[324] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2011/05/01
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| 6 | // filename: ui_com.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe permettant la lecture et l'ecriture sur socket UDT
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "ui_com.h"
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| 19 | #include <cstdlib>
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| 20 | #include <string.h>
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| 21 | #include <unistd.h>
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| 22 | #include "Mutex.h"
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| 23 | #include "SendData.h"
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| 24 | #include "communication.h"
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| 25 | #include "FrameworkManager.h"
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| 26 | #include "zlib.h"
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| 27 | #include <assert.h>
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| 28 | #include "config.h"
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| 29 |
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| 30 | #ifdef __XENO__
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| 31 | #include <pthread.h>
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| 32 | #include <native/task.h>
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| 33 | #include <native/task.h>
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| 34 | #include <fcntl.h>
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| 35 | #endif
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| 36 |
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| 37 | using std::string;
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| 38 | using namespace flair::core;
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| 39 | using namespace flair::gui;
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| 40 |
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| 41 | ui_com::ui_com(const Object *parent, UDTSOCKET sock)
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| 42 | : Thread(parent, "send", 2,16384*2) {
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| 43 | // buffer envoi
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| 44 | send_buffer = (char *)malloc(3);
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| 45 | send_size = 3; // id(1)+period(2)
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| 46 |
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| 47 | // mutex
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| 48 | send_mutex = NULL;
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| 49 | send_mutex = new Mutex(this, ObjectName());
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| 50 |
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| 51 | socket_fd = sock;
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| 52 | connection_lost = false;
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| 53 |
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| 54 | #ifdef __XENO__
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| 55 | int status;
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| 56 | string tmp_name;
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| 57 |
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| 58 | is_running = true;
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| 59 |
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| 60 | // pipe
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| 61 | tmp_name = getFrameworkManager()->ObjectName() + "-" + ObjectName() + "-pipe";
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| 62 | // xenomai limitation
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| 63 | if (tmp_name.size() > 31)
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| 64 | Err("rt_pipe_create error (%s is too long)\n", tmp_name.c_str());
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| 65 | #ifdef RT_PIPE_SIZE
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| 66 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
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| 67 | #else
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| 68 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, 0);
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| 69 | #endif
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| 70 |
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| 71 | if (status != 0) {
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| 72 | char errorMsg[256];
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| 73 | Err("rt_pipe_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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| 74 | // return -1;
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| 75 | }
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| 76 |
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| 77 | // start user side thread
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| 78 | #ifdef NRT_STACK_SIZE
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| 79 | // Initialize thread creation attributes
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| 80 | pthread_attr_t attr;
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| 81 | if (pthread_attr_init(&attr) != 0) {
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| 82 | Err("pthread_attr_init error\n");
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| 83 | }
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| 84 |
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| 85 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
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| 86 | Err("pthread_attr_setstacksize error\n");
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| 87 | }
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| 88 |
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| 89 | if (pthread_create(&thread, &attr, user_thread, (void *)this) < 0)
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| 90 | #else // NRT_STACK_SIZE
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| 91 | if (pthread_create(&thread, NULL, user_thread, (void *)this) < 0)
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| 92 | #endif // NRT_STACK_SIZE
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| 93 | {
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| 94 | Err("pthread_create error\n");
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| 95 | // return -1;
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| 96 | }
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| 97 | #ifdef NRT_STACK_SIZE
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| 98 | if (pthread_attr_destroy(&attr) != 0) {
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| 99 | Err("pthread_attr_destroy error\n");
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| 100 | }
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| 101 | #endif
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| 102 |
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| 103 | #endif //__XENO__
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| 104 | int timeout = 100;
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| 105 | if (UDT::setsockopt(socket_fd, 0, UDT_RCVTIMEO, &timeout, sizeof(int)) != 0)
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| 106 | Err("UDT::setsockopt error (UDT_RCVTIMEO)\n");
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| 107 | /*
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| 108 | timeout=-1;
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| 109 | if (UDT::setsockopt(socket_fd, 0, UDT_SNDTIMEO, &timeout, sizeof(int)) != 0)
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| 110 | Err("UDT::setsockopt error (UDT_SNDTIMEO)\n");
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| 111 | */
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| 112 | bool blocking = true;
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| 113 | if (UDT::setsockopt(socket_fd, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
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| 114 | Err("UDT::setsockopt error (UDT_SNDSYN)\n");
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| 115 |
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| 116 | if (UDT::setsockopt(socket_fd, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
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| 117 | Err("UDT::setsockopt error (UDT_RCVSYN)\n");
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| 118 | //#endif //__XENO__
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| 119 |
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| 120 | Start();
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| 121 | }
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| 122 |
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| 123 | ui_com::~ui_com() {
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| 124 | //Printf("destruction ui_com\n");
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| 125 |
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| 126 | #ifdef __XENO__
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| 127 | is_running = false;
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| 128 |
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| 129 | pthread_join(thread, NULL);
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| 130 |
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| 131 | int status = rt_pipe_delete(&pipe);
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| 132 | if (status != 0) {
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| 133 | char errorMsg[256];
