香橙派增加网络控制功能
1.TCP心跳机制解决Socket异常断开问题
1.客户端能够发送状态给服务器;正常断开,强制关闭客户端等,客户端能够做出反应。
2.客户端不能发送状态给服务器;突然断网,断电,客户端卡死等,客户端根本没机会做出反应,
服务器更不了解客户端状态,导致服务器异常等待。
为了解决上述问题,引入TCP心跳包机制
心跳包的实现,心跳包就是服务器定时向客户端发送查询信息,如果客户端有回应就代表连接正常,
类似于linux系统的看门狗机制。心跳包的机制有一种方法就是采用TCP_KEEPALIVE机制,它是一种用于
检测TCP连接是否存活的机制,它的原理是在一定时间内没有数据往来时,发送探测包给对方,如果对方
没有响应,就认为连接已经断开。TCP_KEEPALIVE机制可以通过设置一些参数来调整,如探测时间间
隔、探测次数等。
Linux内核提供了通过sysctl命令查看和配置TCP KeepAlive参数的方法。
- 查看当前系统的TCP KeepAlive参数
sysctl net.ipv4.tcp_keepalive_time
sysctl net.ipv4.tcp_keepalive_probes
sysctl net.ipv4.tcp_keepalive_intvl
- 修改TCP KeepAlive参数
sysctl net.ipv4.tcp_keepalive_time=3600
2.c语言实现TCP KeepAlive功能
对于Socket而言,可以在程序中通过socket选项开启TCP KeepAlive功能,并配置参数。对应的Socket选
项分别为 SO_KEEPALIVE 、 TCP_KEEPIDLE 、 TCP_KEEPCNT 、 TCP_KEEPINTVL 。
int keepalive = 1; // 开启TCP KeepAlive功能
int keepidle = 5; // tcp_keepalive_time 3s内没收到数据开始发送心跳包
int keepcnt = 3; // tcp_keepalive_probes 每次发送心跳包的时间间隔,单位秒
int keepintvl = 3; // tcp_keepalive_intvl 每3s发送一次心跳包
setsockopt(client_socketfd, SOL_SOCKET, SO_KEEPALIVE, (void *)&keepalive,
sizeof(keepalive));
setsockopt(client_socketfd, SOL_TCP, TCP_KEEPIDLE, (void *) &keepidle, sizeof
(keepidle));
setsockopt(client_socketfd, SOL_TCP, TCP_KEEPCNT, (void *)&keepcnt, sizeof
(keepcnt));
setsockopt(client_socketfd, SOL_TCP, TCP_KEEPINTVL, (void *)&keepintvl, sizeof
(keepintvl));
3.代码实现
socket.c
#include "socket.h"
int socket_init(const char *ipaddr,const char *ipport)
{
int s_fd=-1;
int ret=-1;
struct sockaddr_in s_addr;
memset(&s_addr,0,sizeof(struct sockaddr_in));
//1. socket
s_fd = socket(AF_INET, SOCK_STREAM, 0);
if(-1==s_fd)
{
perror("socket");
return -1;
}
s_addr.sin_family = AF_INET;
s_addr.sin_port = htons(atoi(ipport));
inet_aton(ipaddr,&s_addr.sin_addr);
//2. bind
ret=bind(s_fd,(struct sockaddr *)&s_addr,sizeof(struct sockaddr_in));
if(-1==ret)
{
perror("bind");
return -1;
}
//3. listen
ret=listen(s_fd,1); //允许一个监听,只能允许一个时刻一个垃圾桶打开
if(-1==ret)
{
perror("listen");
return -1;
}
return s_fd;
}
socket.h
#ifndef _SOCKET_H_
#define _SOCKET_H_
#include <stdio.h>
#include <sys/types.h> /* See NOTES */
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <stdlib.h>
#include <string.h>
#define IPADDR "192.168.1.103"
#define IPPORT "8192" //不要用8080,摄像头已经用了8080#define IPADDR "192.168.1.103"
int socket_init(const char* ipaddr,const char* ipport);
#endif
main.c
#include<stdio.h>
#include<stdlib.h>
#include<string.h>
#include<unistd.h>
#include<errno.h>
#include<wiringPi.h>
#include<pthread.h>
#include "pwm.h"
#include "uartTool.h"
#include "garbage.h"
#include "myoled.h"
#include "socket.h"
static int detect_process(const char * process_name) //判断进程是否在运行
{
int n = -1;
FILE *strm;
char buf[128]={0};
sprintf(buf,"ps -ax | grep %s|grep -v grep", process_name); //指令
if((strm = popen(buf, "r")) != NULL) //读取数据
{
if(fgets(buf, sizeof(buf), strm) != NULL) //获取pid
{
n = atoi(buf); //转换为数字
}
}
else
{
return -1;
}
pclose(strm);
return n;
}
#if 0
int main(int argc,char* argv[])
{
int serial_fd=-1;
int len=0;
int ret=-1;
char* category=NULL;
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
wiringPiSetup(); //初始化wiringPi库
garbage_init(); //初始化阿里云接口
ret=detect_process("mjpg_streamer"); //简称mjpg_streamer是否打开
if(-1==ret)
{
printf("detect process failed\n");
goto END;
}
serial_fd=myserialOpen(SERIAL_DEV,BAUD); //初始化串口
if(-1==serial_fd) //串口打开失败
