socket 示例2

于 2021-07-26 15:22:19 发布
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分类专栏： C - socket
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本文链接：https://blog.csdn.net/llffss/article/details/119110346
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文章目录

COMM_VR.cpp

#include <stdlib.h>
#include <stdio.h>
#include <sys/socket.h>
#include <sys/socket.h>
#include <pthread.h>
#include <sys/un.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>

#include <json-c/json.h>

#include "COMM.h"

static recv_callback_t _s_recv_callback = NULL;
static int _s_fd = 0;
static int _s_clientFd = 0;
static pthread_mutex_t _s_send_lock = PTHREAD_MUTEX_INITIALIZER;
static void *thread_recv_from_navi(void * arg)
{
	struct sockaddr_un	_clientAddr;	
	socklen_t _len;
	char _data[128] = {0};
	int _dataLen = 0;
	while((_s_clientFd = accept( _s_fd, (struct sockaddr*)&_clientAddr, &_len)) != -1){
		while((_dataLen = recv( _s_clientFd, _data, 23, 0)) > 0 ){	
			if(!strncmp(_data,"/tmp/Navi2VR_Req",16) && _s_recv_callback){
				_s_recv_callback(NAVI2VR_REQUEST_T, _data);
			}else if(!strncmp(_data,"/tmp/Navi2VR_Ntf",16) && _s_recv_callback){
				_s_recv_callback(NAVI2VR_NOTIFY_T, _data);
			}else if(!strncmp(_data,"/tmp/Navi2VR_Rsp",16) && _s_recv_callback){
				_s_recv_callback(NAVI2VR_NOTIFY_T, _data);
			}
			memset( _data, 0, sizeof(_data));
		}
		printf("client disconnect11.\n");
		close( _s_clientFd );
		_s_clientFd = 0;
		unlink( _clientAddr.sun_path);
	}
	return NULL;
}


int VR_create_server(recv_callback_t callback)
{
	_s_recv_callback = callback;
	pthread_mutex_init(&_s_send_lock, NULL);
	struct sockaddr_un _addr;
	_s_fd	= socket(AF_UNIX, SOCK_STREAM, 0);
	if(_s_fd <= 0){
		printf("socket error.\n");
		return -1;
	}
	_addr.sun_family = AF_UNIX;  
	strcpy(_addr.sun_path, SOCKET_ADDRESS);
	if(0 != bind(_s_fd, (struct sockaddr *)&_addr, sizeof(_addr))){
    	printf("bind error.\n");
		return -2;
	}
	if(-1 == listen(_s_fd, 1)){
    	printf("listen error.\n");
		return -3;
	}
	pthread_t tid;
	pthread_attr_t attr;
	pthread_attr_init(&attr);
	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
	pthread_create(&tid, &attr, thread_recv_from_navi, NULL);
	return 0;
}

int VR_send_to_navi(int type, const char * json)
{
	static int a = 0, b = 0, c = 0;//文件名后缀从0-9,做10个缓存,防止连续发送导致文件内容覆盖
	char file[1024] = {0};
	int len = 0;
	if(_s_clientFd > 0){
		struct json_object * j_json = json_tokener_parse((const char *)json);
		if(VR2NAVI_REQUEST_T == type){
			sprintf(file, "/tmp/VR2Navi_Req_%d.json", a);
			a = (a + 1)%10;
		}else if(VR2NAVI_RESPONSE_T == type){
			sprintf(file, "/tmp/VR2Navi_Rsp_%d.json", b);
			b = (b + 1)%10;}	
		else if(VR2NAVI_NOTIFY_T == type){
			sprintf(file, "/tmp/VR2Navi_Ntf_%d.json", c);
			c = (c + 1)%10;
		}	
		json_object_to_file(file,j_json);
		pthread_mutex_lock(&_s_send_lock);
		len = send( _s_clientFd, file, strlen(file), 0 );
		pthread_mutex_unlock(&_s_send_lock);
		return len;
	}else{
		printf("client disconnect.\n");
		return -1;
	}
}

COMM_Navi.cpp

#include <stdlib.h>
#include <stdio.h>
#include <sys/socket.h>
#include <sys/socket.h>
#include <pthread.h>
#include <sys/un.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>