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| 134 | Err("rt_pipe_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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| 135 | }
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| 136 | #endif
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| 137 |
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| 138 | SafeStop();
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| 139 |
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| 140 | if (IsSuspended() == true)
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| 141 | Resume();
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| 142 |
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| 143 | Join();
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| 144 |
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| 145 | char buf=CLOSING_CONNECTION;
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| 146 | Send(&buf,1);
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| 147 |
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| 148 | if (send_buffer != NULL)
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| 149 | free(send_buffer);
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| 150 | send_buffer = NULL;
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| 151 |
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| 152 | //Printf("destruction ui_com ok\n");
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| 153 | }
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| 154 |
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| 155 | void ui_com::Send(char *buf, ssize_t size,int ttl) {
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| 156 | if (connection_lost == true)
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| 157 | return;
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| 158 |
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| 159 | char *tosend = buf;
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| 160 | ssize_t nb_write;
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| 161 |
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| 162 | if (buf[0] == XML_HEADER) {
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| 163 | // cut xml header
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| 164 | tosend = strstr(buf, "<root");
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| 165 | size -= tosend - buf;
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| 166 | }
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| 167 |
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| 168 | #ifdef __XENO__
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| 169 | nb_write = rt_pipe_write(&pipe, tosend, size, P_NORMAL);
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| 170 |
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| 171 | if (nb_write < 0) {
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| 172 | char errorMsg[256];
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| 173 | Err("rt_pipe_write error (%s)\n", strerror_r(-nb_write, errorMsg, sizeof(errorMsg)));
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| 174 | } else if (nb_write != size) {
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| 175 | Err("rt_pipe_write error %i/%i\n", nb_write, size);
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| 176 | }
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| 177 | #else //__XENO__
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| 178 |
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| 179 | #ifdef COMPRESS_FRAMES
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| 180 | bool sendItCompressed = false;
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| 181 | if (buf[0] == XML_HEADER) {
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| 182 | sendItCompressed = true;
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| 183 | }
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| 184 |
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| 185 | if (sendItCompressed) {
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| 186 | char *out;
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| 187 | ssize_t out_size;
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| 188 | if (compressBuffer(tosend, size, &out, &out_size, 9) == Z_OK) {
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| 189 | size = out_size;
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| 190 | nb_write = UDT::sendmsg(socket_fd, out, size,ttl, true);
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| 191 | free(out);
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| 192 | } else {
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| 193 | Warn("Compress error, sending it uncompressed\n");
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| 194 | sendItCompressed = false;
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| 195 | }
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| 196 | }
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| 197 |
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| 198 | if (!sendItCompressed) {
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| 199 | nb_write = UDT::sendmsg(socket_fd, tosend, size, ttl, true);
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| 200 | }
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| 201 |
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| 202 | #else // COMPRESS_FRAMES
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| 203 | nb_write = UDT::sendmsg(socket_fd, tosend, size, ttl, true);
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| 204 | #endif // COMPRESS_FRAMES
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| 205 | //Printf("write %i %i\n",nb_write,size);
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| 206 | if (nb_write < 0) {
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| 207 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 208 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
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| 209 | UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
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| 210 | connection_lost = true;
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| 211 | }
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| 212 | } else if (nb_write != size) {
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| 213 | Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
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| 214 | UDT::getlasterror().getErrorCode(), nb_write, size);
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| 215 | }
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| 216 | #endif //__XENO__
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| 217 | }
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| 218 |
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| 219 | ssize_t ui_com::Receive(char *buf, ssize_t buf_size) {
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| 220 | ssize_t bytesRead = UDT::recvmsg(socket_fd, buf, buf_size);
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| 221 |
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| 222 | if (bytesRead < 0) {
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| 223 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST) {
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| 224 | Err("UDT::recvmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 225 | connection_lost = true;
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| 226 | }
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| 227 | }
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| 228 |
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| 229 | return bytesRead;
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| 230 | }
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| 231 |
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| 232 | void ui_com::CheckConnection(void) {
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| 233 | int32_t val,len;
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| 234 |
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| 235 | int result=UDT::getsockopt(socket_fd,0,UDT_STATE,&val,&len);
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| 236 | if (result < 0) {
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| 237 | Printf("UDT::getsockopt error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 238 | }
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| 239 | // printf("opt: %i %i %i\n",result,val,len);
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| 240 | }
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| 241 |
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| 242 | void ui_com::Run(void) {
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| 243 | // check endianness
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| 244 | char header;
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| 245 | if (IsBigEndian()) {
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| 246 | header = DATA_BIG_ENDIAN;
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| 247 | Printf("System is big endian\n");
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| 248 | } else {
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| 249 | header = DATA_LITTLE_ENDIAN;
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| 250 | Printf("System is little endian\n");
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| 251 | }
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| 252 |
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| 253 | #ifdef __XENO__
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| 254 | WarnUponSwitches(true);
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| 255 | printf("\n"); // a revoir pourquoi??
