source: flair-src/trunk/lib/FlairCore/src/FrameworkManager_impl.cpp@ 133

Last change on this file since 133 was 133, checked in by Sanahuja Guillaume, 7 years ago

modif sterror

File size: 25.8 KB
RevLine 
[2]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[2]4// %flair:license}
5// created: 2011/08/31
6// filename: FrameworkManager.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Classe de base de la librairie
14//
15//
16/*********************************************************************/
17
18#include "FrameworkManager_impl.h"
19#include "FrameworkManager.h"
20#include "Widget_impl.h"
21#include <unistd.h>
22#include "IODevice.h"
23#include "IODevice_impl.h"
24#include "TabWidget.h"
25#include "Layout.h"
26#include "PushButton.h"
27#include "communication.h"
28#include "config.h"
29#include "Watchdog.h"
30#include <errno.h>
31#include <string.h>
32#include <arpa/inet.h>
33#include <sys/mman.h>
34#include <execinfo.h>
35#include <signal.h>
36#include <fcntl.h>
37#ifdef __XENO__
38#include <native/task.h>
[118]39#include <rtdk.h>
[2]40#endif
41
42using namespace std;
43using namespace flair::core;
44using namespace flair::gui;
45
[15]46ui_com *FrameworkManager_impl::com = NULL;
47FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
[2]48
49namespace {
50#ifdef __XENO__
51
52#ifdef SIGDEBUG
[15]53static const char *reason_str[] = {
54 "undefined", "received signal", "invoked syscall", "triggered fault",
55 "affected by priority inversion", "missing mlockall", "runaway thread",
56};
[2]57
[15]58void warn_upon_switch(int sig, siginfo_t *si, void *context) {
59 unsigned int reason = si->si_value.sival_int;
60 void *bt[32];
61 int nentries;
[2]62#ifdef SIGDEBUG_WATCHDOG
[15]63 printf("\nSIGDEBUG received, reason %d: %s\n", reason,
64 reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
[2]65#endif
[15]66 // Dump a backtrace of the frame which caused the switch to secondary mode:
67 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
68 backtrace_symbols_fd(bt, nentries, fileno(stdout));
69}
70#else // SIGDEBUG
71void warn_upon_switch(int sig __attribute__((unused))) {
72 void *bt[32];
73 int nentries;
[2]74
[15]75 /* Dump a backtrace of the frame which caused the switch to
76 secondary mode: */
77 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
78 backtrace_symbols_fd(bt, nentries, fileno(stdout));
79}
80#endif // SIGDEBUG
[2]81#endif //__XENO__
[15]82void seg_fault(int sig __attribute__((unused))) {
83 void *bt[32];
84 int nentries;
[2]85
[15]86 printf("Segmentation fault:\n");
87 /* Dump a backtrace of the frame which caused the segfault: */
88 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
89 backtrace_symbols_fd(bt, nentries, fileno(stdout));
[2]90
[15]91 exit(1);
[2]92}
[15]93}
[2]94
[15]95FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
96 string name)
97 : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
98 this->self = self;
99 is_logging = false;
100 logger_defined = false;
101 disable_errors = false;
102 ui_defined = false;
103 rcv_buf = NULL;
[20]104 gcs_watchdog = NULL;
[15]105 _this = this;
[55]106 tabwidget=NULL;
[2]107
[15]108 // Avoids memory swapping for this program
109 mlockall(MCL_CURRENT | MCL_FUTURE);
[2]110
[15]111 // catch segfault
112 signal(SIGSEGV, seg_fault);
[2]113
[15]114// catch primary->secondary switch
[2]115#ifdef __XENO__
116#ifdef SIGDEBUG
[45]117 struct sigaction sa;
[15]118 sigemptyset(&sa.sa_mask);
119 sa.sa_sigaction = warn_upon_switch;
120 sa.sa_flags = SA_SIGINFO;
121 sigaction(SIGDEBUG, &sa, NULL);
[118]122#else //SIGDEBUG
[15]123 signal(SIGXCPU, warn_upon_switch);
[118]124#endif //SIGDEBUG
125 string task_name = "Framework_" + name;
[2]126
[118]127 // Perform auto-init of rt_print buffers if the task doesn't do so
128 rt_print_auto_init(1);
129 // Initialise the rt_print buffer for this task explicitly
130 rt_print_init(512, task_name.c_str());
131
[15]132 int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
133 if (status != 0) {