#include <json-c/json.h>

#include "COMM.h"

static recv_callback_t _s_recv_callback = NULL;
static int _s_fd = 0;
static pthread_mutex_t _s_send_lock = PTHREAD_MUTEX_INITIALIZER;

static void *thread_recv_from_VR(void * arg)
{
	char _data[128] = {0};
	int _dataLen = 0;
	while((_dataLen = recv( _s_fd, _data, 23, 0)) > 0 ){	
		if(!strncmp(_data,"/tmp/VR2Navi_Req",16) && _s_recv_callback){
			_s_recv_callback(VR2NAVI_REQUEST_T, _data);
		}else if(!strncmp(_data,"/tmp/VR2Navi_Ntf",16) && _s_recv_callback){
			_s_recv_callback(VR2NAVI_NOTIFY_T, _data);
		}else if(!strncmp(_data,"/tmp/VR2Navi_Rsp",16) && _s_recv_callback){
			_s_recv_callback(VR2NAVI_NOTIFY_T, _data);
		}
		memset( _data, 0, sizeof(_data));
	}
	close( _s_fd);
	_s_fd = 0;
	return NULL;
}

int Navi_connect_VR(recv_callback_t callback)
{
	_s_recv_callback = callback;
	pthread_mutex_init(&_s_send_lock, NULL);
	struct sockaddr_un _addr;
	_s_fd	= socket(AF_UNIX, SOCK_STREAM, 0);
   	if(_s_fd <= 0){
		printf("socket error.\n");
		return -1;
	}     
	_addr.sun_family = AF_UNIX;  
	strcpy(_addr.sun_path, SOCKET_ADDRESS);  
	if(connect(_s_fd, (struct sockaddr *)&_addr, sizeof(_addr)) < 0){
    	printf("connect server error.\n");
		close( _s_fd);
		_s_fd = 0;
		return -1;
	}
	pthread_t tid;
	pthread_attr_t attr;
	pthread_attr_init(&attr);
	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
	pthread_create(&tid, &attr, thread_recv_from_VR, NULL);
	return 0;
	
}

int Navi_send_to_VR(int type,const char * json)
{
	static int a = 0, b = 0, c = 0;//文件名后缀从0-9,做10个缓存,防止连续发送导致文件内容覆盖
	char file[1024] = {0};
	int len = 0;
	if(_s_fd > 0){
		struct json_object * j_json = json_tokener_parse((const char *)json);
		if(NAVI2VR_REQUEST_T == type){
			sprintf(file, "/tmp/Navi2VR_Req_%d.json", a);
			a = (a + 1)%10;
		}else if(NAVI2VR_RESPONSE_T == type){
			sprintf(file, "/tmp/Navi2VR_Rsp_%d.json", b);
			b = (b + 1)%10;}	
		else if(NAVI2VR_NOTIFY_T == type){
			sprintf(file, "/tmp/Navi2VR_Ntf_%d.json", c);
			c = (c + 1)%10;
		}	
		json_object_to_file(file,j_json);
		pthread_mutex_lock(&_s_send_lock);
		len = send( _s_fd, file, strlen(file), 0 );
		pthread_mutex_unlock(&_s_send_lock);
		return len;
	}else{
		printf("server disconnect.\n");
		return -1;
	}
}

Navi_test.cpp

#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <json-c/json.h>

#include "COMM.h"

