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libssock.kl
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libssock.kl
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-- Software License Agreement (BSD License)
--
-- Copyright (c) 2012-2015, TU Delft Robotics Institute
-- All rights reserved.
--
-- Redistribution and use in source and binary forms, with or without
-- modification, are permitted provided that the following conditions
-- are met:
--
-- * Redistributions of source code must retain the above copyright
-- notice, this list of conditions and the following disclaimer.
-- * Redistributions in binary form must reproduce the above
-- copyright notice, this list of conditions and the following
-- disclaimer in the documentation and/or other materials provided
-- with the distribution.
-- * Neither the name of the TU Delft Robotics Institute nor the names
-- of its contributors may be used to endorse or promote products
-- derived from this software without specific prior written
-- permission.
--
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-- FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-- COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-- INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-- BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-- CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-- LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-- ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-- POSSIBILITY OF SUCH DAMAGE.
PROGRAM libssock
--------------------------------------------------------------------------------
--
-- Convenience wrapper around the KAREL Socket Programming extensions. Only
-- works for Server TAGs right now.
--
-- See also KAREL Reference Manual, MARRC75KR07091E Rev C, chap. 11
--
--
-- author: G.A. vd. Hoorn (TU Delft Robotics Institute)
--
--------------------------------------------------------------------------------
%ALPHABETIZE
%COMMENT = 'ROS//r1'
%NOBUSYLAMP
%NOLOCKGROUP
%NOPAUSE = COMMAND + TPENABLE + ERROR
--------------------------------------------------------------------------------
--
-- local types & constants
--
--------------------------------------------------------------------------------
%INCLUDE include\libssock.th
--------------------------------------------------------------------------------
--
-- local routine prototypes
--
--------------------------------------------------------------------------------
%INCLUDE include\libssock.h
--------------------------------------------------------------------------------
--
-- Empty body
--
--------------------------------------------------------------------------------
BEGIN
END libssock
ROUTINE ssock_ping
VAR
stat__ : INTEGER
BEGIN
MSG_PING(host, stat__)
RETURN (-stat__)
END ssock_ping
ROUTINE ssock_ctor
VAR
tmp_str__ : STRING[1] -- temp string for tag_nr to str conversion
entry__ : INTEGER -- dummy var for set_var
tag_state__ : INTEGER -- TAG state
BEGIN
-- setup instance variables
this.connected_ = FALSE
this.status_ = 0
this.port_ = tcp_port
this.tag_idx_ = tag_idx
this.tag_str_ = ''
this.hcfg_str_ = ''
-- check
IF (this.tag_idx_ < 1) OR (this.tag_idx_ > 8) THEN
-- cannot open TAGs that don't exist
RETURN (S_OPEN_ERR)
ENDIF
-- construct server_port variable string (ascii 'trick')
tmp_str__ = CHR(this.tag_idx_ + ORD('0', 1))
-- and set system variable
this.hcfg_str_ = '$HOSTS_CFG[' + tmp_str__ + ']'
-- construct server tag string
this.tag_str_ = 'S' + tmp_str__ + ':'
-- check state of tag, make sure it is STARTED
GET_VAR(entry__, '*SYSTEM*', this.hcfg_str_ + '.$STATE', tag_state__, this.status_)
IF (this.status_ <> 0) OR (tag_state__ <> TAG_STARTED) THEN
-- TAG config not correct, or couldn't read it
RETURN (TAG_CONF_ERR)
ENDIF
-- set port of TAG
SET_VAR(entry__, '*SYSTEM*', this.hcfg_str_ + '.$SERVER_PORT', this.port_, this.status_)
IF this.status_ <> 0 THEN
-- couldn't update TAG config
RETURN (TAG_CONF_ERR)
ENDIF
-- done
RETURN (-this.status_)
END ssock_ctor
ROUTINE ssock_dump
BEGIN
WRITE fd('Sock instance:', CR, &
' connected :', this.connected_, CR, &
' port :', this.port_, CR, &
' tag_idx :', this.tag_idx_, CR, &
' tag_str : ', this.tag_str_, CR, &
' hcfg_str : ', this.hcfg_str_, CR)
END ssock_dump
ROUTINE ssock_accept
VAR
stat__ : INTEGER
BEGIN
stat__ = 0
IF this.connected_ THEN
RETURN (S_ACPT_ERR)
ENDIF
-- msg_connect only returns after a client connects to the port
MSG_CONNECT(this.tag_str_, stat__)
IF stat__ = 0 THEN
this.connected_ = TRUE
ENDIF
RETURN (-stat__)
END ssock_accept
ROUTINE ssock_dconn
BEGIN
IF this.connected_ = FALSE THEN
RETURN (S_NOTCON_ERR)
ENDIF
-- use other routine
RETURN (ssock_dconnf(this))
END ssock_dconn
ROUTINE ssock_dconnf
VAR
stat__ : INTEGER
BEGIN
stat__ = 0
MSG_DISCO(this.tag_str_, stat__)
this.connected_ = FALSE
RETURN (-stat__)
END ssock_dconnf
ROUTINE ssock_ofd
VAR
tmp__ : STRING[3]
stat__ : INTEGER
BEGIN
IF this.connected_ = FALSE THEN
RETURN (S_NOTCON_ERR)
ENDIF
-- TODO: why is this temporary variable necessary?
tmp__ = this.tag_str_
OPEN FILE fd(mode, tmp__)
stat__ = IO_STATUS(fd)
RETURN (-stat__)
END ssock_ofd
ROUTINE ssock_cfd
VAR
stat__ : INTEGER
BEGIN
IF this.connected_ = FALSE THEN
RETURN (S_NOTCON_ERR)
ENDIF
-- close file desc
CLOSE FILE fd
-- according to Karel Ref Man, A.4.12, this will always return 0
stat__ = IO_STATUS(fd)
RETURN (-stat__)
END ssock_cfd
ROUTINE ssock_accpt2
VAR
stat__ : INTEGER
BEGIN
stat__ = 0
-- use other routine
stat__ = ssock_accept(this)
-- make sure it succeeded
IF stat__ <> 0 THEN
-- stat already < 0 from ssock_accept
RETURN (stat__)
ENDIF
-- now open fd, read / write
stat__ = ssock_ofd(this, fd, 'RW')
-- done (stat already < 0 from ssock_ofd)
RETURN (stat__)
END ssock_accpt2
ROUTINE ssock_dconn2
VAR
stat__ : INTEGER
BEGIN
stat__ = 0
IF this.connected_ = FALSE THEN
RETURN (S_NOTCON_ERR)
ENDIF
-- close fd first
-- TODO: fail on failure to close fd?
stat__ = ssock_cfd(this, fd)
-- now socket
MSG_DISCO(this.tag_str_, stat__)
this.connected_ = FALSE
-- done
RETURN (-stat__)
END ssock_dconn2