[133]134 char errorMsg[256];
135 self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]136 }
[2]137
138#endif //__XENO__
139}
140
141void FrameworkManager_impl::ConnectionLost(void) {
[15]142 Err("connection lost\n");
143 gcs_watchdog->SafeStop();
144 connection_lost = true;
[2]145}
146
147FrameworkManager_impl::~FrameworkManager_impl() {
[15]148 // Printf("destruction FrameworkManager_impl\n");
149 int status;
[133]150 char errorMsg[256];
151
[15]152 SafeStop();
153 Join();
[2]154
[15]155 if (rcv_buf != NULL)
156 free(rcv_buf);
[2]157
[15]158 if (logger_defined == true) {
159 continuer = false;
160 (void)pthread_join(log_th, NULL);
[2]161
[15]162 status = DeletePipe(&cmd_pipe);
163 if (status != 0) {
[133]164 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]165 }
166 status = DeletePipe(&data_pipe);
167 if (status != 0) {
[133]168 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]169 }
[2]170
171#ifdef __XENO__
[15]172 status = rt_heap_delete(&log_heap);
173 if (status != 0) {
[133]174 Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]175 }
[2]176#endif
177
[15]178 logs.clear();
179 }
[2]180
[15]181 if (file_doc != NULL)
182 xmlFreeDoc(file_doc);
[2]183
[15]184 if (ui_defined)
185 delete top_layout;
[2]186
[15]187 if (com != NULL) {
188 delete com;
189 status = UDT::close(com_sock);
190 if (status != 0)
[67]191 Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
[2]192
[15]193 status = UDT::close(file_sock);
194 if (status != 0)
[67]195 Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
[2]196
[15]197 SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
198 UDT::cleanup();
199 }
[2]200
[15]201 // Printf("destruction FrameworkManager_impl ok\n");
[2]202}
203
[55]204void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
[15]205 size_t rcv_buf_size) {
206 UDT::startup();
207 this->rcv_buf_size = rcv_buf_size;
[2]208
[15]209 // socket file_socket, doit être créé en premier, cf station sol
210 Printf("Connecting to %s:%i\n", address.c_str(), port);
211 file_sock = GetSocket(address, port);
212 com_sock = GetSocket(address, port);
[2]213
[15]214 // receive buffer allocation
215 rcv_buf = (char *)malloc(rcv_buf_size);
216 if (rcv_buf == NULL) {
217 Err("receive buffer malloc error\n");
218 }
[2]219
[15]220 com = new ui_com(this, com_sock);
[2]221
[15]222 // file managment
223 bool blocking = true;
224 UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
225 UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));
[2]226
[20]227 int timeout = 100; // ms
[15]228 UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
[2]229
[15]230 Start();
[2]231
[15]232 // watchdog for connection with ground station
233 connection_lost = false;
234 gcs_watchdog = new Watchdog(
235 this, std::bind(&FrameworkManager_impl::ConnectionLost, this),
236 (Time)1000000000);
237 gcs_watchdog->Start();
[2]238}
239
240void FrameworkManager_impl::SetupUserInterface(string xml_file) {
[15]241 ui_defined = true;
242 this->xml_file = xml_file;
[2]243
[15]244 // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
245 top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
[2]246
[15]247 // xml setup of the main widget
248 if (xml_file != "") {
249 xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
250 file_doc = xmlParseFile(xml_file.c_str());
251 if (file_doc == NULL) {
252 self->Warn("XML document not parsed successfully. Creating a new one.\n");
253 file_doc = xmlNewDoc((xmlChar *)"1.0");
254 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
255 xmlSetProp(*file_node, (xmlChar *)"name",
256 (xmlChar *)ObjectName().c_str());
257 xmlDocSetRootElement(file_doc, *file_node);
258 // PrintXml();
[2]259 } else {
[15]260 *file_node = xmlDocGetRootElement(file_doc);
261 if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
262 self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
263 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
264 xmlSetProp(*file_node, (xmlChar *)"name",
265 (xmlChar *)ObjectName().c_str());
