it:
    // ----------------------------
    sockaddr_in desiredIP;

    desiredIP.sin_family = AF_INET;
    desiredIP.sin_addr.s_addr = inet_addr(IPaddress.c_str());
    desiredIP.sin_port = htons((unsigned short)listenPort);

    if (INVALID_SOCKET ==
        ::bind(m_serverSock, (struct sockaddr*)(&desiredIP), sizeof(desiredIP)))
        THROW_EXCEPTION(getLastErrorStr());

    // Put in listen mode:
    // ----------------------------
    if (INVALID_SOCKET == listen(m_serverSock, maxConnectionsWaiting))
        THROW_EXCEPTION(getLastErrorStr());

    MRPT_LOG_DEBUG(
        format(
            "[CServerTCPSocket] Listening at %s:%i\n", IPaddress.c_str(),
            listenPort));

    MRPT_END
}

/*---------------------------------------------------------------
                    isListening
 ---------------------------------------------------------------*/
bool CServerTCPSocket::isListening() { return INVALID_SOCKET != m_serverSock; }
/*---------------------------------------------------------------
                    accept
 ---------------------------------------------------------------*/
std::unique_ptr<CClientTCPSocket> CServerTCPSocket::accept(int timeout_ms)
{
    MRPT_START

    if (m_serverSock == INVALID_SOCKET) return nullptr;

    struct timeval timeoutSelect;
    struct timeval* ptrTimeout;
    fd_set sockArr;

    // Init fd_set structure & add our socket to it:
    FD_ZERO(&sockArr);
    FD_SET(m_serverSock, &sockArr);

    // The timeout:
    if (timeout_ms < 0)
    {
        ptrTimeout = nullptr;
    }
    else
    {
        timeoutSelect.tv_sec = timeout_ms / 1000;
        timeoutSelect.tv_usec = 1000 * (timeout_ms % 1000);
        ptrTimeout = &timeoutSelect;
    }

    // Wait for READ flag (meaning incoming connections):
    MRPT_LOG_DEBUG("[CServerTCPSocket::accept] Waiting incoming connections");

    int selRet = ::select(
        m_serverSock + 1,  // __nfds
        &sockArr,  // Wait for read
        nullptr,  // Wait for write
        nullptr,  // Wait for except.
        ptrTimeout);  // Timeout

    if (selRet == INVALID_SOCKET)
    {
        fprintf(stderr, "%s\n", getLastErrorStr().c_str());
        return nullptr;
    }

    if (selRet == 0)
    {
        MRPT_LOG_WARN(
            "[CServerTCPSocket::accept] Timeout waiting incoming "
            "connections\n");

        // Timeout:
        return nullptr;
    }
    else
    {
        MRPT_LOG_DEBUG(
            "[CServerTCPSocket::accept] Incoming connection accepted\n");

        // We have a new connection:

        sockaddr_in otherPart;
        socklen_t otherPartSize = sizeof(otherPart);

        int aceptdSock = ::accept(
            m_serverSock, (struct sockaddr*)&otherPart, &otherPartSize);

        if (aceptdSock == INVALID_SOCKET)
        {
            MRPT_LOG_ERROR_FMT("%s\n", getLastErrorStr().c_str());
            return std::unique_ptr<CClientTCPSocket>();
        }

        auto ret = std::make_unique<CClientTCPSocket>();

        ret->m_hSock = aceptdSock;

        ret->m_remotePartIP = std::string(inet_ntoa(otherPart.sin_addr));
        ret->m_remotePartPort = ntohs(otherPart.sin_port);

        MRPT_LOG_DEBUG_FMT(
            "[CServerTCPSocket::accept] Connection accepted from %s:%u\n",
            ret->m_remotePartIP.c_str(), ret->m_remotePartPort);

        return ret;
    }

    MRPT_END
}