Donny9 commented on code in PR #3341: URL: https://github.com/apache/nuttx-apps/pull/3341#discussion_r2719334630
########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; Review Comment: let's sort these var. ########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int netfd; + int sock; + ssize_t brecvd; + const struct orb_metadata *meta; + struct sockaddr_in addr; /* TODO: IPv6 support */ + socklen_t addrlen = sizeof(addr); + int sockoptval; + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + uint16_t queue_len = DEFAULT_QLEN; + int devno = 0; + bool usedevno = false; + bool restamp = false; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":p:q:d:th")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case 'd': + usedevno = true; + devno = atoi(optarg); + break; + case 'q': + queue_len = strtoul(optarg, NULL, 10); + break; + case 't': + restamp = true; + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + meta = orb_get_meta(topic); + if (meta == NULL) + { + fprintf(stderr, "Could not get metadata for topic '%s'\n", topic); + return EXIT_FAILURE; + } + + /* Set up topic advertisement */ + + if (usedevno) + { + netfd = orb_advertise_multi_queue(meta, NULL, &devno, queue_len); + } + else + { + netfd = orb_advertise_multi_queue(meta, NULL, NULL, queue_len); + } + + if (netfd < 0) + { + fprintf(stderr, "Could not advertise topic %s: %d\n", topic, errno); + return EXIT_FAILURE; + } + + /* Set up socket for receiving data */ + + addr.sin_family = AF_INET; + addr.sin_port = HTONS(port); + addr.sin_addr.s_addr = HTONL(INADDR_ANY); + + sock = socket(AF_INET, SOCK_DGRAM, 0); Review Comment: It would be best to encapsulate a transport layer, which could be UDP, TCP, or even more protocols. This code should preferably be operated through certain operations. ########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } Review Comment: ```suggestion static void print_usage(FAR FILE *sink) { fprintf(sink, HELP_TEXT); } ``` add FAR to all pointer ########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int netfd; + int sock; + ssize_t brecvd; + const struct orb_metadata *meta; + struct sockaddr_in addr; /* TODO: IPv6 support */ + socklen_t addrlen = sizeof(addr); + int sockoptval; + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + uint16_t queue_len = DEFAULT_QLEN; + int devno = 0; + bool usedevno = false; + bool restamp = false; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":p:q:d:th")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case 'd': + usedevno = true; + devno = atoi(optarg); + break; + case 'q': + queue_len = strtoul(optarg, NULL, 10); + break; + case 't': + restamp = true; + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + meta = orb_get_meta(topic); + if (meta == NULL) + { + fprintf(stderr, "Could not get metadata for topic '%s'\n", topic); + return EXIT_FAILURE; + } + + /* Set up topic advertisement */ + + if (usedevno) + { + netfd = orb_advertise_multi_queue(meta, NULL, &devno, queue_len); + } + else + { + netfd = orb_advertise_multi_queue(meta, NULL, NULL, queue_len); + } + + if (netfd < 0) + { + fprintf(stderr, "Could not advertise topic %s: %d\n", topic, errno); + return EXIT_FAILURE; + } + + /* Set up socket for receiving data */ + + addr.sin_family = AF_INET; + addr.sin_port = HTONS(port); + addr.sin_addr.s_addr = HTONL(INADDR_ANY); + + sock = socket(AF_INET, SOCK_DGRAM, 0); + if (sock < 0) + { + fprintf(stderr, "Couldn't create UDP socket: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_topic; + } + + if (bind(sock, (struct sockaddr *)&addr, addrlen) < 0) + { + fprintf(stderr, "Couldn't bind UDP socket to port %u: %d\n", port, + errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + sockoptval = 1; + if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &sockoptval, + sizeof(sockoptval)) < 0) + { + fprintf(stderr, "setsockopt SO_REUSEADDR failure: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Allocate memory for receiving UDP messages containing data */ + + dbuf = malloc(meta->o_size); + if (dbuf == NULL) + { + syslog(LOG_ERR | LOG_DAEMON, + "Couldn't allocate recv buffer memory: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Receive and publish data forever */ + + syslog(LOG_INFO | LOG_DAEMON, "Starting netsensor %s on port %u\n", topic, + port); + for (;;) + { + brecvd = recv(sock, dbuf, meta->o_size, 0); Review Comment: ```suggestion brecvd = recv(sock, dbuf, buflen, 0); ``` let's define a temp var buflen = meta->o_size * qeue_len; reuse it at some place. ########## sensors/netsensor_stream/netsensor_stream_main.c: ########## @@ -0,0 +1,234 @@ +/**************************************************************************** + * apps/sensors/netsensor_stream/netsensor_stream_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_IP "127.0.0.1" + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int sock; + int