dll-src.diff

--- util/dll-src/loader.c.orig	2004-11-18 05:28:19.000000000 +0100
+++ util/dll-src/loader.c	2005-02-01 20:05:58.909999406 +0100
@@ -211,7 +211,7 @@
       FD_ZERO(&fds);
       FD_SET(rcxFD(), &fds);
 
-      tv.tv_sec = (total - elapsed) / 1000000;
+      tv.tv_sec = (total - elapsed) / 1000000 + 2;
       tv.tv_usec = (total - elapsed) % 1000000;
       select(rcxFD() + 1, &fds, NULL, NULL, &tv);
       if (FD_ISSET(rcxFD(), &fds))
--- util/dll-src/rcxtty.c.orig	2004-11-18 05:28:19.000000000 +0100
+++ util/dll-src/rcxtty.c	2005-02-01 20:08:27.278469205 +0100
@@ -50,6 +50,11 @@
   #include <errno.h>
 #endif
 
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <netdb.h>
+
 #include "rcxtty.h"
 
 extern int tty_usb;
@@ -106,6 +111,121 @@
 #endif
 }
 
+//! initialize RCX communications port of a NCD
+int ncdttyInit(const char *tty, int highspeed)
+{
+  FILEDESCR	fd;
+  char *portStr;
+  int port = 87;
+  struct hostent *h;
+  struct sockaddr_in localAddr, ttyAddr;
+#ifdef NCD_SETUP_SUPPORT
+  char buffer[400];
+  int len;
+#endif
+
+  portStr = strchr(tty, ':');
+  if (portStr) {
+    *portStr = 0;
+    port = atoi(portStr+1);
+  }
+
+  h = gethostbyname(tty);
+
+  if (portStr)
+    *portStr = ':';
+
+  if (!h) {
+    fprintf(stderr, "Unknown host: %s\n", tty);
+    return -1;
+  }
+
+#ifdef NCD_SETUP_SUPPORT
+  /* create setup socket */
+
+  fd = socket(AF_INET, SOCK_STREAM, 0);
+  if(fd<0) {
+    perror("cannot open socket "); 
+    return -1;
+  }
+
+  /* bind any port number */
+  localAddr.sin_family = AF_INET;
+  localAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+  localAddr.sin_port = htons(0);
+  
+  if (bind(fd, (struct sockaddr *) &localAddr, sizeof(localAddr)) < 0) {
+    perror("cannot bind");
+    return -1;
+  }
+
+  ttyAddr.sin_family = h->h_addrtype;
+  memcpy((char *) &ttyAddr.sin_addr.s_addr, h->h_addr_list[0], h->h_length);
+  ttyAddr.sin_port = htons(5979);
+  
+  if (connect(fd, (struct sockaddr *) &ttyAddr, sizeof(ttyAddr)) < 0) {
+    perror("cannot connect to config");
+    return -1;
+  }
+
+  /* Read in password prompt */
+  read(fd, buffer, sizeof(buffer));
+  /* write password */
+  write (fd, "<insert password here>\n", 8);
+
+  /* Read in prompt */
+  read(fd, buffer, sizeof(buffer));
+
+  /* write commands */
+  len = sprintf(buffer,
+		"set serial-interfaces-table = { "
+		"{ 1 printer printer %d 8 1 %s none none } }\n"
+		"apply\n", 
+		highspeed ? 4800 : 2400, 
+		highspeed ? "none" : "odd");
+  write(fd, buffer, len);
+
+  /* Read in prompts */
+  read(fd, buffer, sizeof(buffer));
+
+  /* Quit */
+  write(fd, "quit\n", 5);
+  close(fd);
+#endif
+
+  /* create socket */
+
+  fd = socket(AF_INET, SOCK_STREAM, 0);
+  if(fd<0) {
+    perror("cannot open socket "); 
+    return -1;
+  }
+
+  /* bind any port number */
+  localAddr.sin_family = AF_INET;
+  localAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+  localAddr.sin_port = htons(0);
+  
+  if (bind(fd, (struct sockaddr *) &localAddr, sizeof(localAddr)) < 0) {
+    perror("cannot bind");
+    return -1;
+  }
+
+  ttyAddr.sin_family = h->h_addrtype;
+  memcpy((char *) &ttyAddr.sin_addr.s_addr, h->h_addr_list[0], h->h_length);
+  ttyAddr.sin_port = htons(port);
+  
+  if (connect(fd, (struct sockaddr *) &ttyAddr, sizeof(ttyAddr)) < 0) {
+    perror("cannot connect");
+    return -1;
+  }
+  
+  rcxFd=fd;
+
+  return 0;
+}
+
+
 //! initialize RCX communications port
 int rcxInit(const char *tty, int highspeed)
 {
@@ -141,13 +261,17 @@
                                  0, NULL, OPEN_EXISTING,
                                  0, NULL)) == INVALID_HANDLE_VALUE) {
     fprintf(stderr, "Error %lu: Opening %s\n", (unsigned long) GetLastError(), tty);
+    return -1;
+  }
 #else
+  else if (memcmp(tty, "ncd:", 4) == 0 || memcmp(tty, "tcp:", 4) == 0)
+    return ncdttyInit(tty+4, highspeed);
   else if ((fd = open(tty, O_RDWR | O_EXCL)) < 0) {
     fprintf(stderr,"Error opening tty=%s, ",tty);
     perror("open");
-#endif
     return -1;
   }
+#endif
 
 #if !defined(_WIN32)
   if (tty_usb == 0 && !isatty(fd)) {