Module: /home/henthorn/AUV/auv-qnx/auv/altex/onboard/camera/XPortSim.cc Group: 'DGROUP' CONST,CONST2,_DATA,_BSS Segment: _TEXT DWORD USE32 000008ad bytes /** \file XPortSim.cc */ /****************************************************************************/ /* Copyright (c) 2008 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : XPortSim.cc */ /* Author : K Headley */ /* Project : Benthic Imaging AUV */ /* Created : 04/01/2008 */ /****************************************************************************/ /* Modification History: */ /* $Id: XPortSim.cc,v 1.5 2012/04/06 01:13:06 headley Exp $ */ /* $Name: FastSim $ */ /****************************************************************************/ #include #include /* close */ #include #include #include #include #include #include #include "XPort.h" #include "Utils.h" #include "qnx_port.h" #include "BicamConsts.h" /** shutdown if TRUE */ boolean shutdownFlag=FALSE; /** quiet (not verbose) output */ boolean verbose=FALSE; /** Signal handler (SIGINT, SIGTERM) for XPortSim process. @param sig signal received */ void sig_handler(int sig){ switch(sig){ case SIGINT: 0000 void near sig_handler( int ): 0000 68 08 00 00 00 push 00000008H 0005 e8 00 00 00 00 call __CHK 000a 52 push edx 000b 83 f8 02 cmp eax,00000002H 000e 72 35 jb L4 0010 76 07 jbe L1 0012 83 f8 0f cmp eax,0000000fH 0015 74 27 je L3 0017 eb 2c jmp L4 cout<<"got SIGINT"<toBytes(bytes); 009a 89 e2 mov edx,esp 009c e8 00 00 00 00 call char near * near XPortResponse::toBytes( char near * ) return sendBytes(sd,bytes,XPORT_RESPONSE_LEN); 00a1 bb 05 00 00 00 mov ebx,00000005H 00a6 89 e2 mov edx,esp 00a8 89 c8 mov eax,ecx 00aa e8 00 00 00 00 call int near sendBytes( int, char near *, int ) } /** Send bytes to specified socket. @param sd socket descriptor @param msg bytes to send. */ 00af 83 c4 08 add esp,00000008H 00b2 59 pop ecx 00b3 5b pop ebx 00b4 c3 ret int sendMessage(int sd, char *msg){ int rc; 00b5 int near sendMessage( int, char near * ): 00b5 68 10 00 00 00 push 00000010H 00ba e8 00 00 00 00 call __CHK 00bf 53 push ebx 00c0 51 push ecx 00c1 56 push esi 00c2 89 c6 mov esi,eax rc = send(sd, msg, strlen(msg), 0); 00c4 89 d0 mov eax,edx 00c6 e8 00 00 00 00 call strlen_ 00cb 31 c9 xor ecx,ecx 00cd 89 c3 mov ebx,eax 00cf 89 f0 mov eax,esi 00d1 e8 00 00 00 00 call send_ 00d6 89 c2 mov edx,eax if(rc<0) { 00d8 85 c0 test eax,eax 00da 7d 1b jge L6 perror("cannot send message "); 00dc b8 43 00 00 00 mov eax,offset L50 00e1 e8 00 00 00 00 call perror_ close(sd); 00e6 89 f0 mov eax,esi 00e8 e8 00 00 00 00 call close_ exit(1); } return rc; 00ed b8 01 00 00 00 mov eax,00000001H 00f2 e8 00 00 00 00 call exit_ } /** Start XPortSim server @param host hostname */ void startMockXPort(char *host); /** Process ID of XPortSim server */ pid_t mockXPortPID; /** Process ID of GPIO TCP/IP process */ pid_t gpioPID; /** Process ID of Serial IO TCP/IP process */ pid_t serialPID; /** Establish listener socket @param sd socket descriptor to assign @param hostname XPortSim server hostname @param port XPortSim server TCP/IP port @param servAddr socket address */ 00f7 89 d0 L6 mov eax,edx 00f9 5e pop esi 00fa 59 pop ecx 00fb 5b pop ebx 00fc c3 ret int getListenerSocket(int *sd, char *hostname, unsigned short port, struct sockaddr_in *servAddr){ struct hostent *h; 00fd int near getListenerSocket( int near *, char near *, short unsigned, sockaddr_in near * ): 00fd 68 20 00 00 00 push 00000020H 0102 e8 00 00 00 00 call __CHK 0107 56 push esi 0108 57 push edi 0109 55 push ebp 010a 89 c6 mov esi,eax 010c 89 d7 mov edi,edx printdbg("getListenerSocket: setting up listener on %s port %d (%hu)\n",hostname,port,port); /* create socket */ 010e 0f b7 eb movzx ebp,bx 0111 55 push ebp 0112 55 push ebp 0113 52 push edx 0114 68 58 00 00 00 push offset L51 0119 e8 00 00 00 00 call void near printdbg( char near *, ... ) 011e 83 c4 10 add esp,00000010H *sd = socket(AF_INET, SOCK_STREAM, 0); 0121 31 db xor ebx,ebx 0123 ba 01 00 00 00 mov edx,00000001H 0128 b8 02 00 00 00 mov eax,00000002H 012d e8 00 00 00 00 call socket_ 0132 89 06 mov [esi],eax if(*sd<0) { 0134 85 c0 test eax,eax 0136 7d 13 jge L8 perror("getListenerSocket: cannot open socket "); 0138 b8 94 00 00 00 mov eax,offset L52 013d e8 00 00 00 00 call perror_ return ERROR; } 0142 b8 ff ff ff ff L7 mov eax,0ffffffffH 0147 5d pop ebp 0148 5f pop edi 0149 5e pop esi 014a c3 ret printdbg("getListenerSocket: got socket (%d)\n",*sd); /* bind server port */ 014b 50 L8 push eax 014c 68 bb 00 00 00 push offset L53 0151 e8 00 00 00 00 call void near printdbg( char near *, ... ) 0156 83 c4 08 add esp,00000008H printdbg("getListenerSocket: calling gethostbyname %s\n",hostname); 0159 57 push edi 015a 68 df 00 00 00 push offset L54 015f e8 00 00 00 00 call void near printdbg( char near *, ... ) 0164 83 c4 08 add esp,00000008H h = gethostbyname(hostname); 0167 89 f8 mov eax,edi 0169 e8 00 00 00 00 call gethostbyname_ if(h==NULL) { 016e 85 c0 test eax,eax 0170 75 17 jne L9 printdbg("getListenerSocket: unknown host '%s' (%d)\n",hostname,h_errno); return ERROR; } 0172 8b 35 00 00 00 00 mov esi,_h_errno 0178 56 push esi 0179 57 push edi 017a 68 0c 01 00 00 push offset L55 017f e8 00 00 00 00 call void near printdbg( char near *, ... ) 0184 83 c4 0c add esp,0000000cH 0187 eb b9 jmp L7 printdbg("getListenerSocket: gethostbyname complete\n"); 0189 68 37 01 00 00 L9 push offset L56 018e e8 00 00 00 00 call void near printdbg( char near *, ... ) 0193 83 c4 04 add esp,00000004H servAddr->sin_family = AF_INET; //memcpy((char *) &servAddr->sin_addr.s_addr, h->h_addr_list[0], h->h_length); /* not sure why, but it won't bind using the hostname: memcpy((char *) &servAddr->sin_addr.s_addr, h->h_addr_list[0], h->h_length); must use INADDR_ANY */ 0196 c6 41 01 02 mov byte ptr +1H[ecx],02H servAddr->sin_addr.s_addr = htonl(INADDR_ANY); 019a 31 c0 xor eax,eax 019c e8 00 00 00 00 call htonl_ 01a1 89 41 04 mov +4H[ecx],eax servAddr->sin_port = htons(port); 01a4 89 e8 mov eax,ebp 01a6 e8 00 00 00 00 call htons_ 01ab 66 89 41 02 mov +2H[ecx],ax errno=0; 01af e8 00 00 00 00 call __get_errno_ptr_ 01b4 c7 00 00 00 00 00 mov dword ptr [eax],00000000H if(bind(*sd, (struct sockaddr *) servAddr, sizeof(*servAddr))<0) { 01ba 8b 06 mov eax,[esi] 01bc bb 10 00 00 00 mov ebx,00000010H 01c1 89 ca mov edx,ecx 01c3 e8 00 00 00 00 call bind_ 01c8 85 c0 test eax,eax 01ca 7d 1a jge L10 printdbg("getListenerSocket: cannot bind port (%d)\n",errno); return ERROR; } 01cc e8 00 00 00 00 call __get_errno_ptr_ 01d1 8b 08 mov ecx,[eax] 01d3 51 push ecx 01d4 68 62 01 00 00 push offset L57 01d9 e8 00 00 00 00 call void near printdbg( char near *, ... ) 01de 83 c4 08 add esp,00000008H 01e1 e9 5c ff ff ff jmp L7 listen(*sd,2); 01e6 8b 06 L10 mov eax,[esi] 01e8 ba 02 00 00 00 mov edx,00000002H 01ed e8 