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| 256 | // sans ce printf, dans le simu_roll, le suspend ne fonctionne pas...
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| 257 | #endif
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| 258 | // on attend d'avoir des choses à faire
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| 259 | Suspend();
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| 260 |
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| 261 | while (!ToBeStopped()) {
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| 262 | size_t resume_id;
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| 263 | Time min = 0xffffffffffffffffULL;
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| 264 |
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| 265 | // on recpuere l'id de la prochaine execution
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| 266 | send_mutex->GetMutex();
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| 267 | resume_id = resume_time.size();
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| 268 | for (size_t i = 0; i < resume_time.size(); i++) {
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| 269 | if (resume_time.at(i) < min && data_to_send.at(i)->IsEnabled() == true) {
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| 270 | min = resume_time.at(i);
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| 271 | resume_id = i;
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| 272 | }
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| 273 | }
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| 274 |
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| 275 | // attente
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| 276 | if (resume_id < resume_time.size()) {
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| 277 | Time time = resume_time.at(resume_id);
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| 278 | uint16_t resume_period = data_to_send.at(resume_id)->SendPeriod();
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| 279 | send_mutex->ReleaseMutex();
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| 280 | // on dort jusqu'a la prochaine execution
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| 281 | SleepUntil(time);
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| 282 |
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| 283 | // envoi des donnees
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| 284 | int offset = 3;
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| 285 | send_buffer[0] = header;
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| 286 | send_mutex->GetMutex();
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| 287 |
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| 288 | for (size_t i = 0; i < data_to_send.size(); i++) {
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| 289 | if (data_to_send.at(i)->SendPeriod() == resume_period &&
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| 290 | data_to_send.at(i)->IsEnabled() == true) {
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| 291 | data_to_send.at(i)->CopyDatas(send_buffer + offset);
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| 292 | offset += data_to_send.at(i)->SendSize();
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| 293 | }
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| 294 | }
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| 295 | if (offset != 3) {
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| 296 | memcpy(&send_buffer[1], &resume_period, sizeof(uint16_t));
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| 297 | //printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
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| 298 | // for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
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| 299 | // printf("\n");
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| 300 | Send(send_buffer, offset,resume_period);
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| 301 | }
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| 302 |
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| 303 | // on planifie la prochaine execution
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| 304 | for (size_t i = 0; i < data_to_send.size(); i++) {
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| 305 | if (data_to_send.at(i)->SendPeriod() == resume_period) {
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| 306 | resume_time.at(i) += data_to_send.at(i)->SendPeriod() * 1000000;
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| 307 | }
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| 308 | }
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| 309 | send_mutex->ReleaseMutex();
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| 310 | //Printf("%i %lld\n",resume_period,GetTime()/1000000);
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| 311 | } else {
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| 312 | send_mutex->ReleaseMutex();
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| 313 | // rien a faire, suspend
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| 314 | //Printf("rien a faire suspend\n");
