A Dijous 24 Gener 2008, Peter Soetens va escriure:
> On Thursday 24 January 2008 12:36:33 Leopold Palomo-Avellaneda wrote:
> > Hi,
> >
> > well I'm learning every day new things about programming with orocos but
> > I'm having more doubts every day. I have implemented, following the
> > structure that Peter Soetens showed us in a previous mail about a task
> > that open a socked and listen to connections.
> >
> > I have the same example running in a "normal" program and it simple
> > works. It's not a very special program, I have modified a typical example
> > of network programing.
> >
> > With my orocos program, the problem that I have is that simple doesn't
> > works. The recv part doesn't wait. I have tested with timeout and without
> > time out. So, probably I'm doing something conceptually wrong.
>
> Which target are you using ? gnulinux ?

gnulinux

> 'Orocos' does not change your network stack or functions. It's 'just' a
> library creating some threads and providing some objects.
>
> In your normal program, did you use threads or only the main() function ?

No Peter, no. It's a very simple program. Probably I'm doing something stupid.

I have 2 classes derived from taskcontext: listener and control. The listener
class has this header:

######################################3

class listener : public RTT::TaskContext
{
WriteDataPort outPort;
public:
listener(std::string name);
protected:
bool startHook();
void stopHook() ;
void updateHook();
bool configureHook();
void cleanupHook();
void errorHook();
void warning();

private:
bool getDataFromChar(char *charData, NetData &sData);
int read_socket();
int udpSocket;
int port;
int status;
int size;
socklen_t clientLength;
struct sockaddr_in serverName;
struct sockaddr_in clientName;
bool error;
NetData data;
struct timeval timeout;
int num_errors;
char mesg[MAX_MESG_SIZE];

};

and the control :

class control : public RTT::TaskContext
{
ReadDataPort inpPort;
NetData data;
public:
control(std::string name);
protected:
bool startHook();
void stopHook() ;
void updateHook();
bool configureHook();
void cleanupHook();
void errorHook();
void warning();
};

###############################

the main has:

###############################

int ORO_main(int arc, char* argv[])
{
// Set log level more verbose than default,
// such that we can see output :
if ( Logger::log().getLogLevel() < Logger::Info ) {
Logger::log().setLogLevel( Logger::Info );
Logger::log() << Logger::Info << argv[0] << " manually raises LogLevel
to 'Info' (5). See also file 'orocos.log'."< }

listener listenerTask("Listener");
control controlTask("Control");

connectPeers( &listenerTask, &controlTask);
listenerTask.connectPorts( &controlTask );

// ... start the execution engine of a_task :
PeriodicActivity periodicControlTask(OS::HighestPriority, 0.004,
controlTask.engine() );
NonPeriodicActivity nonperiodiclistenerTask(ORO_SCHED_RT, 10,
listenerTask.engine() );

controlTask.start();
TaskBrowser browser( &controlTask );

browser.loop();

listenerTask.stop();
controlTask.stop();

return 0;
}

###################

then when I run, I make:

cd Listener
start

but:

- I have tested it showing the message of the timeout and i have hot be able
of connect.
- I have disable the timeout, and still not connect and not blocked as I was
expected.

I insist, I'm feel as a newbie with orocos and probably I'm doing something
wrong very obviously.

Leo