Revision: 7068
http://playerstage.svn.sourceforge.net/playerstage/?rev=7068&view=rev
Author: gbiggs
Date: 2008-10-07 00:49:03 +0000 (Tue, 07 Oct 2008)
Log Message:
-----------
Applied and cleaned up most of patch 2145081.
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/client.c
code/player/trunk/libplayertcp/playerudp.cc
code/player/trunk/libplayertcp/remote_driver.cc
code/player/trunk/libplayertcp/socket_util.c
code/player/trunk/server/drivers/blobfinder/acts/acts.cc
code/player/trunk/server/drivers/laser/lms400_cola.cc
code/player/trunk/server/drivers/laser/lms400_cola.h
code/player/trunk/server/drivers/mixed/p2os/p2os.cc
code/player/trunk/server/drivers/speech/festival.cc
code/player/trunk/utils/playerv/playerv.c
Modified: code/player/trunk/client_libs/libplayerc/client.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/client.c 2008-10-06 20:33:32 UTC
(rev 7067)
+++ code/player/trunk/client_libs/libplayerc/client.c 2008-10-07 00:49:03 UTC
(rev 7068)
@@ -46,6 +46,7 @@
#include <assert.h>
#include <math.h>
+#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -211,7 +212,11 @@
// Connect to the server
int playerc_client_connect(playerc_client_t *client)
{
- struct hostent* entp;
+#if defined(HAVE_GETADDRINFO)
+ struct addrinfo* addr_ptr = NULL;
+#else
+ struct hostent* entp = NULL;
+#endif
char banner[PLAYER_IDENT_STRLEN];
int old_flags;
int ret;
@@ -239,7 +244,7 @@
*
* Specifying sin_port = 0 allows the system to choose the port.
*/
- clientaddr.sin_family = PF_INET;
+ clientaddr.sin_family = AF_INET;
clientaddr.sin_addr.s_addr = INADDR_ANY;
clientaddr.sin_port = 0;
@@ -247,7 +252,7 @@
(struct sockaddr*)&clientaddr, sizeof(clientaddr)) < -1)
{
PLAYERC_ERR1("bind call failed with error [%s]", strerror(errno));
- return(-1);
+ return -1;
}
}
else
@@ -273,17 +278,38 @@
#endif
// Construct server address
+ memset(&client->server, 0, sizeof(client->server));
+ client->server.sin_family = AF_INET;
+ client->server.sin_port = htons(client->port);
+#if defined(HAVE_GETADDRINFO)
+ if (getaddrinfo(client->host, NULL, NULL, &addr_ptr) != 0)
+ {
+ playerc_client_disconnect(client);
+ PLAYERC_ERR("getaddrinfo() failed with error");
+ return -1;
+ }
+ assert(addr_ptr);
+ assert(addr_ptr->ai_addr);
+ if ((addr_ptr->ai_addr->sa_family) != AF_INET)
+ {
+ playerc_client_disconnect(client);
+ PLAYERC_ERR("unsupported internet address family");
+ return -1;
+ }
+ client->server.sin_addr.s_addr = ((struct sockaddr_in
*)(addr_ptr->ai_addr))->sin_addr.s_addr;
+ freeaddrinfo(addr_ptr);
+ addr_ptr = NULL;
+#else
entp = gethostbyname(client->host);
if (entp == NULL)
{
playerc_client_disconnect(client);
- PLAYERC_ERR1("gethostbyname failed with error [%s]", strerror(errno));
+ PLAYERC_ERR1("gethostbyname() failed with error [%s]", strerror(errno));
return -1;
}
- client->server.sin_family = PF_INET;
- memcpy(&client->server.sin_addr, entp->h_addr_list[0], entp->h_length);
- client->server.sin_port = htons(client->port);
-
+ assert(entp->h_length <= sizeof (client->server.sin_addr));
+ memcpy(&(client->server.sin_addr), entp->h_addr_list[0], entp->h_length);
+#endif
// Connect the socket
/*
t = client->request_timeout;
@@ -363,7 +389,7 @@
{
if(send(client->sock, NULL, 0, 0) < 0)
{
- PLAYERC_ERR1("gethostbyname failed with error [%s]", strerror(errno));
+ PLAYERC_ERR1("send() failed with error [%s]", strerror(errno));
return -1;
}
}
Modified: code/player/trunk/libplayertcp/playerudp.cc
===================================================================
--- code/player/trunk/libplayertcp/playerudp.cc 2008-10-06 20:33:32 UTC (rev
7067)
+++ code/player/trunk/libplayertcp/playerudp.cc 2008-10-07 00:49:03 UTC (rev
7068)
@@ -1262,7 +1262,7 @@
*
* Specifying sin_port = 0 would allow the system to choose the port.