void recv_from_VR_callback(int type, char *filename)
{
	printf("filename = %s\n", filename);
	struct json_object * j_info = json_object_from_file(filename);
	struct json_object * _value = NULL;
	int cmd = -1;
	if(json_object_object_get_ex(j_info, "cmd", &_value))
	{
		cmd	=	json_object_get_int(_value);
	}
	const char *json = NULL;
	printf("cmd = %d\n", cmd);
	switch (cmd){
		case 1000:
			json = "{\"cmd\":1000,\"result\":0,\"list\":[{\"pid\":\"MAPIHPJPQAHRJNZWTRTNC\",\"name\":\"湖锦酒楼锦江店\",\"location\":\"114.30593,30.56216\",\"nlonlat\":\"114.30586,30.562191\",\"address\":\"湖北省武汉市武昌区临江大道88附17\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88221777|027-88229977\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"826.0051\",\"brand\":\"湖锦酒楼\",\"tag\":\"湘菜,鄂菜\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBCRTIHAZNCPJIXIC\",\"name\":\"威斯汀行政俱乐部\",\"location\":\"114.30779,30.5647\",\"nlonlat\":\"114.30767,30.56476\",\"address\":\"湖北省武汉市武昌区临江大道96号武汉富力威斯汀酒店21层\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88168888\",\"type\":\"酒吧\",\"typecode\":\"140,100\",\"distance\":\"889.0102\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBQOHELVSNFWXIC\",\"name\":\"辉辉鱼庄\",\"location\":\"114.29415,30.56871\",\"nlonlat\":\"114.29401,30.5688\",\"address\":\"湖北省武汉市江汉区沿江大道江滩7\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15927130488\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"518.0305\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPIHPZNYWTESPQMHATNC\",\"name\":\"七杯咖啡\",\"location\":\"114.29321,30.57016\",\"nlonlat\":\"114.29326,30.57027\",\"address\":\"湖北省武汉市江汉区民权路39\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15717168204\",\"type\":\"咖啡馆\",\"typecode\":\"160,100\",\"distance\":\"687.5482\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}}]}";
			break;
		case 1001:
			json = "{\"cmd\":1001,\"result\":0,\"route_cnt\":3}";
			break;
		case 1002:
			json = "{\"cmd\":1002,\"result\":0}";
			break;
		case 1003:
			json = "{\"cmd\":1003,\"status\":1}";
			break;
		case 1004:
			json = "{\"cmd\":1004,\"direction\":90}";
			break;
		case 1005:
			json = "{\"cmd\":1005,\"route\":\"116.30537,40.05356;116.354351,39.97625;116.351601,40.04688\"}";
			break;
		case 1006:
			json = "{\"cmd\":1006,\"result\":0}";
			break;
		case 1007:
			json = "{\"cmd\":1007,\"result\":0}";
			break;
		case 1009:
			json = "{\"cmd\":1009,\"result\":0,\"status\":2,\"list\":[{\"pid\":\"MAPIHPJPQAHRJNZWTRTNC\",\"index\":0,\"name\":\"湖锦酒楼锦江店\",\"location\":\"114.30593,30.56216\",\"nlonlat\":\"114.30586,30.562191\",\"address\":\"湖北省武汉市武昌区临江大道88附17\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88221777|027-88229977\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"826.0051\",\"brand\":\"湖锦酒楼\",\"tag\":\"湘菜,鄂菜\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBCRTIHAZNCPJIXIC\",\"index\":1,\"name\":\"威斯汀行政俱乐部\",\"location\":\"114.30779,30.5647\",\"nlonlat\":\"114.30767,30.56476\",\"address\":\"湖北省武汉市武昌区临江大道96号武汉富力威斯汀酒店21层\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88168888\",\"type\":\"酒吧\",\"typecode\":\"140,100\",\"distance\":\"889.0102\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBQOHELVSNFWXIC\",\"index\":2,\"name\":\"辉辉鱼庄\",\"location\":\"114.29415,30.56871\",\"nlonlat\":\"114.29401,30.5688\",\"address\":\"湖北省武汉市江汉区沿江大道江滩7\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15927130488\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"518.0305\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPIHPZNYWTESPQMHATNC\",\"index\":3,\"name\":\"七杯咖啡\",\"location\":\"114.29321,30.57016\",\"nlonlat\":\"114.29326,30.57027\",\"address\":\"湖北省武汉市江汉区民权路39\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15717168204\",\"type\":\"咖啡馆\",\"typecode\":\"160,100\",\"distance\":\"687.5482\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}}]}";