266 xmlDocSetRootElement(file_doc, *file_node);
267 }
[2]268 }
[15]269 } else {
270 self->Err("xml file not defined\n");
271 }
[2]272
[15]273 // gui
274 tabwidget =
275 new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
276 save_button =
277 new PushButton(top_layout->At(1, 0),
278 "save config on target (" + self->ObjectName() + ")");
279 // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
280 // self->ObjectName() + ")");
[2]281}
282
[15]283// in case of RT, this thread switches to secondary mode when calling
284// com->Receive
285// it switches back to RT in ProcessXML when mutex are locked
286void FrameworkManager_impl::Run(void) {
287 while (!ToBeStopped()) {
288 ssize_t bytesRead;
[2]289
[15]290 bytesRead = com->Receive(rcv_buf, rcv_buf_size);
[2]291
[15]292 if (bytesRead == (ssize_t)rcv_buf_size)
293 Err("FrameworkManager max receive size, augmenter le buffer size!\n");
[2]294
[15]295 if (bytesRead > 0) {
296 // printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
297 // rcv_buf[bytesRead-1]=0;//pour affichage
298 // printf("%s\n",rcv_buf);
[2]299
[15]300 switch ((uint8_t)rcv_buf[0]) {
301 case XML_HEADER: {
302 xmlDoc *doc;
303 rcv_buf[bytesRead] = 0;
[67]304 //Printf("%s\n",rcv_buf);
[15]305 doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
306 "ISO-8859-1", 0);
307 xmlNode *cur_node = NULL;
[2]308
[15]309 for (cur_node = xmlDocGetRootElement(doc); cur_node;
310 cur_node = cur_node->next) {
311 if (cur_node->type == XML_ELEMENT_NODE) {
312 if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
[2]313#ifdef __XENO__
[15]314 WarnUponSwitches(
315 true); // ProcessXML should not switch to secondary mode
[2]316#endif
[15]317 top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
[2]318#ifdef __XENO__
[15]319 WarnUponSwitches(false); // other parts of this thread can switch
320 // to secondary mode
[2]321#endif
[15]322 break;
323 }
324 }
325 }
[2]326
[15]327 xmlFreeDoc(doc);
[2]328
[15]329 if (save_button->Clicked())
330 SaveXml();
[2]331
[15]332 SaveXmlChange(rcv_buf);
[2]333
[15]334 break;
335 }
336 case WATCHDOG_HEADER: {
337 gcs_watchdog->Touch();
338 break;
339 }
340 default:
341 Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
342 break;
343 }
344 } else {
345 if (com->ConnectionLost())
346 SleepMS(10); // avoid infinite loop in this case
[2]347 }
[15]348 }
[2]349}
350
[15]351void FrameworkManager_impl::SaveXml(void) {
352 if (ui_defined)
353 xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
[2]354}
355
[15]356void FrameworkManager_impl::SaveXmlChange(char *buf) {
357 if (is_logging == true) {
358 FILE *xml_change;
359 char filename[256];
360 Time time = GetTime();
[2]361
[15]362 sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
[2]363
[15]364 xml_change = fopen(filename, "a");
365 fprintf(xml_change, "%s", buf);
366 fclose(xml_change);
[2]367
[15]368 sprintf(filename, "changes_at_%lld.xml", time);
369 xml_changes.push_back(filename);
370 }
[2]371}
372
[15]373void FrameworkManager_impl::SendFile(string path, string name) {
374 char *buf, *more_buf;
375 int size;
376 filebuf *pbuf;
377 ssize_t nb_write;
378 string filename = path + "/" + name;
[2]379
[15]380 // open the file
381 fstream ifs(filename.c_str(), ios::in | ios::binary);
382 ifs.seekg(0, ios::end);
383 size = ifs.tellg();
384 ifs.seekg(0, ios::beg);
385 pbuf = ifs.rdbuf();
[2]386
[15]387 if (size <= 0) {
388 Err("error opening file %s\n", filename.c_str());
389 return;
390 }
[2]391
[15]392 buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
393 if (buf == NULL) {
394 Err("malloc error, not sending file\n");
395 return;
396 }
[2]397
[15]398 if (IsBigEndian()) {
399 buf[0] = FILE_INFO_BIG_ENDIAN;
400 } else {
401 buf[0] = FILE_INFO_LITTLE_ENDIAN;
402 }
[2]403
[15]404 memcpy(buf + 1, &size, sizeof(int));
405 memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
406 Printf("sending %s, size: %i\n", filename.c_str(), size);
407 // send file information
408 UDT::sendmsg(file_sock, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,