*/
- serverp.sin_family = PF_INET;
+ serverp.sin_family = AF_INET;
serverp.sin_addr.s_addr = INADDR_ANY;
if(bind(sock, (struct sockaddr*)&serverp, sizeof(serverp)) == -1)
Modified: code/player/trunk/libplayertcp/remote_driver.cc
===================================================================
--- code/player/trunk/libplayertcp/remote_driver.cc 2008-10-06 20:33:32 UTC
(rev 7067)
+++ code/player/trunk/libplayertcp/remote_driver.cc 2008-10-07 00:49:03 UTC
(rev 7068)
@@ -95,7 +95,7 @@
return(-1);
}
- server.sin_family = PF_INET;
+ server.sin_family = AF_INET;
server.sin_addr.s_addr = this->device_addr.host;
server.sin_port = htons(this->device_addr.robot);
Modified: code/player/trunk/libplayertcp/socket_util.c
===================================================================
--- code/player/trunk/libplayertcp/socket_util.c 2008-10-06 20:33:32 UTC
(rev 7067)
+++ code/player/trunk/libplayertcp/socket_util.c 2008-10-07 00:49:03 UTC
(rev 7068)
@@ -1,9 +1,9 @@
/*
* Player - One Hell of a Robot Server
- * Copyright (C) 2000
+ * Copyright (C) 2000
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
- *
*
+ *
* 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
@@ -59,10 +59,10 @@
#include "socket_util.h"
/*
- * this function creates a socket of the indicated type and binds it to
+ * this function creates a socket of the indicated type and binds it to
* the indicated port.
*
- * NOTE: we pick the IP address (and thus network interface) for binding
+ * NOTE: we pick the IP address (and thus network interface) for binding
* by calling gethostname() and then stripping it down to the first
* component (i.e. no domain name). if this process won't
* result in the IP address that you want, tough luck.
@@ -75,14 +75,14 @@
* PLAYER_TRANSPORT_TCP (for TCP)
* backlog: number of waiting connections to be allowed (TCP only)
*
- * RETURN:
- * On success, the fd of the new socket is returned. Otherwise, -1
+ * RETURN:
+ * On success, the fd of the new socket is returned. Otherwise, -1
* is returned and an explanatory note is dumped to stderr.
*/
int
-create_and_bind_socket(char blocking, unsigned int host, int* portnum,
+create_and_bind_socket(char blocking, unsigned int host, int* portnum,
int playersocktype, int backlog)
{
int sock; /* socket we're creating */
@@ -108,11 +108,11 @@
serverp.sin_addr.s_addr = host;
serverp.sin_port = htons(*portnum);
- /*
- * Create the INET socket.
- *
+ /*
+ * Create the INET socket.
+ *
*/
- if((sock = socket(PF_INET, socktype, 0)) == -1)
+ if((sock = socket(PF_INET, socktype, 0)) == -1)
{
perror("create_and_bind_socket:socket() failed; socket not created.");
return(-1);
@@ -135,14 +135,14 @@
* get the current access flags
*/
if((flags = fcntl(sock, F_GETFL)) == -1)
- {
+ {
perror("create_and_bind_socket():fcntl() while getting socket "
"access flags; socket not created.");
close(sock);
return(-1);
}
/*
- * OR the current flags with O_NONBLOCK (so we won't block),
+ * OR the current flags with O_NONBLOCK (so we won't block),
* and write them back
*/
if(fcntl(sock, F_SETFL, flags | O_NONBLOCK ) == -1)
@@ -157,7 +157,7 @@
if(socktype == SOCK_STREAM)
{
/* make sure we can reuse the port soon after */
- if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (const char*)&one,
+ if(setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (const char*)&one,
sizeof(one)))
{
perror("create_and_bind_socket(): setsockopt(2) failed");
@@ -166,18 +166,18 @@
}
- /*
+ /*
* Bind it to the port indicated
* INADDR_ANY indicates that any network interface (IP address)
- * for the local host may be used (presumably the OS will choose the
+ * for the local host may be used (presumably the OS will choose the
* right one).
*
* Specifying sin_port = 0 would allow the system to choose the port.