			break;
		case 1010:
			json = "{\"cmd\":1010,\"result\":0,\"route_cnt\":3}";
			break;
		case 1012:
			json = "{\"cmd\":1012,\"result\":0}";
			break;
		case 1013:{
			int type = -1;
			if(json_object_object_get_ex(j_info, "type", &_value))
			{
				type	=	json_object_get_int(_value);
			}
			if(type == 1)
				json = "{\"cmd\":1013,\"type\":1,\"if_set\":0,\"result\":0,\"address\":{}}";
			else
				json = "{\"cmd\":1013,\"type\":2,\"if_set\":0,\"result\":0,\"address\":{}}";
			break;
		}
		case 1014:
			json = "{\"cmd\":1014,\"result\":0,\"route_cnt\":3}";
			break;
		case 1015:
			json = "{\"cmd\":1015,\"result\":0}";
			break;
		case 1016:
			json = "{\"cmd\":1016,\"result\":0}";
			break;
		case 1017:{
			int type = -1;
			if(json_object_object_get_ex(j_info, "type", &_value))
			{
				type	=	json_object_get_int(_value);
			}
			if(type == 1)
				json = "{\"cmd\":1017,\"type\":1,\"result\":0,\"list\":[{\"pid\":\"MAPIHPJPQAHRJNZWTRTNC\",\"name\":\"湖锦酒楼锦江店\",\"location\":\"114.30593,30.56216\",\"nlonlat\":\"114.30586,30.562191\",\"address\":\"湖北省武汉市武昌区临江大道88附17\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88221777|027-88229977\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"826.0051\",\"brand\":\"湖锦酒楼\",\"tag\":\"湘菜,鄂菜\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBCRTIHAZNCPJIXIC\",\"name\":\"威斯汀行政俱乐部\",\"location\":\"114.30779,30.5647\",\"nlonlat\":\"114.30767,30.56476\",\"address\":\"湖北省武汉市武昌区临江大道96号武汉富力威斯汀酒店21层\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88168888\",\"type\":\"酒吧\",\"typecode\":\"140,100\",\"distance\":\"889.0102\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBQOHELVSNFWXIC\",\"name\":\"辉辉鱼庄\",\"location\":\"114.29415,30.56871\",\"nlonlat\":\"114.29401,30.5688\",\"address\":\"湖北省武汉市江汉区沿江大道江滩7\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15927130488\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"518.0305\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPIHPZNYWTESPQMHATNC\",\"name\":\"七杯咖啡\",\"location\":\"114.29321,30.57016\",\"nlonlat\":\"114.29326,30.57027\",\"address\":\"湖北省武汉市江汉区民权路39\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15717168204\",\"type\":\"咖啡馆\",\"typecode\":\"160,100\",\"distance\":\"687.5482\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}}]}";
			else
				json = "{\"cmd\":1017,\"type\":2,\"result\":0,\"list\":[{\"pid\":\"MAPIHPJPQAHRJNZWTRTNC\",\"name\":\"湖锦酒楼锦江店\",\"location\":\"114.30593,30.56216\",\"nlonlat\":\"114.30586,30.562191\",\"address\":\"湖北省武汉市武昌区临江大道88附17\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88221777|027-88229977\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"826.0051\",\"brand\":\"湖锦酒楼\",\"tag\":\"湘菜,鄂菜\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBCRTIHAZNCPJIXIC\",\"name\":\"威斯汀行政俱乐部\",\"location\":\"114.30779,30.5647\",\"nlonlat\":\"114.30767,30.56476\",\"address\":\"湖北省武汉市武昌区临江大道96号武汉富力威斯汀酒店21层\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"武昌区\",\"phone\":\"027-88168888\",\"type\":\"酒吧\",\"typecode\":\"140,100\",\"distance\":\"889.0102\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPICBQOHELVSNFWXIC\",\"name\":\"辉辉鱼庄\",\"location\":\"114.29415,30.56871\",\"nlonlat\":\"114.29401,30.5688\",\"address\":\"湖北省武汉市江汉区沿江大道江滩7\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15927130488\",\"type\":\"中餐馆\",\"typecode\":\"110,100\",\"distance\":\"518.0305\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}},{\"pid\":\"MAPIHPZNYWTESPQMHATNC\",\"name\":\"七杯咖啡\",\"location\":\"114.29321,30.57016\",\"nlonlat\":\"114.29326,30.57027\",\"address\":\"湖北省武汉市江汉区民权路39\",\"pname\":\"湖北省\",\"cityname\":\"武汉市\",\"adname\":\"江汉区\",\"phone\":\"15717168204\",\"type\":\"咖啡馆\",\"typecode\":\"160,100\",\"distance\":\"687.5482\",\"brand\":\"\",\"tag\":\"\",\"rinfo\":\"\",\"photo\":[],\"extend\":{}}]}";
