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fix accept code

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Denis 2023-12-13 14:27:05 +01:00
parent ca92513634
commit 80bc6c62c3
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GPG key ID: DD9B63F805CF5C03
3 changed files with 41 additions and 69 deletions
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57
dev_in.c
View file

@ -59,61 +59,16 @@ typedef struct dev_in {
static int map_message_from_iio(dev_in_iio_t *const in_iio, in_message_t *const messages, size_t messages_len) {
int res = -EIO;
/*
* data layout is:
* - [0][0...2] => [gyro][x...z]
* - [1][0...2] => [acce][x...z]
*
*/
uint16_t data[2][3];
uint8_t data[32];
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[0][0], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[0], sizeof(data));
if (res == -1) {
res = errno;
res = res > 0 ? -1 * res : res;
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[0][1], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[0][2], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[1][0], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[1][1], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = read(dev_iio_get_buffer_fd(in_iio->iiodev), &data[1][2], sizeof(uint16_t));
if (res != sizeof(uint16_t)) {
fprintf(stderr, "Error reading from %s: %d\n", dev_iio_get_name(in_iio->iiodev), res);
goto send_message_from_iio_err;
} else {
printf("OK\n");
}
res = 0;
send_message_from_iio_err:
return res;

2
rogue_enemy.h
View file

@ -14,6 +14,7 @@
#include <math.h>
#include <termios.h>
#include <dirent.h>
#include <poll.h>
#include <sys/types.h>
#include <sys/time.h>
@ -24,6 +25,7 @@
#include <sys/select.h>
#include <sys/syscall.h>
#include <sys/socket.h>
#include <sys/signalfd.h>
#include <sys/un.h>
#include <linux/hidraw.h>

51
stray_ally.c
View file

@ -59,6 +59,12 @@ int main(int argc, char ** argv) {
goto main_err;
}
const uint64_t timeout_ms = 1500;
struct pollfd poll_fds[2];
poll_fds[0].fd = -1 /*signalfd(-1, )*/;
poll_fds[0].events = POLL_IN;
int sd=-1;
struct sockaddr_un serveraddr;
do {
@ -87,29 +93,38 @@ int main(int argc, char ** argv) {
break;
}
poll_fds[1].fd = sd;
poll_fds[1].events = POLL_IN;
while (true) {
const int client_fd = accept(sd, NULL, NULL);
if (client_fd < 0) {
fprintf(stderr, "Error in getting a client connected: %d\n", client_fd);
continue;
}
const int poll_ret = poll(poll_fds, sizeof(poll_fds) / sizeof(poll_fds[0]), timeout_ms);
// here the client_fd is good
if (pthread_mutex_lock(&dev_out_thread_data.communication.endpoint.ssocket.mutex) == 0) {
int i;
for (i = 0; i < MAX_CONNECTED_CLIENTS; ++i) {
if (dev_out_thread_data.communication.endpoint.ssocket.clients[i] < 0) {
dev_out_thread_data.communication.endpoint.ssocket.clients[i] = client_fd;
break;
if (poll_fds[0].revents & POLLIN) {
// TODO: read for signals
} else if (poll_fds[1].revents & POLLIN) {
const int client_fd = accept(sd, NULL, NULL);
if (client_fd < 0) {
fprintf(stderr, "Error in getting a client connected: %d\n", client_fd);
continue;
}
// here the client_fd is good
if (pthread_mutex_lock(&dev_out_thread_data.communication.endpoint.ssocket.mutex) == 0) {
int i;
for (i = 0; i < MAX_CONNECTED_CLIENTS; ++i) {
if (dev_out_thread_data.communication.endpoint.ssocket.clients[i] < 0) {
dev_out_thread_data.communication.endpoint.ssocket.clients[i] = client_fd;
break;
}
}
}
if (i == MAX_CONNECTED_CLIENTS) {
fprintf(stderr, "Could not find a free spot fot the incoming client -- client will be rejected\n");
close(client_fd);
}
if (i == MAX_CONNECTED_CLIENTS) {
fprintf(stderr, "Could not find a free spot fot the incoming client -- client will be rejected\n");
close(client_fd);
}
pthread_mutex_unlock(&dev_out_thread_data.communication.endpoint.ssocket.mutex);
pthread_mutex_unlock(&dev_out_thread_data.communication.endpoint.ssocket.mutex);
}
}
}
} while (false);