PoseEstimation/server.cpp at main · hdjwis/PoseEstimation · GitHub

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#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <iostream>
#include <cstdlib>
#include <unistd.h>
#include <string>
#include <vector>
#include "imu.h"


int main() {
    IMU imu = IMU();
    int s = socket(AF_INET, SOCK_STREAM, 0);
    if (s == -1) {
        std::cout << "Socket creation failed" << std::endl;
        std::exit(1);
    }
    else {
        std::cout << "Socket creation successful" << std::endl;
    }
    struct sockaddr_in sin;
    struct in_addr in;
    in.s_addr = INADDR_ANY;

    sin.sin_family = AF_INET;
    sin.sin_port = htons(8000);
    sin.sin_addr = in;


    if (bind(s, (struct sockaddr *) &sin, sizeof(sockaddr_in)) == -1) {
        std::cout << "Socket binding failed" << std::endl;
        std::exit(1);
    }
    else {
        std::cout << "Socket binding successful" << std::endl;
    }

    if (listen(s, 1) == -1) {
        std::cout << "Listen failed" << std::endl;
        std::exit(1);
    }
    else {
        std::cout << "Listen successful" << std::endl;
    }

    struct sockaddr_in from;
    socklen_t from_len = sizeof(from);

    int new_s;
    std::string body = "<html><body><h1>Hello, World!</h1></body></html>";
    std::string response =
        "HTTP/1.1 200 OK\r\n"
        "Content-Type: text/html\r\n"
        "Content-Length: " + std::to_string(body.length()) + "\r\n"
        "Connection: close\r\n"
        "\r\n"
        + body;
    char buf[4096];
    std::string receive;
    while (true) {
        receive = "";
        memset(buf, 0, sizeof(buf));
        new_s = accept(s, (struct sockaddr *) &from, &from_len);
        if (new_s < 0) {
            std::cout << "Accept failed" << std::endl;
        }
        else {
            std::cout << "Accept successful" << std::endl;
        }
        int bytes_read = read(new_s, buf, sizeof(buf));
        while (bytes_read > 0) {
            receive += buf;
            if (strncmp(buf+bytes_read-4, "}}]}", 4) == 0) {
                std::cout << std::endl << std::endl << buf <<  std::endl << std::endl;
                break;
            }

            memset(buf, 0, sizeof(buf));
            bytes_read = read(new_s, buf, sizeof(buf));
        }
        imu.update(receive);
        ssize_t bytes_sent = write(new_s, response.c_str(), response.length());
    }


};