fd; + ssize_t bsent; + struct orb_metadata meta; + struct pollfd pfd; + struct sockaddr_in addr; /* TODO: IPv6 support */ + struct sockaddr_in to; + socklen_t addrlen = sizeof(addr); + socklen_t tolen = sizeof(to); + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + const char *ipaddr = DEFAULT_IP; + uint32_t ip; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":a:p:h")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'a': + ipaddr = optarg; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + fd = orb_subscribe(&meta); + if (fd < 0) + { + fprintf(stderr, "Could not get subscribe to topic '%s'\n", topic); + return EXIT_FAILURE; + } + + /* Set up socket for sending data */ + + addr.sin_family = AF_INET; + addr.sin_port = 0; /* Allow any */ + addr.sin_addr.s_addr = HTONL(INADDR_ANY); + + /* Set up address where data is sent */ + + err = inet_pton(AF_INET, ipaddr, &ip); + if (err < 0) + { + fprintf(stderr, "IP address %s is invalid.\n", ipaddr); + err = EXIT_FAILURE; + goto cleanup_topic; + } + + to.sin_family = AF_INET; + to.sin_port = HTONL(port); /* Allow any */ + to.sin_addr.s_addr = (in_addr_t)ip; + + sock = socket(AF_INET, SOCK_DGRAM, 0); + if (sock < 0) + { + fprintf(stderr, "Couldn't create UDP socket: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_topic; + } + + if (bind(sock, (struct sockaddr *)&addr, addrlen) < 0) + { + fprintf(stderr, "Couldn't bind UDP socket to port %u: %d\n", port, + errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Allocate memory for receiving UDP messages containing data */ + + dbuf = malloc(meta.o_size); + if (dbuf == NULL) + { + syslog(LOG_ERR | LOG_DAEMON, + "Couldn't allocate send buffer memory: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Set up polling */ + + pfd.fd = fd; + pfd.events = POLLIN; + pfd.revents = 0; + + /* Send data from the topic forever */ + + syslog(LOG_INFO | LOG_DAEMON, "Streaming from %s to %s:%u\n", topic, ipaddr, + port); + + for (;;) + { + /* Get data from topic whenever it's ready (poll returns) */ + + err = poll(&pfd, 1, -1); + if (err <= 0) + { + syslog(LOG_ERR | LOG_DAEMON, "Failed to poll topic: %d\n", errno); + continue; /* Try again */ + } + + err = orb_copy(&meta, fd, dbuf); Review Comment: orb_copy_multi ########## sensors/netsensor_stream/netsensor_stream_main.c: ########## @@ -0,0 +1,234 @@ +/**************************************************************************** + * apps/sensors/netsensor_stream/netsensor_stream_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_IP "127.0.0.1" + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int sock; + int fd; + ssize_t bsent; + struct orb_metadata meta; + struct pollfd pfd; + struct sockaddr_in addr; /* TODO: IPv6 support */ + struct sockaddr_in to; + socklen_t addrlen = sizeof(addr); + socklen_t tolen = sizeof(to); + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + const char *ipaddr = DEFAULT_IP; + uint32_t ip; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":a:p:h")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'a': + ipaddr = optarg; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + fd = orb_subscribe(&meta); Review Comment: where init meta? it's random value ########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int netfd; + int sock; + ssize_t brecvd; + const struct orb_metadata *meta; + struct sockaddr_in addr; /* TODO: IPv6 support */ + socklen_t addrlen = sizeof(addr); + int sockoptval; + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + uint16_t queue_len = DEFAULT_QLEN; + int devno = 0; + bool usedevno = false; + bool restamp = false; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":p:q:d:th")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case 'd': + usedevno = true; + devno = atoi(optarg); + break; + case 'q': + queue_len = strtoul(optarg, NULL, 10); + break; + case 't': + restamp = true; + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + meta = orb_get_meta(topic); + if (meta == NULL) + { + fprintf(stderr, "Could not get metadata for topic '%s'\n", topic); + return EXIT_FAILURE; + } + + /* Set up topic advertisement */ + + if (usedevno) + { + netfd = orb_advertise_multi_queue(meta, NULL, &devno, queue_len); + } + else + { + netfd = orb_advertise_multi_queue(meta, NULL, NULL, queue_len); + } + + if (netfd < 0) + { + fprintf(stderr, "Could not advertise topic %s: %d\n", topic, errno); + return EXIT_FAILURE; + } + + /* Set up socket for receiving data */ + + addr.sin_family = AF_INET; + addr.sin_port = HTONS(port); + addr.sin_addr.s_addr = HTONL(INADDR_ANY); + + sock = socket(AF_INET, SOCK_DGRAM, 0); + if (sock < 0) + { + fprintf(stderr, "Couldn't create UDP socket: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_topic; + } + + if (bind(sock, (struct sockaddr *)&addr, addrlen) < 0) + { + fprintf(stderr, "Couldn't bind UDP socket to port %u: %d\n", port, + errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + sockoptval = 1; + if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &sockoptval, + sizeof(sockoptval)) < 0) + { + fprintf(stderr, "setsockopt SO_REUSEADDR failure: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Allocate memory for receiving UDP messages containing data */ + + dbuf = malloc(meta->o_size); Review Comment: ```suggestion dbuf = malloc(meta->o_size * queue_len); ``` ########## sensors/netsensor/netsensor_main.c: ########## @@ -0,0 +1,246 @@ +/**************************************************************************** + * apps/sensors/netsensor/netsensor_main.