basic implementation of client/server for AERPAW, whole lot of mess included

aerpaw/basic_demo/comms.cpp

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+#include <iostream>
+#include <thread>
+#include <vector>
+#include <cstring>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+
+#define SERVER_PORT 5000
+#define SERVER_IP "127.0.0.1"
+
+// Socket init
+void initSockets() {}
+void cleanupSockets() {}
+
+int serverSocket = -1;
+std::vector<int> clientSockets;
+
+extern "C" {
+
+// Initialize server (call once)
+void initServer() {
+    initSockets();
+    serverSocket = socket(AF_INET, SOCK_STREAM, 0);
+    if(serverSocket < 0) { std::cerr << "Socket creation failed\n"; return; }
+
+    sockaddr_in serverAddr;
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_addr.s_addr = INADDR_ANY;
+    serverAddr.sin_port = htons(SERVER_PORT);
+
+    int opt = 1;
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&opt, sizeof(opt));
+
+    if(bind(serverSocket, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+        std::cerr << "Bind failed\n"; return;
+    }
+    if(listen(serverSocket, 5) < 0) {
+        std::cerr << "Listen failed\n"; return;
+    }
+
+    std::cout << "Server initialized, waiting for clients...\n";
+}
+
+// Accept client connections (call once per client)
+void acceptClient(int clientId) {
+    sockaddr_in clientAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    int clientSock = accept(serverSocket, (sockaddr*)&clientAddr, &addrLen);
+    if(clientSock < 0) { std::cerr << "Accept failed for client " << clientId << "\n"; return; }
+    clientSockets.push_back(clientSock);
+    std::cout << "Client " << clientId << " connected\n";
+}
+
+// Send a message to a specific client
+void sendMessage(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return;
+    const char* msg = "Hello from server";
+    send(clientSockets[clientId-1], msg, strlen(msg), 0);
+    std::cout << "Sent message to client " << clientId << "\n";
+}
+
+// Receive ACK from a specific client
+int receiveAck(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return 0;
+    char buffer[1024];
+    int len = recv(clientSockets[clientId-1], buffer, sizeof(buffer)-1, 0);
+    if(len <= 0) return 0;
+    buffer[len] = '\0';
+    std::cout << "Received ACK from client " << clientId << ": " << buffer << "\n";
+    return 1;
+}
+
+// Cleanup server
+void closeServer() {
+    for(auto sock : clientSockets) {
+        close(sock);
+    }
+    close(serverSocket);
+    cleanupSockets();
+}
+
+}

aerpaw/basic_demo/controller.cpp

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+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// controller.cpp
+//
+// Code generation for function 'controller'
+//
+
+// Include files
+#include "controller.h"
+#include "controller_impl.h"
+
+// Function Definitions
+void controller(int numClients)
+{
+  //  Initialize server
+  initServer();
+  //  Accept clients
+  for (int i{0}; i < numClients; i++) {
+    acceptClient(i + 1);
+  }
+  //  Send messages to clients
+  for (int i{0}; i < numClients; i++) {
+    sendMessage(i + 1);
+  }
+  //  Receive acknowledgements
+  for (int i{0}; i < numClients; i++) {
+    receiveAck(i + 1);
+  }
+  //  Digest ACKs
+  //  Close server
+  closeServer();
+}
+
+// End of code generation (controller.cpp)

aerpaw/basic_demo/controller.h

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+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// controller.h
+//
+// Code generation for function 'controller'
+//
+
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+// Include files
+#include "rtwtypes.h"
+#include <cstddef>
+#include <cstdlib>
+
+// Function Declarations
+extern void controller(int numClients);
+
+#endif
+// End of code generation (controller.h)