409 true);
[2]410
[15]411 more_buf = (char *)realloc((void *)buf, size);
412 if (more_buf == NULL) {
413 Err("realloc error, not sending file\n");
414 free(buf);
415 return;
416 } else {
417 buf = more_buf;
418 }
[2]419
[15]420 pbuf->sgetn(buf, size);
421 // send the file
422 nb_write = UDT::sendmsg(file_sock, buf, size, -1, true);
[2]423
[15]424 if (nb_write < 0) {
425 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
426 } else if (nb_write != size) {
427 Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
428 }
[2]429
[15]430 ifs.close();
431 free(buf);
[2]432}
433
[15]434void FrameworkManager_impl::FinishSending() {
435 char rm_cmd[256];
[2]436
[15]437 // send orignal xml
438 SendFile(log_path, "setup.xml");
439 sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
440 system(rm_cmd);
441
442 // send xml changes
443 for (size_t i = 0; i < xml_changes.size(); i++) {
444 // Printf("%s\n",xml_changes.at(i).c_str());
445 SendFile(log_path, xml_changes.at(i).c_str());
446 sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
[2]447 system(rm_cmd);
[15]448 }
449 xml_changes.clear();
[2]450
[15]451 // end notify
452 char buf = END;
453 int nb_write = UDT::sendmsg(file_sock, &buf, 1, -1, true);
[2]454
[15]455 if (nb_write < 0) {
456 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
457 } else if (nb_write != 1) {
458 Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
459 }
[20]460
461 //wait end ACK
462 int nb_read = UDT::recvmsg(file_sock,&buf,1);
463 if(nb_read<0) {
464 Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
465 } else if (nb_read != 1) {
466 Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
467 }
[15]468}
[2]469
[15]470UDTSOCKET FrameworkManager_impl::GetSocket(string address, uint16_t port) {
471 while (1) {
472 UDTSOCKET new_fd;
473 new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
474 if (new_fd == UDT::INVALID_SOCK) {
475 Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
476 return 0;
[2]477 }
478
[15]479 sockaddr_in serv_addr;
480 serv_addr.sin_family = AF_INET;
481 serv_addr.sin_port = htons(short(port));
[2]482
[15]483 if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
484 Err("incorrect network address\n");
485 return 0;
486 }
[2]487
[15]488 memset(&(serv_addr.sin_zero), '\0', 8);
[2]489
[15]490 if (UDT::ERROR ==
491 UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
492 // Printf("connect error: %s
493 // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
494 UDT::close(new_fd);
495 if (UDT::getlasterror().getErrorCode() != 1001 &&
496 UDT::getlasterror().getErrorCode() != 1002) {
497 Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
498 return 0;
499 }
500 } else {
501 // printf("connected to
502 // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
503 return new_fd;
[2]504 }
[15]505 }
[2]506}
507
508#ifdef __XENO__
[15]509int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
510 name = self->ObjectName() + "-" + name;
511 // xenomai limitation
512 if (name.size() > 31)
513 self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
514// start log writter
[2]515#ifdef RT_PIPE_SIZE
[15]516 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
[2]517#else
[15]518 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
[2]519#endif
520}
521#else
[15]522int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
523 // if(pipe2(fd[0],O_NONBLOCK) == -1)
524 if (pipe(fd[0]) == -1) {
525 return errno;
526 } else {
527 int attr = fcntl((*fd)[0], F_GETFL, 0);
528 if (attr == -1) {
529 return errno;
[2]530 }
[15]531 if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
532 return errno;
533 }
534 attr = fcntl((*fd)[1], F_GETFL, 0);
535 if (attr == -1) {
536 return errno;
537 }
538 if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
539 return errno;
540 }
[2]541
[15]542 return 0;
543 }
[2]544}
545#endif
546
547#ifdef __XENO__
[15]548int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
549 return rt_pipe_delete(fd);
[2]550}
551#else