			break;
		}	
		case 1020:
			json = "{\"cmd\":1020,\"result\":0,\"distance\":5.5,\"time\":15}";
			break;
		case 1021:
			json = "{\"cmd\":1021,\"result\":0}";
			break;
		case 1022:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1022,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1022,\"operation\":2,\"result\":0}";
			break;
		}	
		case 1023:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1023,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1023,\"operation\":2,\"result\":0}";
			break;
		}	
		case 1024:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1024,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1024,\"operation\":2,\"result\":0}";
			break;
		}	
		case 1025:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1025,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1025,\"operation\":2,\"result\":0}";
			break;
		}	
		case 1026:
			json = "{\"cmd\":1026,\"result\":0}";
			break;
		case 1027:
			json = "{\"cmd\":1027,\"result\":0}";
			break;
		case 1028:
			json = "{\"cmd\":1028,\"result\":0}";
			break;
		case 1029:
			json = "{\"cmd\":1029,\"result\":0,\"distance\":5.5,\"nlonlat\":\"116.39968,39.90145\",\"nm\":\"大连服务站\"}";
			break;
		case 1031:
			json = "{\"cmd\":1031,\"result\":0,\"current_location\":{\"name\":\"高新园区腾飞软件园6期\"}}";
			break;
		case 1032:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1032,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1032,\"operation\":2,\"result\":0}";
			break;
		}
		case 1033:
			json = "{\"cmd\":1033,\"result\":0}";
			break;
		case 1034:{
			int operation = -1;
			if(json_object_object_get_ex(j_info, "operation", &_value))
			{
				operation	=	json_object_get_int(_value);
			}
			if(operation == 1)
				json = "{\"cmd\":1034,\"operation\":1,\"result\":0}";
			else
				json = "{\"cmd\":1034,\"operation\":2,\"result\":0}";
			break;
		}
		case 1035:
			json = "{\"cmd\":1035,\"result\":0,\"distance\":5.5,\"time\":15}";
			break;
		case 1036:
			json = "{\"cmd\":1036,\"result\":0,\"expense\":80}";
			break;
		case 1037:
			json = "{\"cmd\":1037,\"result\":0}";
			break;
		case 1038:
			json = "{\"cmd\":1038,\"result\":0}";
			break;
		case 2001:
			json = "{\"cmd\":2001,\"result\":1}";
			break;
	}
	Navi_send_to_VR(NAVI2VR_RESPONSE_T,json);
}

int main()
{
	while(Navi_connect_VR(recv_from_VR_callback) != 0){
		sleep(1);
	}
	Navi_send_to_VR(NAVI2VR_NOTIFY_T,"{\"cmd\":2001,\"result\":1}");
	while(1){
		usleep(1000);
	}
}

COMM.h

#ifndef  SERVER_CLIENT_API_H_
#define  SERVER_CLIENT_API_H_

typedef enum{
	VR2NAVI_REQUEST_T,
	NAVI2VR_RESPONSE_T,
	NAVI2VR_NOTIFY_T,
	NAVI2VR_REQUEST_T,
	VR2NAVI_RESPONSE_T,
	VR2NAVI_NOTIFY_T,
}COMM_TYPE;

#define SOCKET_ADDRESS "/tmp/VR_Navi_socket"


#ifdef __cplusplus
extern "C" {
#endif

typedef void (*recv_callback_t)(int type, char * filename);

int VR_create_server(recv_callback_t callback);
int VR_send_to_navi(int type, const char * json);


int Navi_connect_VR(recv_callback_t callback);
int Navi_send_to_VR(int type, const char * json);


#ifdef __cplusplus
};
#endif

#endif
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