aerpaw/basic_demo/controller_impl.cpp

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+#include "controller_impl.h"
+#include <iostream>
+#include <vector>
+#include <cstring>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+
+#define SERVER_PORT 5000
+#define SERVER_IP "127.0.0.1"
+
+static int serverSocket = -1;
+static std::vector<int> clientSockets;
+
+void initSockets() {}
+void cleanupSockets() {}
+
+void initServer() {
+    initSockets();
+    serverSocket = socket(AF_INET, SOCK_STREAM, 0);
+    if(serverSocket < 0) { std::cerr << "Socket creation failed\n"; return; }
+
+    sockaddr_in serverAddr;
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_addr.s_addr = INADDR_ANY;
+    serverAddr.sin_port = htons(SERVER_PORT);
+
+    int opt = 1;
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&opt, sizeof(opt));
+
+    if(bind(serverSocket, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+        std::cerr << "Bind failed\n"; return;
+    }
+    if(listen(serverSocket, 5) < 0) {
+        std::cerr << "Listen failed\n"; return;
+    }
+
+    std::cout << "Server initialized\n";
+}
+
+void acceptClient(int clientId) {
+    sockaddr_in clientAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    int clientSock = accept(serverSocket, (sockaddr*)&clientAddr, &addrLen);
+    if(clientSock < 0) { std::cerr << "Accept failed for client " << clientId << "\n"; return; }
+    clientSockets.push_back(clientSock);
+    std::cout << "Client " << clientId << " connected\n";
+}
+
+void sendMessage(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return;
+    const char* msg = "Hello from server";
+    send(clientSockets[clientId-1], msg, strlen(msg), 0);
+    std::cout << "Sent message to client " << clientId << "\n";
+}
+
+int receiveAck(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return 0;
+    char buffer[1024];
+    int len = recv(clientSockets[clientId-1], buffer, sizeof(buffer)-1, 0);
+    if(len <= 0) return 0;
+    buffer[len] = '\0';
+    std::cout << "Received ACK from client " << clientId << ": " << buffer << "\n";
+    return 1;
+}
+
+void closeServer() {
+    for(auto sock : clientSockets) {
+        close(sock);
+    }
+    close(serverSocket);
+    cleanupSockets();
+}

aerpaw/basic_demo/controller_impl.h

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+#ifndef CONTROLLER_IMPL_H
+#define CONTROLLER_IMPL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void initServer();
+void acceptClient(int clientId);
+void sendMessage(int clientId);
+int receiveAck(int clientId);
+void closeServer();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CONTROLLER_IMPL_H

aerpaw/basic_demo/controller_main.cpp

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+#include <iostream>
+#include "controller.h"      // Generated by MATLAB Coder
+#include "controller_impl.h" // Your TCP implementation header
+
+int main() {
+    // Number of clients to handle
+    int numClients = 2;  // Example: change as needed
+
+    std::cout << "Initializing TCP server...\n";
+
+    // Call MATLAB-generated server function
+    controller(numClients);
+
+    std::cout << "Server finished.\n";
+    return 0;
+}

aerpaw/basic_demo/rtwtypes.h

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+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// rtwtypes.h
+//
+// Code generation for function 'controller'
+//
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+/*=======================================================================*
+ * Fixed width word size data types:                                     *
+ *   int64_T                      - signed 64 bit integers               *
+ *   uint64_T                     - unsigned 64 bit integers             *
+ *=======================================================================*/
+
+#if defined(__APPLE__)
+#ifndef INT64_T
+#define INT64_T long
+#define FMT64 "l"
+#if defined(__LP64__) && !defined(INT_TYPE_64_IS_LONG)
+#define INT_TYPE_64_IS_LONG
+#endif
+#endif
+#endif
+
+#if defined(__APPLE__)
+#ifndef UINT64_T
+#define UINT64_T unsigned long
+#define FMT64 "l"
+#if defined(__LP64__) && !defined(INT_TYPE_64_IS_LONG)
+#define INT_TYPE_64_IS_LONG
+#endif
+#endif
+#endif
+
+// Include files
+#include "tmwtypes.h"
+
+#endif
+// End of code generation (rtwtypes.h)

aerpaw/basic_demo/uav.py

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+#!/bin/python3
+import socket
+
+SERVER_IP = "127.0.0.1"
+SERVER_PORT = 5000
+
+for client_id in range(2):  # match numClients
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.connect((SERVER_IP, SERVER_PORT))
+    data = s.recv(1024)  # receive message from server
+    print(f"Client {client_id+1} received: {data.decode()}")
+    s.sendall(b"ACK")    # send acknowledgment
+    s.close()