[15]552int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
553 int status1 = close((*fd)[0]);
554 int status2 = close((*fd)[1]);
555 if (status1 == 0 && status2 == 0)
556 return 0;
557 if (status1 != 0)
558 return status1;
559 if (status2 != 0)
560 return status2;
[2]561}
562#endif
563
564void FrameworkManager_impl::SetupLogger(string log_path) {
[133]565 char errorMsg[256];
566
567 if (logger_defined == true) {
[15]568 Warn("SetupLogger() was already called.\n");
569 return;
570 }
[2]571
[15]572 this->log_path = log_path;
[2]573
[15]574 int status = CreatePipe(&cmd_pipe, "log_cmd");
575 if (status != 0) {
[133]576 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]577 return;
578 }
[2]579
[15]580 status = CreatePipe(&data_pipe, "log_data");
581 if (status != 0) {
[133]582 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]583 return;
584 }
[2]585
586#ifdef __XENO__
[15]587 string tmp_name;
588 tmp_name = self->ObjectName() + "-log_heap";
589 status = rt_heap_create(&log_heap, tmp_name.c_str(), LOG_HEAP, H_FIFO);
590 if (status != 0) {
[133]591 Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]592 return;
593 }
[2]594#endif //__XENO__
595
[15]596 continuer = true;
[2]597
598#ifdef NRT_STACK_SIZE
[15]599 // Initialize thread creation attributes
600 pthread_attr_t attr;
601 if (pthread_attr_init(&attr) != 0) {
602 Err("pthread_attr_init error\n");
603 return;
604 }
[2]605
[15]606 if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
607 Err("pthread_attr_setstacksize error\n");
608 return;
609 }
[2]610
[15]611 if (pthread_create(&log_th, &attr, write_log_user, (void *)this) < 0)
[2]612#else
[15]613 if (pthread_create(&log_th, NULL, write_log_user, (void *)this) < 0)
[2]614#endif
[15]615 {
616 Err("pthread_create error\n");
617 return;
618 }
[2]619#ifdef NRT_STACK_SIZE
[15]620 if (pthread_attr_destroy(&attr) != 0) {
621 Err("pthread_attr_destroy error\n");
622 return;
623 }
[2]624#endif
625
[15]626 logger_defined = true;
[2]627}
628
[15]629void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
630 if (logger_defined == false) {
[51]631 Warn("SetupLogger() was not called, not adding to log\n");
[15]632 return;
633 }
[2]634
[15]635 if (is_logging == false) {
[122]636 if (!device->pimpl_->IsSetToBeLogged()) {
637 device->pimpl_->SetToBeLogged();
[15]638 log_desc_t tmp;
639 tmp.device = device;
640 logs.push_back(tmp);
641 } else {
642 Warn("not adding it twice\n");
[2]643 }
[15]644 } else {
645 Err("impossible while logging\n");
646 }
[2]647}
648
[122]649bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
650 return device->pimpl_->IsSetToBeLogged();
651}
652
[15]653void FrameworkManager_impl::StartLog(void) {
654 if (logger_defined == false) {
655 Err("SetupLogger() was not called, not starting log\n");
656 return;
657 }
[2]658
[15]659 ssize_t written;
660 size_t nb_err = 0;
[2]661
[15]662 if (logs.size() == 0) {
663 Warn("Not starting log: nothing to log!\n");
664 return;
665 }
[2]666
[15]667 if (is_logging == false) {
668 for (size_t i = 0; i < logs.size(); i++) {
[2]669
[15]670 logs.at(i).running = true;
671 logs.at(i).dbtFile = NULL;
672 logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
[2]673#ifdef __XENO__
[15]674 written =
675 rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
[2]676#else
[15]677 written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
[2]678#endif
679
[15]680 if (written < 0) {
[133]681 char errorMsg[256];
682 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]683 nb_err++;
684 logs.at(i).running = false;
685 } else if (written != sizeof(log_desc_t)) {
686 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
687 nb_err++;
688 logs.at(i).running = false;
689 }
690 }
[2]691
[15]692 if (nb_err != logs.size())
693 is_logging = true;
694 } else {
695 Warn("Already logging\n");
696 }
[2]697}
698
[15]699void FrameworkManager_impl::StopLog(void) {
700 ssize_t written;
[2]701
[15]702 if (is_logging == true) {
703 for (size_t i = 0; i < logs.size(); i++) {
704 logs.at(i).running = false;
705 }