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| 315 | Suspend();
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| 316 | //Printf("wake\n");
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| 317 | // on planifie la prochaine execution
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| 318 | Time time = GetTime();
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| 319 | send_mutex->GetMutex();
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| 320 | for (size_t i = 0; i < data_to_send.size(); i++) {
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| 321 | resume_time.at(i) =
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| 322 | time + (Time)data_to_send.at(i)->SendPeriod() * 1000000;
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| 323 | }
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| 324 | send_mutex->ReleaseMutex();
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| 325 | }
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| 326 | }
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| 327 | }
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| 328 | #ifdef __XENO__
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| 329 | void *ui_com::user_thread(void *arg) {
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| 330 | int pipe_fd = -1;
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| 331 | string devname;
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| 332 | char *buf = NULL;
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| 333 | ui_com *caller = (ui_com *)arg;
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| 334 | int rv;
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| 335 | fd_set set;
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| 336 | struct timeval timeout;
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| 337 | ssize_t nb_read, nb_write;
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| 338 |
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| 339 | buf = (char *)malloc(NRT_PIPE_SIZE);
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| 340 | if (buf == NULL) {
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| 341 | caller->Err("malloc error\n");
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| 342 | }
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| 343 |
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| 344 | devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
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| 345 | caller->ObjectName() + "-pipe";
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| 346 | while (pipe_fd < 0) {
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| 347 | pipe_fd = open(devname.c_str(), O_RDWR);
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| 348 | if (pipe_fd < 0 && errno != ENOENT) {
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| 349 | char errorMsg[256];
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| 350 | caller->Err("open pipe_fd error (%s)\n", strerror_r(errno, errorMsg, sizeof(errorMsg)));
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| 351 | }
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| 352 | usleep(1000);
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| 353 | }
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| 354 |
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| 355 | while (1) {
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| 356 | FD_ZERO(&set); // clear the set
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| 357 | FD_SET(pipe_fd, &set); // add our file descriptor to the set
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| 358 |
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| 359 | timeout.tv_sec = 0;
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| 360 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
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| 361 |
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| 362 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
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| 363 |
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| 364 | if (rv == -1) {
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| 365 | if (caller->is_running == false &&
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| 366 | UDT::getlasterror().getErrorCode() == CUDTException::ETIMEOUT)
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| 367 | break; // timeout
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| 368 | if (UDT::getlasterror().getErrorCode() != CUDTException::ETIMEOUT)
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| 369 | caller->Err("epoll_wait, %s, code %i\n",
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| 370 | UDT::getlasterror().getErrorMessage(),
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| 371 | UDT::getlasterror().getErrorCode());
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| 372 | } else if (rv == 0) {
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| 373 | // printf("timeout\n"); // a timeout occured
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| 374 | if (caller->is_running == false)