{
printf("open serial failed\n");
goto END;
}
//进行垃圾分类识别
while(1)
{
len=serialGetstring(serial_fd,buffer); //获取串口的数据
if(len>0&&buffer[2]==0x46) //识别垃圾类型
{
buffer[2]=0x00; //对buffer[2]进行清空
system(WGET_CMD); //进行拍照
if(0==access(GARBAGE_FILE,F_OK)) //文件存在
{
category=garbage_category(category); //调用阿里云识别接口
if(strstr(category,"干垃圾")) //识别出干垃圾
{
buffer[2]=0x41;
}
else if(strstr(category,"湿垃圾")) //识别出湿垃圾
{
buffer[2]=0x42;
}
else if(strstr(category,"可回收垃圾")) //识别出可回收垃圾
{
buffer[2]=0x43;
}
else if(strstr(category,"有害垃圾")) //识别出有害垃圾
{
buffer[2]=0x44;
}
else //无法识别
{
buffer[2]=0x45;
}
}
else //无法识别
{
buffer[2]=0x45;
}
serialSendstring(serial_fd,buffer,6); //将识别的垃圾类型回传给语音模块
if(buffer[2]==0x43)
{
pwm_write(PWM_RECOVERALE_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_RECOVERALE_GARBAGE);//关盖
}
else if(buffer[2]==0x41)
{
pwm_write(PWM_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_GARBAGE);//关盖
}
else if(buffer[2]==0x42)
{
pwm_write(PWM_WET_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_WET_GARBAGE);//关盖
}
else if(buffer[2]==0x44)
{
pwm_write(PWM_HARMFUL_GARBAGE); //开盖
delay(5000);//开盖5s
pwm_stop(PWM_HARMFUL_GARBAGE);//关盖
}
buffer[2]=0x00;//清空是为了下一次识别
remove(GARBAGE_FILE); //清理缓存
}
}
close(serial_fd);
END:
garbage_final(); //释放python解析器
return 0;
}
#endif
int serial_fd=-1;
pthread_cond_t cond;//条件变量
pthread_mutex_t mutex; //互斥锁
//获取语音数据线程
void* get_voice(void *arg)
{
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
int len=0;
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
if(-1==serial_fd)
{
printf("%s|%s|%d:open serial failed\n",__FILE__,__func__,__LINE__);
pthread_exit(0);
}
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
while(1)
{
len=serialGetstring(serial_fd,buffer);
printf("%s|%s|%d,len=%d\n",__FILE__,__func__,__LINE__,len);
if(len>0&&buffer[2]==0x46)
{
pthread_mutex_lock(&mutex);
buffer[2]=0x00;
pthread_cond_signal(&cond);
pthread_mutex_unlock(&mutex);
}
}
pthread_exit(0);
}
//发送语音线程
void* psend_voice(void *arg)
{
pthread_detach(pthread_self()); //父子线程分离,防止等待太久
unsigned char *buffer=(unsigned char*)arg;
if(-1==serial_fd)
{
printf("%s|%s|%d:open serial failed\n",__FILE__,__func__,__LINE__);
pthread_exit(0);
}
if(NULL!=buffer)
{
serialSendstring(serial_fd,buffer,6); //将识别的垃圾类型回传给语音模块
}
pthread_exit(0);
}
//垃圾桶开盖线程
void* popen_trash_can(void *arg)
{
pthread_detach(pthread_self()); //父子线程分离,防止等待太久
unsigned char *buffer=(unsigned char*)arg;
if(buffer[2]==0x43)
{
printf("%s|%s|%d,buffer[2]=0x%x\n",__FILE__,__func__,__LINE__,buffer[2]);
pwm_write(PWM_RECOVERALE_GARBAGE); //开盖
delay(2000);//开盖5s
pwm_stop(PWM_RECOVERALE_GARBAGE);//关盖
}
else if(buffer[2]!=0x45)
{
printf("%s|%s|%d,buffer[2]=0x%x\n",__FILE__,__func__,__LINE__,buffer[2]);
pwm_write(PWM_GARBAGE); //开盖
delay(2000);//开盖5s
pwm_stop(PWM_GARBAGE);//关盖
}
pthread_exit(0);
}
//oled显示线程
void* poled_show(void* arg)
{
pthread_detach(pthread_self());
myoled_init();
oled_show(arg);
pthread_exit(0);
}
//垃圾分类识别线程
void* pcategory(void *arg)
{
unsigned char buffer[6]={0xAA,0x55,0x00,0x00,0x55,0xAA};
char* category=NULL;
pthread_t send_voice_tid;
pthread_t trash_tid;
pthread_t oled_tid;
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
while(1)
{
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_mutex_lock(&mutex);
pthread_cond_wait(&cond,&mutex);
pthread_mutex_unlock(&mutex);
