#include "server.hh"#if HAVE_CONFIG_H  #include <config.h>#endif#if HAVE_STRINGS_H  #include <strings.h>#endif#if HAVE_SYS_TYPES_H  #include <sys/types.h>#endif#include <arpa/inet.h>#include <errno.h>#include <fcntl.h>#include <math.h>#include <netdb.h>#include <netinet/in.h>//#include <pthread.h>#include <signal.h>#include <stdio.h>#include <stdlib.h>#include <string.h>#include <sys/socket.h>#include <sys/stat.h>#include <sys/time.h>#include <termios.h>#include <unistd.h>#define DEBUG#define VERBOSE//#undef DEBUG//#include "world.hh"//extern CWorld* world;void PrintUsage(); // defined in main.ccvoid ClientCatchSigPipe( int signo ){#ifdef VERBOSE  puts( "** SIGPIPE! **" );#endif}CStageClient::CStageClient( int argc, char** argv, Library* lib )  : CStageIO( argc, argv, lib ){  PRINT_DEBUG( "*************************************************************" );  // start paused   m_enable = false;  // we don't have a file if we're a client - we download instead  worldfile = NULL;  //m_real_timestep = 0; // clients run in fast mode!  // parse out the hostname - that's all we need just here  // (the parent stageio object gets the port)  for( int a=1; a<argc; a++ )  {    // get the  number, overriding the default    if( strcmp( argv[a], "-c" ) == 0 )    {      // if -c is the last argument the cmd line is bad      if( a == argc-1 )	{	  PrintUsage();	  exit(0); // bail	}           // the next argument is the hostname      strcpy( m_remotehost, argv[a+1]);            a++;    }    else if( strcmp( argv[a], "-cl" ) == 0 )    {      // -cl means client of localhost      strcpy( m_remotehost, "localhost" );            a++;    }  }  enable_gui = true;  // reassuring console output  printf( "[Connecting to %s:%d]", m_remotehost, m_port );  puts( "" );  // clients don't use a device directory - nullify the string  m_device_dir[0] = 0;}CStageClient::~CStageClient( void ){  // do nothing}bool CStageClient::Load( void ){  PRINT_DEBUG( "*************************************************************" );  // connect to the remote server and download the world data  // get the IP of our host  struct hostent* info = gethostbyname( m_remotehost );    if( info )  { // make sure this looks like a regular internet address    assert( info->h_length == 4 );    assert( info->h_addrtype == AF_INET );  }  else  {    PRINT_ERR1( "failed to resolve IP for remote host\"%s\"\n",                 m_remotehost );  }  struct sockaddr_in servaddr;  /* open socket for network I/O */  m_pose_connections[0].fd = socket(AF_INET, SOCK_STREAM, 0);  m_pose_connections[0].events = POLLIN; // notify me when data is available    //  printf( "POLLFD = %d\n", m_pose_connections[0].fd );  if( m_pose_connections[0].fd < 0 )  {    printf( "Error opening network socket. Exiting\n" );    fflush( stdout );    exit( -1 );  }    /* setup our server address (type, IP address and port) */  bzero(&servaddr, sizeof(servaddr)); /* initialize */  servaddr.sin_family = AF_INET;   /* internet address space */  servaddr.sin_port = htons( m_port ); /*our command port */   memcpy(&(servaddr.sin_addr), info->h_addr_list[0], info->h_length);    if( connect( m_pose_connections[0].fd,                (sockaddr*)&servaddr, sizeof( servaddr) ) == -1 )  {    printf( "Can't find a Stage server on %s. Quitting.\n",             info->h_addr_list[0] );     perror( "" );    fflush( stdout );    exit( -1 );  }  // send the connection type byte - we want an asynchronous connection    char c = STAGE_ASYNC;  int r;  if( (r = write( m_pose_connections[0].fd, &c, 1 )) < 1 )  {    printf( "XS: failed to write ASYNC byte to Stage. Quitting\n" );    if( r < 0 ) perror( "error on write" );    exit( -1 );  }  m_pose_connection_count = 1; // made a connection  m_dirty_subscribe[0] = 1; // this connection needs dirty updates  // request a dump of the stage world  WriteCommand( DOWNLOADc );    m_downloading = true;  // read will set the flag when it receives the "done" packet from the server.  // read will create any objects that come down the wire  while( m_downloading )    Read();  puts( "FINISHED DOWNLOADING" );  // Test to see if the required things were created...  // TODO: MORE CHECKS HERE  assert( this->matrix ); // make sure a matrix was created in Read();  assert( this->root );  // inherit  return CWorld::Load();}  bool CStageClient::Save( void ){  // send a message to the server to save the world file.  WriteCommand( SAVEc );  return CWorld::Save();}bool CStageClient::Startup( void ){  PRINT_DEBUG( "*************************************************************" );  assert( root );  bool res = CWorld::Startup();  // now we've set everything up, we request updates as the world changes   // (we MUST have downloaded and started everything before subscribing)  if( res ) WriteCommand( SUBSCRIBEc );  return res;} bool CStageClient::Shutdown( void ){  PRINT_DEBUG( "" );  bool res = CWorld::Shutdown();  // now we've set everything up, we request updates as the world changes   // (we MUST have downloaded and started everything before subscribing)  //if( res ) WriteCommand( SUBSCRIBEc );  // TODO - say goodbye to server nicely  return res;} ///////////////////////////////////////////////////////////////////////////// Update the worldvoid CStageClient::Update(void){  PRINT_DEBUG( "** Client Update **" );  //if( m_enable )    {      puts( "CLIENT READ" );      // get any changes in world state from the server       Read();      // let the entities do anything they want to do between clock increments      //puts( "CLIENT ROOTSYNC" );      root->Sync();             //puts( "CLIENT UPDATE" );      CWorld::Update();            // upload our changes to the server      //puts( "CLIENT WRITE" );      Write();      //puts( "CLIENT OUTPUT" );      Output(); // perform console and log output      }}