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| 375 | break;
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| 376 |
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| 377 | } else {
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| 378 | nb_read = read(pipe_fd, buf, NRT_PIPE_SIZE);
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| 379 | buf[nb_read] = 0;
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| 380 | // printf("envoi\n%s\n",buf);
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| 381 |
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| 382 | #ifdef COMPRESS_FRAMES
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| 383 | char *out;
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| 384 | ssize_t out_size;
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| 385 |
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| 386 | if (buf[0] == XML_HEADER) {
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| 387 | if (compressBuffer(buf, nb_read, &out, &out_size, 9) == Z_OK) {
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| 388 | nb_read = out_size;
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| 389 | nb_write = UDT::sendmsg(caller->socket_fd, out, out_size, -1, true);
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| 390 | free(out);
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| 391 | } else {
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| 392 | caller->Warn("Compress error, sending it uncompressed\n");
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| 393 | nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
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| 394 | }
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| 395 | } else {
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| 396 | nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
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| 397 | }
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| 398 | #else
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| 399 | nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
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| 400 | #endif
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| 401 |
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| 402 | if (nb_write < 0) {
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| 403 | caller->Err("UDT::sendmsg error (%s)\n",
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| 404 | UDT::getlasterror().getErrorMessage());
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| 405 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
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| 406 | UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
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| 407 | caller->connection_lost = true;
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| 408 | }
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| 409 | } else if (nb_write != nb_read) {
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| 410 | caller->Err("UDT::sendmsg error %i/%i\n", nb_write, nb_read);
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| 411 | }
|
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| 412 | }
|
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| 413 | }
|
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| 414 |
|
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| 415 | close(pipe_fd);
|
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| 416 | if (buf != NULL)
|
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| 417 | free(buf);
|
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| 418 | pthread_exit(0);
|
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| 419 | }
|
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| 420 | #endif
|
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| 421 |
|
---|
| 422 | int ui_com::compressBuffer(char *in, ssize_t in_size, char **out,
|
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| 423 | ssize_t *out_size, int level) {
|
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| 424 | int ret, flush;
|
---|
| 425 | unsigned have;
|
---|
| 426 | z_stream strm;
|
---|
| 427 |
|
---|
| 428 | /* allocate deflate state */
|
---|
| 429 | strm.zalloc = Z_NULL;
|
---|
| 430 | strm.zfree = Z_NULL;
|
---|
| 431 | strm.opaque = Z_NULL;
|
---|
| 432 | ret = deflateInit(&strm, level);
|
---|
| 433 | if (ret != Z_OK)
|
---|
| 434 | return ret;
|
---|
| 435 |
|
---|
| 436 | *out = (char *)malloc(COMPRESS_CHUNK);
|
---|
| 437 | if (!(*out))
|
---|
| 438 | return Z_BUF_ERROR;
|
---|
| 439 |
|
---|
| 440 | strm.next_in = (unsigned char *)in;
|
---|
| 441 | strm.avail_out = COMPRESS_CHUNK;
|
---|
| 442 | strm.next_out = (unsigned char *)*out;
|
---|
| 443 | strm.avail_in = in_size;
|
---|
| 444 | flush = Z_FINISH;
|
---|
| 445 |
|
---|
| 446 | ret = deflate(&strm, flush); /* no bad return value */
|
---|
| 447 | if (ret == Z_STREAM_ERROR) {
|
---|
| 448 | free(*out);
|
---|
| 449 | return ret;
|
---|
| 450 | }
|
---|
| 451 |
|
---|
| 452 | have = COMPRESS_CHUNK - strm.avail_out;
|
---|
| 453 | *out_size = have;
|
---|
| 454 | // printf("%i -> %i\n",in_size,have);
|
---|
| 455 | /* clean up and return */
|
---|
