Tekkotsu Networking

1
Tekkotsu Networking

• CPSC 599.17/601.17

2
Basics

• Provides UDP and TCP
• Server and Client connections
• Low level commands
• Have to build packet
• Serialise your data (with some help)
• Bad Documentation
• PLEASE post on the wiki if you find some
• Use Tekkotsu monitor aibo-side code
• /usr/local/Tekkotsu/Behaviors/Mon/

3
Interface

• Uses callbacks for incoming data
• Non-blocking sending calls
• Mainly important for TCP
• stderr output is blocking for debugging purposes
• Connections used through the Socket class
• one socket per connection
• Sockets managed by Wireless class
• Accessed through global wireless variable
• System cout/cerr (Telnet ports)
• serr-gtprintf, sout-gtprintf

4
API and commands

• Create a new socket
• Socket wireless-gtsocket(SocketNSTransportType_t)
  
• (SOCK_DGRAM, SOCK_STREAM)
• Get system Socket number
• Int Socket-gtsock
• Setup server
• wireless-gtsetDaemon(Socket, bool)
• wireless-gtsetReceiver(Socket_ID, callback)
• Callbacks int callback_fn(char buf, int
  bytes)
• wireless-gtlisten(Socket_ID, port)
• (UDP server does not automatically connect)

5
API (Continued)

• Disable Server
• wireless-gtsetDaemon(Socket, false)
• wireless-gtclose(Socket)
• (NOTE Works even when no one connectd. Not so
  for client)
• Status
• bool Wireless-gtisConnected(Socket)
• bool Socket-gtgetDaemon()
• string Socket-gtgetPeerAddressAsString()
• int Socket-gtgetPeerPort()
• Connect
• wireless-gtconnect(Socket,char host, int port)

6
Api Packets

• Packet Write buffer
• Socket-gtgetWriteBuffer(int bytes)
• Socket-gtwrite(int bytes)
• Socket-gtwrite(char buf, int bytes)
• Careful when using together
• Write does buffer copy
• LoadSave class
• Serialisation functions
• Can derrive and make your own
• MANY encode/decode combinations

7
Endianness

• The AIBO is little Endian
• (your pc is most likely BIG Endian)
• Network protocols are big endian
• Byte order is reversed for primitives
• Tekkotsu does NOT automatically convert
• AIBO is slow, your PC is faster
• Means you have to do your own conversion!
• Alternatives are Serializer class, but slow!