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for asyslogditional information regarding copyright ownership. + * The ASF licenses this file to you under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <fcntl.h> +#include <poll.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <syslog.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/socket.h> + +#include <getopt.h> + +#include <uORB/uORB.h> + +#include "helptext.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define DEFAULT_PORT (5555) +#define DEFAULT_QLEN (5) + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void print_usage(FILE *sink) { fprintf(sink, HELP_TEXT); } + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, char **argv) +{ + int err; + int netfd; + int sock; + ssize_t brecvd; + const struct orb_metadata *meta; + struct sockaddr_in addr; /* TODO: IPv6 support */ + socklen_t addrlen = sizeof(addr); + int sockoptval; + void *dbuf = NULL; + + const char *topic = NULL; + uint16_t port = DEFAULT_PORT; + uint16_t queue_len = DEFAULT_QLEN; + int devno = 0; + bool usedevno = false; + bool restamp = false; + + /* Get parameters for operation from the command line. */ + + int c; + while ((c = getopt(argc, argv, ":p:q:d:th")) != -1) + { + switch (c) + { + case 'h': + print_usage(stdout); + return EXIT_SUCCESS; + break; + case 'p': + port = strtoul(optarg, NULL, 10); + break; + case 'd': + usedevno = true; + devno = atoi(optarg); + break; + case 'q': + queue_len = strtoul(optarg, NULL, 10); + break; + case 't': + restamp = true; + break; + case '?': + fprintf(stderr, "Unknown option -%c\n", optopt); + return EXIT_FAILURE; + break; + } + } + + /* Get topic name */ + + if (optind >= argc) + { + fprintf(stderr, "Missing topic.\n"); + print_usage(stderr); + return EXIT_FAILURE; + } + + topic = argv[optind]; + + /* Get topic metadata */ + + meta = orb_get_meta(topic); + if (meta == NULL) + { + fprintf(stderr, "Could not get metadata for topic '%s'\n", topic); + return EXIT_FAILURE; + } + + /* Set up topic advertisement */ + + if (usedevno) + { + netfd = orb_advertise_multi_queue(meta, NULL, &devno, queue_len); + } + else + { + netfd = orb_advertise_multi_queue(meta, NULL, NULL, queue_len); + } + + if (netfd < 0) + { + fprintf(stderr, "Could not advertise topic %s: %d\n", topic, errno); + return EXIT_FAILURE; + } + + /* Set up socket for receiving data */ + + addr.sin_family = AF_INET; + addr.sin_port = HTONS(port); + addr.sin_addr.s_addr = HTONL(INADDR_ANY); + + sock = socket(AF_INET, SOCK_DGRAM, 0); + if (sock < 0) + { + fprintf(stderr, "Couldn't create UDP socket: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_topic; + } + + if (bind(sock, (struct sockaddr *)&addr, addrlen) < 0) + { + fprintf(stderr, "Couldn't bind UDP socket to port %u: %d\n", port, + errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + sockoptval = 1; + if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &sockoptval, + sizeof(sockoptval)) < 0) + { + fprintf(stderr, "setsockopt SO_REUSEADDR failure: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Allocate memory for receiving UDP messages containing data */ + + dbuf = malloc(meta->o_size); + if (dbuf == NULL) + { + syslog(LOG_ERR | LOG_DAEMON, + "Couldn't allocate recv buffer memory: %d\n", errno); + err = EXIT_FAILURE; + goto cleanup_sock; + } + + /* Receive and publish data forever */ + + syslog(LOG_INFO | LOG_DAEMON, "Starting netsensor %s on port %u\n", topic, + port); + for (;;) + { + brecvd = recv(sock, dbuf, meta->o_size, 0); + if (brecvd < 0) + { + syslog(LOG_ERR | LOG_DAEMON, "Could not receive data: %d\n", errno); + continue; + } + + if (brecvd != meta->o_size) + { + syslog(LOG_ERR | LOG_DAEMON, "Received incorrect data size.\n"); + continue; + } + + syslog(LOG_INFO | LOG_DAEMON, "Got data: %ld bytes\n", brecvd); + + /* If we're overwriting the timestamp, do that. We know that all uORB + * topics start with a `uint64_t timestamp` member. + */ + + if (restamp) + { + *((uint64_t *)(dbuf)) = orb_absolute_time(); + } + + /* Publish the data to the topic */ + + err = orb_publish(meta, netfd, dbuf); Review Comment: ```suggestion err = orb_publish_multiple(meta, netfd, dbuf, ret/meta->o_size); ``` -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