706// send only one running false condition, user thread will stop and send all
[2]707#ifdef __XENO__
[15]708 written =
709 rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
[2]710#else
[15]711 written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
[2]712#endif
713
[15]714 if (written < 0) {
[133]715 char errorMsg[256];
716 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]717 return;
718 } else if (written != sizeof(log_desc_t)) {
719 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
720 return;
721 }
[2]722
[15]723 is_logging = false;
724 } else {
725 Warn("Not logging\n");
726 }
[2]727}
728
[15]729char *FrameworkManager_impl::GetBuffer(size_t sz) {
730// Printf("alloc %i\n",sz);
[2]731#ifdef __XENO__
[15]732 void *ptr;
733 int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
734 if (status != 0) {
[133]735 char errorMsg[256];
736 Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]737 ptr = NULL;
738 }
739 return (char *)ptr;
[2]740#else
[15]741 return (char *)malloc(sz);
[2]742#endif
743}
744
[15]745void FrameworkManager_impl::ReleaseBuffer(char *buf) {
[2]746#ifdef __XENO__
[15]747 int status = rt_heap_free(&log_heap, buf);
[2]748
[15]749 if (status != 0) {
[133]750 char errorMsg[256];
751 Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]752 }
[2]753#else
[15]754 free(buf);
[2]755#endif
756}
757
[15]758void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
759 ssize_t written;
[2]760
761#ifdef __XENO__
[15]762 written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
[2]763#else
[15]764 written = write(data_pipe[1], buf, size);
[2]765#endif
766
[15]767 if (written < 0) {
[133]768 char errorMsg[256];
769 Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]770 } else if (written != (ssize_t)size) {
[133]771 Err("error write pipe %ld/%ld\n", written, size);
[15]772 }
[2]773}
774
[15]775void *FrameworkManager_impl::write_log_user(void *arg) {
776 int cmd_pipe = -1;
777 int data_pipe = -1;
778 string filename;
779 fd_set set;
780 struct timeval timeout;
781 FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
782 int rv;
[2]783
[15]784 vector<log_desc_t> logs;
[2]785
786#ifdef __XENO__
[133]787 char errorMsg[256];
[15]788 filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
789 while (cmd_pipe < 0) {
790 cmd_pipe = open(filename.c_str(), O_RDWR);
791 if (cmd_pipe < 0 && errno != ENOENT)
[133]792 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
[15]793 usleep(1000);
794 }
795 filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
796 while (data_pipe < 0) {
797 data_pipe = open(filename.c_str(), O_RDWR);
798 if (data_pipe < 0 && errno != ENOENT)
[133]799 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
[15]800 usleep(1000);
801 }
[2]802#else
[15]803 cmd_pipe = caller->cmd_pipe[0];
804 data_pipe = caller->data_pipe[0];
[2]805#endif
806
[15]807 while (caller->continuer == true) {
808 FD_ZERO(&set);
809 FD_SET(cmd_pipe, &set);
810 FD_SET(data_pipe, &set);
[2]811
[15]812 timeout.tv_sec = 0;
813 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
814 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
[2]815
[15]816 if (rv == -1) {
817 caller->Err("select error\n"); // an error accured
818 } else if (rv == 0) {
819 // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
820 // a timeout occured
821 } else {
822 if (FD_ISSET(cmd_pipe, &set)) {
823 log_desc_t tmp;
824 read(cmd_pipe, &tmp, sizeof(log_desc_t));
825
826 if (tmp.running == true) // start logging
[2]827 {
[55]828 filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
829 printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
[15]830 tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
831 logs.push_back(tmp);
832
833 if (logs.size() == 1) {
834 filename = caller->log_path + "/setup.xml";
835 xmlSaveFile(filename.c_str(), caller->file_doc);
836 }
837 } else // stop logging
[2]838 {
[20]839 //disable watchdog temporarly
840 //this is necessary because GCS is no longer sending the heartbeat when receiving files...