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
buffer[2]=0x00;//清空是为了下一次识别
system(WGET_CMD); //进行拍照
if(0==access(GARBAGE_FILE,F_OK)) //文件存在
{
category=garbage_category(category); //调用阿里云识别接口
if(strstr(category,"干垃圾")) //识别出干垃圾
{
buffer[2]=0x41;
}
else if(strstr(category,"湿垃圾")) //识别出湿垃圾
{
buffer[2]=0x42;
}
else if(strstr(category,"可回收垃圾")) //识别出可回收垃圾
{
buffer[2]=0x43;
}
else if(strstr(category,"有害垃圾")) //识别出有害垃圾
{
buffer[2]=0x44;
}
else //无法识别
{
buffer[2]=0x45;
}
}
else //文件不存在无法识别
{
buffer[2]=0x45;
}
//垃圾桶开盖线程
pthread_create(&trash_tid,NULL,popen_trash_can,(void*)buffer);
//发送语音播报线程
pthread_create(&send_voice_tid,NULL,psend_voice,(void*)buffer);
//oled显示线程
pthread_create(&oled_tid,NULL,poled_show,(void*)buffer);
remove(GARBAGE_FILE); //清理缓存
}
pthread_exit(0);
}
//网络线程
void* pget_socket(void *arg)
{
int s_fd=-1;
int c_fd=-1;
int n_read=-1;
char buffer[6];
struct sockaddr_in c_addr;
memset(&c_addr,0,sizeof(struct sockaddr_in));
s_fd=socket_init(IPADDR,IPPORT);
if(-1==s_fd)
{
printf("%s|%s|%d:s_fd=%d\n",__FILE__,__func__,__LINE__,s_fd);
pthread_exit(0);
}
int clen = sizeof(struct sockaddr_in);
while(1)
{
c_fd = accept(s_fd,(struct sockaddr *)&c_addr,&clen);
int keepalive = 1; // 开启TCP KeepAlive功能
int keepidle = 5; // tcp_keepalive_time 3s内没收到数据开始发送心跳包
int keepcnt = 3; // tcp_keepalive_probes 每次发送心跳包的时间间隔,单位秒
int keepintvl = 3; // tcp_keepalive_intvl 每3s发送一次心跳包
setsockopt(c_fd, SOL_SOCKET, SO_KEEPALIVE, (void *)&keepalive,
sizeof(keepalive));
setsockopt(c_fd, SOL_TCP, TCP_KEEPIDLE, (void *) &keepidle, sizeof
(keepidle));
setsockopt(c_fd, SOL_TCP, TCP_KEEPCNT, (void *)&keepcnt, sizeof
(keepcnt));
setsockopt(c_fd, SOL_TCP, TCP_KEEPINTVL, (void *)&keepintvl, sizeof
(keepintvl));
printf("%s|%s|%d:Accept a connection from %s:%d\n",__FILE__,__func__,__LINE__, inet_ntoa(c_addr.sin_addr), ntohs(c_addr.sin_port));
if(-1==c_fd)
{
perror("accept");
continue;
}
while(1)
{
memset(buffer,0,sizeof(buffer));
n_read=recv(c_fd,buffer,sizeof(buffer),0);
printf("%s|%s|%d:n_read=%d,buffer=%s\n",__FILE__,__func__,__LINE__,n_read,buffer);
if(n_read>0)
{
if(strstr(buffer,"open")) //给阿里云交互线程发信号
{
pthread_mutex_lock(&mutex);
pthread_cond_signal(&cond);
pthread_mutex_unlock(&mutex);
}
}
else if(0==n_read||-1==n_read)
{
break;
}
}
close(c_fd);
}
pthread_exit(0);
}
int main(int argc,char* argv[])
{
int len=0;
int ret=-1;
char* category=NULL;
pthread_t get_voice_tid;
pthread_t category_tid;
pthread_t get_socket_tid;
wiringPiSetup(); //初始化wiringPi库
garbage_init(); //初始化阿里云接口
ret=detect_process("mjpg_streamer"); //简称mjpg_streamer是否打开
if(-1==ret)
{
printf("detect process failed\n");
goto END;
}
serial_fd=myserialOpen(SERIAL_DEV,BAUD); //初始化串口
if(-1==serial_fd) //串口打开失败
{
printf("open serial failed\n");
goto END;
}
//开语音线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&get_voice_tid,NULL,get_voice,NULL);
//开阿里云交互线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&category_tid,NULL,pcategory,NULL);
//开网络线程
printf("%s|%s|%d\n",__FILE__,__func__,__LINE__);
pthread_create(&get_socket_tid,NULL,pget_socket,NULL);
pthread_join(get_voice_tid,NULL); //阻塞语音线程
pthread_join(category_tid,NULL); //阻塞阿里云交互线程
pthread_join(get_socket_tid,NULL); //阻塞网络线程
pthread_mutex_destroy(&mutex);
pthread_cond_destroy(&cond);
close(serial_fd);
END:
garbage_final(); //释放python解析器
return 0;
}