00 00 00 00 call listen_ return *sd; 01f2 8b 06 mov eax,[esi] } /** GPIO handler. Receives incoming XPort GPIO traffic and returns appropriate messages. */ 01f4 5d pop ebp 01f5 5f pop edi 01f6 5e pop esi 01f7 c3 ret void *gpioListener(){ int sd, newSd; SOCKLEN svrLen; struct sockaddr_in svrAddr; 01f8 void near * near gpioListener(): 01f8 68 74 01 00 00 push 00000174H 01fd e8 00 00 00 00 call __CHK 0202 53 push ebx 0203 51 push ecx 0204 52 push edx 0205 56 push esi 0206 57 push edi 0207 55 push ebp 0208 81 ec 4c 01 00 00 sub esp,0000014cH int MSG_BUFFER_SIZE=32; char msgBuffer[32]; int readLen=0; 020e bf 20 00 00 00 mov edi,00000020H XPortCommand xpCommand; 0213 8d 84 24 30 01 00 00 lea eax,+130H[esp] 021a e8 00 00 00 00 call near XPortCommand::XPortCommand() XPortResponse xpResponse; int test=0,disconnect=0; char hostName[256]; 021f 8d 84 24 3c 01 00 00 lea eax,+13cH[esp] 0226 e8 00 00 00 00 call near XPortResponse::XPortResponse() gethostname(hostName,255); /* create socket */ 022b ba ff 00 00 00 mov edx,000000ffH 0230 89 e0 mov eax,esp 0232 e8 00 00 00 00 call gethostname_ sd = getListenerSocket(&sd,hostName,GPIO_IP_PORT,&svrAddr); 0237 8d 8c 24 20 01 00 00 lea ecx,+120H[esp] 023e bb f0 77 00 00 mov ebx,000077f0H 0243 89 e2 mov edx,esp 0245 8d 84 24 44 01 00 00 lea eax,+144H[esp] 024c e8 00 00 00 00 call int near getListenerSocket( int near *, char near *, short unsigned, sockaddr_in near * ) 0251 89 84 24 44 01 00 00 mov +144H[esp],eax if(sd==ERROR){ 0258 83 f8 ff cmp eax,0ffffffffH 025b 75 11 jne L12 perror("gpioListener: GPIO listener: cannot open socket\n"); 025d b8 8c 01 00 00 mov eax,offset L58 0262 e8 00 00 00 00 L11 call perror_ return NULL; } while(1) { 0267 31 c0 xor eax,eax 0269 e9 0a 02 00 00 jmp L23 if(verbose==TRUE) 026e 83 3d 00 00 00 00 01 L12 cmp dword ptr BOOLEAN near verbose,00000001H 0275 75 39 jne L13 cout<<"GPIO listener: waiting on port "<1) 07d1 83 f9 01 cmp ecx,00000001H 07d4 7e 1b jle L43 if(strcmp(argv[1],"-v")==0) 07d6 8b 43 04 mov eax,+4H[ebx] 07d9 ba ec 04 00 00 mov edx,offset L86 07de e8 00 00 00 00 call strcmp_ 07e3 85 c0 test eax,eax 07e5 75 0a jne L43 verbose=TRUE; 07e7 c7 05 00 00 00 00 01 00 00 00 mov dword ptr BOOLEAN near verbose,00000001H gethostname(xportHost,255); 07f1 ba ff 00 00 00 L43 mov edx,000000ffH 07f6 89 e0 mov eax,esp 07f8 e8 00 00 00 00 call gethostname_ startMockXPort((const char *)xportHost); 07fd 89 e0 mov eax,esp 07ff e8 00 00 00 00 call void near startMockXPort( char const near * ) signal(SIGINT, sig_handler); 0804 ba 00 00 00 00 mov edx,offset void near sig_handler( int ) 0809 b8 02 00 00 00 mov eax,00000002H 080e e8 00 00 00 00 call signal_ signal(SIGTERM,sig_handler); 0813 ba 00 00 00 00 mov edx,offset void near sig_handler( int ) 0818 b8 0f 00 00 00 mov eax,0000000fH 081d e8 00 00 00 00 call signal_ sleep(1); 0822 b8 01 00 00 00 mov eax,00000001H 0827 e8 00 00 00 00 call sleep_ if(verbose==TRUE) 082c 83 3d 00 00 00 00 01 cmp dword ptr BOOLEAN near verbose,00000001H 0833 75 19 jne L44 cout<<"waiting for connection..."<>( istream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: istream near & near operator >>( istream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: ostream near & near operator <<( ostream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: ostream near & near operator <<( ostream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------