*/
- serverp.sin_family = PF_INET;
+ serverp.sin_family = AF_INET;
serverp.sin_addr.s_addr = INADDR_ANY;
- if(bind(sock, (struct sockaddr*)&serverp, sizeof(serverp)) == -1)
+ if(bind(sock, (struct sockaddr*)&serverp, sizeof(serverp)) == -1)
{
perror ("create_and_bind_socket():bind() failed; socket not created.");
close(sock);
@@ -209,7 +209,7 @@
/*
- * return the fd for the newly bound socket
+ * return the fd for the newly bound socket
*/
return(sock);
}
Modified: code/player/trunk/server/drivers/blobfinder/acts/acts.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/acts/acts.cc 2008-10-06
20:33:32 UTC (rev 7067)
+++ code/player/trunk/server/drivers/blobfinder/acts/acts.cc 2008-10-07
00:49:03 UTC (rev 7068)
@@ -139,7 +139,10 @@
/** @} */
+#include "config.h"
+
#include <assert.h>
+#include <stddef.h>
#include <stdio.h>
#include <unistd.h> /*
close(2),fcntl(2),getpid(2),usleep(3),execvp(3),fork(2)*/
#include <netdb.h> /* for gethostbyname(3) */
@@ -479,7 +482,6 @@
static struct sockaddr_in server;
char host[] = "localhost";
- struct hostent* entp;
printf("ACTS vision server connection initializing...");
fflush(stdout);
@@ -671,13 +673,33 @@
}
else
{
- /* in parent */
- /* fill in addr structure */
- server.sin_family = PF_INET;
+ memset(&server, 0, sizeof server);
+ server.sin_port = htons(portnum);
+ server.sin_family = AF_INET;
+#if HAVE_GETADDRINFO
+ struct addrinfo* addr_ptr = NULL;
+ if (getaddrinfo(host, NULL, NULL, &addr_ptr))
+ {
+ PLAYER_ERROR("getaddrinfo() failed with error");
+ KillACTS();
+ return(1);
+ }
+ assert(addr_ptr);
+ assert(addr_ptr->ai_addr);
+ if ((addr_ptr->ai_addr->sa_family) != AF_INET)
+ {
+ PLAYER_ERROR("unsupported internet address family");
+ KillACTS();
+ return(1);
+ }
+ server.sin_addr.s_addr = (reinterpret_cast<struct sockaddr_in
*>(addr_ptr->ai_addr))->sin_addr.s_addr;
+ freeaddrinfo(addr_ptr); addr_ptr = NULL;
+#else
/*
* this is okay to do, because gethostbyname(3) does no lookup if the
* 'host' * arg is already an IP addr
*/
+ struct hostent* entp;
if((entp = gethostbyname(host)) == NULL)
{
fprintf(stderr, "Acts::Setup(): \"%s\" is unknown host; "
@@ -688,9 +710,7 @@
}
memcpy(&server.sin_addr, entp->h_addr_list[0], entp->h_length);
-
- server.sin_port = htons(portnum);
-
+#endif
/* ok, we'll make this a bit smarter. first, we wait a baseline amount
* of time, then try to connect periodically for some predefined number
* of times
@@ -710,7 +730,7 @@
KillACTS();
return(1);
}
- if(connect(sock,(struct sockaddr*)&server, sizeof(server)) == 0)
+ if(connect(sock,reinterpret_cast<struct sockaddr*> (&server),
sizeof(server)) == 0)
break;
usleep(ACTS_STARTUP_INTERVAL_USEC);
}
Modified: code/player/trunk/server/drivers/laser/lms400_cola.cc
===================================================================
--- code/player/trunk/server/drivers/laser/lms400_cola.cc 2008-10-06
20:33:32 UTC (rev 7067)
+++ code/player/trunk/server/drivers/laser/lms400_cola.cc 2008-10-07
00:49:03 UTC (rev 7068)
@@ -4,13 +4,17 @@
Date: 7 Feb 2007
CVS: $Id$
*/
+
+#include "config.h"
+
+#include <stddef.h>
#include <sys/socket.h>
#include <netdb.h>
#include <libplayercore/playercore.h>
#include "lms400_cola.h"
#include <unistd.h>
-#include <strings.h>
+#include <string.h>
////////////////////////////////////////////////////////////////////////////////
// Constructor.
