/****************************************************************************** * * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * (c) Copyright 1991 Christopher Fedor and Reid Simmons. All rights reserved. * * MODULE: communications * * FILE: comModule.c * * ABSTRACT: * * Module Communications * * $Source: /cvsroot/carmen/carmen/src/ipc/com.h,v $ * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:14 $ * $Author: tomkol $ * * REVISION HISTORY: * * $Log: com.h,v $ * Revision 1.1.1.1 2004/10/15 14:33:14 tomkol * Initial Import * * Revision 1.6 2003/05/22 19:57:58 nickr * Patches to eliminate compile warnings. * * Revision 1.5 2003/04/20 02:28:12 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.2 2000/07/03 17:03:21 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.1.1.1 1999/11/23 19:07:33 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.1.2.3 1997/03/07 17:49:29 reids * Added support for OS2, needed by JSC team (thanks to Bob Goode). * Also fixed bug when passing between machines of different endianness. * * Revision 1.1.2.2 1996/10/18 17:59:28 reids * Update to support port to Windows95. * * Revision 1.1.2.1 1996/10/15 20:55:34 reids * Changed x_ipc_timeInMsecs from long to unsigned long. * * Revision 1.1 1996/05/09 01:01:15 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.2 1996/04/24 19:10:59 reids * Support for the vxworks version. Main changes to the way getting time is * handled and parsing of command line options. * * Revision 1.1 1996/03/03 04:31:05 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.7 1996/02/21 18:30:05 rich * Created single event loop. * * Revision 1.6 1996/02/06 19:04:15 rich * Changes for VXWORKS pipes. Note: the read and write sockets descriptors * can be different. * * Revision 1.5 1995/06/05 23:58:40 rich * Improve support of detecting broken pipes. Add support for OSF 2. * Add return types to the global variable routines. * * Revision 1.4 1995/05/31 19:35:07 rich * Fixed problem with reply data being freed early from replys. * Initial work on getting the PC version to work. * * Revision 1.3 1995/04/09 20:30:05 rich * Added /usr/local/include and /usr/local/lib to the paths for compiling * for sunOS machines. (Support for new vendor OS). * Create a x_ipc directory in /tmp and put the socket in there so others can * delete dead sockets. The /tmp directory has the sticky bit set so you * can't delete files even if you have write permission on the directory. * Fixes to libc.h to use the new declarations in the gcc header files and * avoid problems with dbmalloc. * * Revision 1.2 1995/04/07 05:02:53 rich * Fixed GNUmakefiles to find the release directory. * Cleaned up libc.h file for sgi and vxworks. Moved all system includes * into libc.h * Got direct queries to work. * Fixed problem in allocating/initializing generic mats. * The direct flag (-c) now mostly works. Connect message has been extended to * indicate when direct connections are the default. * Problem with failures on sunOS machines. * Fixed problem where x_ipcError would not print out its message if logging had * not been initialized. * Fixed another memory problem in modVar.c. * Fixed problems found in by sgi cc compiler. Many type problems. * * Revision 1.1 1995/04/04 19:53:06 rich * Forgot com.h and com.c. * * ****************************************************************/ #ifndef INCcom #define INCcom /* #define TCP 6 is really IPPROTO_TCP*/ #ifdef applec #define IPPROTO_TCP 0 #endif /* applec */ #define BACKLOG 5 #define PROTOCOL_NAME "tcp" #define HOST_NAME_SIZE 32 #define TCP_SOCKET_BUFFER (16*1024) #define UNIX_SOCKET_BUFFER (32*1024) /* The full name must be less than 14 characters. */ #ifdef macintosh #define UNIX_DIR_NAME "::IPC Socket:" #define UNIX_SOCKET_NAME UNIX_DIR_NAME "%d" #else #define UNIX_DIR_NAME "/tmp/x_ipc/" #define UNIX_SOCKET_NAME UNIX_DIR_NAME "%d" #endif #define VX_PIPE_NAME "/pipe/x_ipc/%s_%s" #define VX_PIPE_BUFFER (32*1024) /*#define VX_PIPE_BUFFER (1024*1024)*/ #define VX_PIPE_NUM_BUF 6 #ifdef OS2 #define MAX_SOCKET_PACKET (32*1024-100) #else #define MAX_SOCKET_PACKET UNIX_SOCKET_BUFFER #endif BOOLEAN x_ipc_connectAtPort(const char *machine, int32 port, int *readSd, int *writeSd); BOOLEAN x_ipc_connectAtSocket(const char *machine, int32 port, int *readSd, int *writeSd); BOOLEAN x_ipc_connectAt(const char *machine, int32 port, int *readSd, int *writeSd); BOOLEAN x_ipc_connectSocket(const char *servHost, int *readSd, int *writeSd); BOOLEAN x_ipc_listenAtPort(int32 *port, int *sd); BOOLEAN x_ipc_listenAtSocket(int32 port, int *sd); #if defined(_WINSOCK_) & defined(WIN95) void x_ipc_closeSocket(int port); #else void x_ipc_closeSocket(int32 port); #endif /***************************************************************** * Time-based functions *****************************************************************/ #define MSECS_TO_TIME(msecs, timeval) \ { (timeval).tv_sec = (msecs)/1000; (timeval).tv_usec = 1000*((msecs)%1000); } /* Have to truncate seconds to prevent overflow */ #define TIME_TO_MSECS(timeval, msecs) \ (msecs) = ((timeval).tv_sec == WAITFOREVER ? WAITFOREVER \ : (1000*(0x1FFFFF&(timeval).tv_sec) + (timeval).tv_usec/1000)) #if defined(VXWORKS) | defined(_WINSOCK_) /* Not defined in many environments */ extern struct timeval *gettimeofday(struct timeval *, void *); #endif extern unsigned long x_ipc_timeInMsecs (void); /* Needed to initialize GUSI (provides Unix-type sockets on Macs) */ #if defined(macintosh) void initGUSI(void); #endif #endif /* INCcom */