| 456 | (void)deflateEnd(&strm);
|
---|
| 457 |
|
---|
| 458 | if (strm.avail_out != 0) {
|
---|
| 459 | return Z_OK;
|
---|
| 460 | } else {
|
---|
| 461 | return Z_STREAM_ERROR;
|
---|
| 462 | }
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | int ui_com::uncompressBuffer(unsigned char *in, ssize_t in_size,
|
---|
| 466 | unsigned char **out, ssize_t *out_size) {
|
---|
| 467 | int ret;
|
---|
| 468 | // unsigned have;
|
---|
| 469 | z_stream strm;
|
---|
| 470 |
|
---|
| 471 | /* allocate inflate state */
|
---|
| 472 | strm.zalloc = Z_NULL;
|
---|
| 473 | strm.zfree = Z_NULL;
|
---|
| 474 | strm.opaque = Z_NULL;
|
---|
| 475 | strm.avail_in = 0;
|
---|
| 476 | strm.next_in = Z_NULL;
|
---|
| 477 | ret = inflateInit(&strm);
|
---|
| 478 | if (ret != Z_OK)
|
---|
| 479 | return ret;
|
---|
| 480 |
|
---|
| 481 | *out = (unsigned char *)malloc(COMPRESS_CHUNK);
|
---|
| 482 | if (!(*out))
|
---|
| 483 | return Z_BUF_ERROR;
|
---|
| 484 |
|
---|
| 485 | strm.avail_in = in_size;
|
---|
| 486 | strm.next_in = in;
|
---|
| 487 | strm.avail_out = COMPRESS_CHUNK;
|
---|
| 488 | strm.next_out = *out;
|
---|
| 489 |
|
---|
| 490 | ret = inflate(&strm, Z_NO_FLUSH);
|
---|
| 491 | assert(ret != Z_STREAM_ERROR); /* state not clobbered */
|
---|
| 492 | switch (ret) {
|
---|
| 493 | case Z_NEED_DICT:
|
---|
| 494 | ret = Z_DATA_ERROR; /* and fall through */
|
---|
| 495 | case Z_DATA_ERROR:
|
---|
| 496 | case Z_MEM_ERROR:
|
---|
| 497 | (void)inflateEnd(&strm);
|
---|
| 498 | return ret;
|
---|
| 499 | }
|
---|
| 500 | // have = COMPRESS_CHUNK - strm.avail_out;
|
---|
| 501 |
|
---|
| 502 | /* clean up and return */
|
---|
| 503 | (void)inflateEnd(&strm);
|
---|
| 504 | return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | bool ui_com::ConnectionLost() { return connection_lost; }
|
---|
| 508 |
|
---|
| 509 | void ui_com::AddSendData(const SendData *obj) {
|
---|
| 510 | send_mutex->GetMutex();
|
---|
| 511 |
|
---|
| 512 | resume_time.push_back(GetTime() + (Time)obj->SendPeriod() * 1000000);
|
---|
| 513 |
|
---|
| 514 | // on resume en meme temps tout ceux qui ont la meme periode
|
---|
| 515 | for (size_t i = 0; i < data_to_send.size(); i++) {
|
---|
| 516 | if (data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
|
---|
| 517 | resume_time.at(resume_time.size() - 1) = resume_time.at(i);
|
---|
| 518 | break;
|
---|
| 519 | }
|
---|
| 520 | }
|
---|
| 521 |
|
---|
| 522 | data_to_send.push_back(obj);
|
---|
| 523 |
|
---|
| 524 | send_mutex->ReleaseMutex();
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | void ui_com::UpdateSendData(const SendData *obj) {
|
---|
| 528 | // le mutex est deja pris par l'appellant
|
---|
| 529 | size_t id, i;
|
---|
| 530 |
|
---|
| 531 | // on recupere l'id
|
---|
| 532 | for (i = 0; i < data_to_send.size(); i++) {
|
---|
| 533 | if (data_to_send.at(i) == obj) {
|
---|
| 534 | id = i;
|
---|
| 535 | break;
|
---|
| 536 | }
|
---|
| 537 | }
|
---|
| 538 |
|
---|
| 539 | // on resume en meme temps tout ceux qui ont la meme periode
|
---|
| 540 | for (i = 0; i < data_to_send.size(); i++) {
|
---|
| 541 | if (i == id)
|
---|
| 542 | continue;
|
---|
| 543 | if (data_to_send.at(i)->IsEnabled() == true &&
|
---|
| 544 | data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
|
---|
| 545 | resume_time.at(id) = resume_time.at(i);
|
---|
| 546 | break;
|
---|
| 547 | }
|
---|
| 548 | }
|
---|
| 549 |
|
---|
| 550 | // si aucun match, on planifie l'execution
|
---|
| 551 | if (i == data_to_send.size())
|
---|
| 552 | resume_time.at(id) = GetTime() + (Time)obj->SendPeriod() * 1000000;
|
---|
| 553 |
|
---|
| 554 | if (IsSuspended() == true)
|
---|
| 555 | Resume();
|
---|
| 556 |
|
---|
| 557 | return;
|
---|
| 558 | }
|
---|
| 559 |
|
---|
| 560 | void ui_com::UpdateDataToSendSize(void) {
|
---|
| 561 | send_mutex->GetMutex();
|
---|
| 562 | send_size = 3; // id(1)+period(2)
|
---|
| 563 | for (size_t i = 0; i < data_to_send.size(); i++) {
|
---|
| 564 | if (data_to_send[i] != NULL)
|
---|
| 565 | send_size += data_to_send[i]->SendSize();
|
---|
| 566 | }
|
---|
| 567 |
|
---|
| 568 | // send_buffer=(char*)realloc((void*)send_buffer,send_size*sizeof(char));
|
---|
| 569 | if (send_buffer != NULL)
|
---|
| 570 | free(send_buffer);
|
---|
| 571 | send_buffer = (char *)malloc(send_size * sizeof(char));
|
---|
| 572 | send_mutex->ReleaseMutex();
|
---|
| 573 | }
|
---|
| 574 |
|
---|
| 575 | void ui_com::RemoveSendData(const SendData *obj) {
|
---|
| 576 | // printf("remove_data_to_send %i\n",data_to_send.size());
|
---|
| 577 |
|
---|
| 578 | send_mutex->GetMutex();
|
---|
| 579 | // on recupere l'id
|
---|
| 580 | for (size_t i = 0; i < data_to_send.size(); i++) {
|
---|
| 581 | if (data_to_send.at(i) == obj) {
|
---|
| 582 | data_to_send.erase(data_to_send.begin() + i);
|
---|
| 583 | resume_time.erase(resume_time.begin() + i);
|
---|
| 584 | // printf("remove_data_to_send %i ok\n",data_to_send.size());
|
---|
| 585 | break;
|
---|
| 586 | }
|
---|
| 587 | }
|
---|
| 588 | send_mutex->ReleaseMutex();
|
---|
| 589 |
|
---|
| 590 | return;
|
---|
| 591 | }
|
---|
| 592 |
|
---|
| 593 | void ui_com::Block(void) { send_mutex->GetMutex(); }
|
---|
| 594 |
|
---|
| 595 | void ui_com::UnBlock(void) { send_mutex->ReleaseMutex(); }
|
---|