@@ -35,20 +39,35 @@
return (-1);
// Get the network host entry
- server = gethostbyname ((const char *)hostname);
- if (server == NULL)
+ memset (&serv_addr, 0, sizeof (serv_addr));
+ serv_addr.sin_port = htons(portno);
+ serv_addr.sin_family = AF_INET;
+#if defined (HAVE_GETADDRINFO)
+ addr_ptr = NULL;
+ if (getaddrinfo (hostname, NULL, NULL, &(addr_ptr)))
+ {
+ PLAYER_ERROR ("getaddrinfo() failed with error");
return (-1);
+ }
+ assert (addr_ptr);
+ assert (addr_ptr->ai_addr);
+ if ((addr_ptr->ai_addr->sa_family) != AF_INET)
+ {
+ PLAYER_ERROR ("unsupported internet address family");
+ return (-1);
+ }
+ serv_addr.sin_addr.s_addr = (reinterpret_cast<struct sockaddr_in*>
(addr_ptr->ai_addr))->sin_addr.s_addr;
+ freeaddrinfo (addr_ptr);
+ addr_ptr = NULL;
+#else
+ server = gethostbyname (hostname);
+ if ((server) == NULL)
+ return (-1);
+ memcpy (&(serv_addr.sin_addr.s_addr), server->h_addr, server->h_length);
+#endif
- // Fill in the sockaddr_in structure values
- memset ((char *) &serv_addr, 0, sizeof (serv_addr));
- serv_addr.sin_family = AF_INET;
- serv_addr.sin_port = htons (portno);
- memcpy ((char *)&serv_addr.sin_addr.s_addr,
- (char *)server->h_addr,
- server->h_length);
-
// Attempt to connect
- if (connect (sockfd, (const sockaddr*)&serv_addr, sizeof (serv_addr)) < 0)
+ if (connect (sockfd, reinterpret_cast<struct sockaddr*> (&serv_addr), sizeof
(serv_addr)) < 0)
return (-1);
return (0);
Modified: code/player/trunk/server/drivers/laser/lms400_cola.h
===================================================================
--- code/player/trunk/server/drivers/laser/lms400_cola.h 2008-10-06
20:33:32 UTC (rev 7067)
+++ code/player/trunk/server/drivers/laser/lms400_cola.h 2008-10-07
00:49:03 UTC (rev 7068)
@@ -4,6 +4,10 @@
Date: 7 Feb 2007
CVS: $Id$
*/
+
+#include "config.h"
+
+#include <netdb.h>
#include <sys/types.h>
#include <vector>
#include <netinet/in.h>
@@ -86,7 +90,11 @@
const char* hostname;
int sockfd, portno, n;
struct sockaddr_in serv_addr;
+#if defined (HAVE_GETADDRINFO)
+ struct addrinfo *addr_ptr;
+#else
struct hostent *server;
+#endif
// Internal Parameters:
int verbose;
Modified: code/player/trunk/server/drivers/mixed/p2os/p2os.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/p2os/p2os.cc 2008-10-06 20:33:32 UTC
(rev 7067)
+++ code/player/trunk/server/drivers/mixed/p2os/p2os.cc 2008-10-07 00:49:03 UTC
(rev 7068)
@@ -717,22 +717,37 @@
return(1);
}
//printf("created socket %d.\nLooking up hostname...\n", this->psos_fd);
+ struct sockaddr_in addr;
+ memset(&addr, 0, sizeof addr);
+ addr.sin_family = AF_INET;
+ addr.sin_port = htons(this->psos_tcp_port);
+#if HAVE_GETADDRINFO
+ struct addrinfo * addr_ptr = NULL;
+ if (getaddrinfo(this->psos_tcp_host, NULL, NULL, &addr_ptr))
+ {
+ PLAYER_ERROR("Error looking up hostname or address");
+ return 1;
+ }
+ assert(addr_ptr);
+ assert(addr_ptr->ai_addr);
+ assert((addr_ptr->ai_addr->sa_family) == AF_INET);
+ addr.sin_addr.s_addr = (reinterpret_cast<struct sockaddr_in
*>(addr_ptr->ai_addr))->sin_addr.s_addr;
+ freeaddrinfo(addr_ptr);
+ addr_ptr = NULL;
+#else
struct hostent* h = gethostbyname(this->psos_tcp_host);
if(!h)
{
perror("Error looking up hostname or address %s:");
return(1);
}
- struct sockaddr_in addr;
- assert((size_t)h->h_length <= sizeof(addr.sin_addr));
+ assert(static_cast<size_t> (h->h_length) <= sizeof(addr.sin_addr));
//printf("gethostbyname returned address %d length %d.\n", * h->h_addr,
h->h_length);
memcpy(&(addr.sin_addr), h->h_addr, h->h_length);
//printf("copied address to addr.sin_addr.s_addr=%d\n",
addr.sin_addr.s_addr);
- addr.sin_family = AF_INET;