841 //TODO: add a thread in GCS for receiving file
842 //but be careful that with a xbee modem for exemple, sending files can saturate communication and
843 //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
844 if(caller->gcs_watchdog!=NULL) {
845 caller->gcs_watchdog->SafeStop();
846 caller->gcs_watchdog->Join();
847 }
[15]848 for (size_t i = 0; i < logs.size(); i++) {
849 if (logs.at(i).dbtFile != NULL) {
850 close_hdfile(logs.at(i).dbtFile);
[2]851
[15]852 filename = caller->FileName(logs.at(i).device) + ".dbt";
853 caller->SendFile(caller->log_path, filename);
[2]854
[15]855 fstream txt_file;
856 filename = caller->FileName(logs.at(i).device) + ".txt";
857 txt_file.open((caller->log_path + "/" + filename).c_str(),
858 fstream::out);
859 txt_file << "1: time (us)\n2: time (ns)\n";
860 int index = 3;
861 logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
862 txt_file.close();
[2]863
[15]864 caller->SendFile(caller->log_path, filename);
865 }
866 }
867 // a revoir celui ci est le xml enregistré et pas forcement l'actuel
868 // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
869 caller->FinishSending();
[2]870
[15]871 logs.clear();
[20]872 //enable watchdog again
873 if(caller->gcs_watchdog!=NULL) {
874 caller->gcs_watchdog->Start();
875 }
[15]876 }
877 }
[2]878
[15]879 if (FD_ISSET(data_pipe, &set)) {
880 log_header_t header;
881 read(data_pipe, &header, sizeof(log_header_t));
[2]882
[15]883 for (size_t i = 0; i < logs.size(); i++) {
884 if (logs.at(i).device == header.device) {
885 char *buf = (char *)malloc(header.size);
886 read(data_pipe, buf, header.size);
887 // printf("%s \n",header.device->ObjectName().c_str());
888 // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
889 // printf("\n");
890 if (logs.at(i).size == header.size) {
891 if (logs.at(i).dbtFile != NULL) {
892 write_hdfile(
893 logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
894 (road_timerange_t)(header.time % 1000), header.size);
895 } else {
896 printf("err\n");
897 }
898 } else {
899 caller->self->Err("%s log size is not correct %i/%i\n",
900 header.device->ObjectName().c_str(),
901 header.size, logs.at(i).size);
[2]902 }
[15]903 free(buf);
904 }
[2]905 }
[15]906 }
[2]907 }
[15]908 }
[2]909
910#ifdef __XENO__
[15]911 close(cmd_pipe);
912 close(data_pipe);
[2]913#endif
914
[15]915 pthread_exit(0);
[2]916}
917
[15]918string FrameworkManager_impl::FileName(IODevice *device) {
919 return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
[2]920}
921
[15]922void FrameworkManager_impl::PrintXml(void) const {
923 xmlChar *xmlbuff;
924 int buffersize;
925 xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
926 Printf("xml:\n%s\n", xmlbuff);
927 xmlFree(xmlbuff);
[2]928}
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