- addr.sin_port = htons(this->psos_tcp_port);
- printf("Found host address, connecting...");
- fflush(stdout);
- if(connect(this->psos_fd, (struct sockaddr*) &addr, sizeof(addr)) < 0)
+#endif
+ PLAYER_WARN("Found host address, connecting...");
+ if(connect(this->psos_fd, reinterpret_cast<struct sockaddr*> (&addr),
sizeof(addr)) < 0)
{
perror("Error Connecting to remote host (P2OS::Setup()::connect()):");
return(1);
@@ -746,7 +761,7 @@
return(1);
}
assert(flags & O_NONBLOCK);
- printf("TCP socket connection is OK... ");
+ PLAYER_WARN("TCP socket connection is OK... ");
fflush(stdout);
}
else
Modified: code/player/trunk/server/drivers/speech/festival.cc
===================================================================
--- code/player/trunk/server/drivers/speech/festival.cc 2008-10-06 20:33:32 UTC
(rev 7067)
+++ code/player/trunk/server/drivers/speech/festival.cc 2008-10-07 00:49:03 UTC
(rev 7068)
@@ -79,8 +79,12 @@
*/
/** @} */
+#include "config.h"
+
+#include <stddef.h>
#include <stdio.h>
#include <errno.h>
+#include <assert.h>
#include <unistd.h> /*
close(2),fcntl(2),getpid(2),usleep(3),execlp(3),fork(2)*/
#include <netdb.h> /* for gethostbyname(3) */
#include <netinet/in.h> /* for struct sockaddr_in, htons(3) */
@@ -229,9 +233,8 @@
char* festival_args[8];
- static struct sockaddr_in server;
+ struct sockaddr_in server;
char host[] = "localhost";
- struct hostent* entp;
// start out with a clean slate
//queue->Flush();
@@ -286,29 +289,44 @@
}
else
{
- /* in parent */
- /* fill in addr structure */
- server.sin_family = PF_INET;
+ memset(&server, 0, sizeof (server));
+ server.sin_family = AF_INET;
+ server.sin_port = htons(portnum);
+#if HAVE_GETADDRINFO
+ struct addrinfo* addr_ptr = NULL;
+ if (getaddrinfo(host, NULL, NULL, &addr_ptr))
+ {
+ PLAYER_ERROR("getaddrinfo() failed with error");
+ KillFestival();
+ return(1);
+ }
+ assert(addr_ptr);
+ assert(addr_ptr->ai_addr);
+ if ((addr_ptr->ai_addr->sa_family) != AF_INET)
+ {
+ PLAYER_ERROR("unsupported internet address family");
+ KillFestival();
+ return(1);
+ }
+ server.sin_addr.s_addr = (reinterpret_cast<struct sockaddr_in
*>(addr_ptr->ai_addr))->sin_addr.s_addr;
+ freeaddrinfo(addr_ptr);
+ addr_ptr = NULL;
+#else
/*
* this is okay to do, because gethostbyname(3) does no lookup if the
* 'host' * arg is already an IP addr
*/
+ struct hostent* entp;
if((entp = gethostbyname(host)) == NULL)
{
- fprintf(stderr, "Festival::Setup(): \"%s\" is unknown host; "
+ PLAYER_ERROR1("Festival::Setup(): \"%s\" is unknown host; "
"can't connect to Festival\n", host);
/* try to kill Festival just in case it's running */
KillFestival();
return(1);
}
+#endif
- memcpy(&server.sin_addr, entp->h_addr_list[0], entp->h_length);
-
-
- server.sin_port = htons(portnum);
-
-
-
/* ok, we'll make this a bit smarter. first, we wait a baseline amount
* of time, then try to connect periodically for some predefined number
* of times
@@ -328,7 +346,7 @@
/*
* hook it up
*/
- if(connect(sock, (struct sockaddr*)&server, sizeof(server)) == 0)
+ if(connect(sock, reinterpret_cast<struct sockaddr*> (&server),
sizeof(server)) == 0)
break;
usleep(FESTIVAL_STARTUP_INTERVAL_USEC);
}
Modified: code/player/trunk/utils/playerv/playerv.c
===================================================================
--- code/player/trunk/utils/playerv/playerv.c 2008-10-06 20:33:32 UTC (rev
7067)
+++ code/player/trunk/utils/playerv/playerv.c 2008-10-07 00:49:03 UTC (rev
7068)
@@ -314,7 +314,7 @@
// start out timer if in pull mode
if(rate > 0.0)
gettimeofday(&tv, NULL);
-
+
while (!quit)
{
// Let gui process messages
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