[2] | 1 | // %flair:license{
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[15] | 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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[2] | 4 | // %flair:license}
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| 5 | // created: 2011/08/31
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| 6 | // filename: FrameworkManager.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 de base de la librairie
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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 "FrameworkManager_impl.h"
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| 19 | #include "FrameworkManager.h"
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| 20 | #include "Widget_impl.h"
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| 21 | #include <unistd.h>
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| 22 | #include "IODevice.h"
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| 23 | #include "IODevice_impl.h"
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| 24 | #include "TabWidget.h"
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| 25 | #include "Layout.h"
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| 26 | #include "PushButton.h"
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| 27 | #include "communication.h"
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| 28 | #include "config.h"
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| 29 | #include "Watchdog.h"
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| 30 | #include <errno.h>
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| 31 | #include <string.h>
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| 32 | #include <arpa/inet.h>
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| 33 | #include <sys/mman.h>
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| 34 | #include <execinfo.h>
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| 35 | #include <signal.h>
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| 36 | #include <fcntl.h>
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| 37 | #ifdef __XENO__
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| 38 | #include <native/task.h>
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[118] | 39 | #include <rtdk.h>
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[2] | 40 | #endif
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| 41 |
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| 42 | using namespace std;
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| 43 | using namespace flair::core;
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| 44 | using namespace flair::gui;
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| 45 |
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[15] | 46 | ui_com *FrameworkManager_impl::com = NULL;
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| 47 | FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
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[2] | 48 |
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| 49 | namespace {
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| 50 | #ifdef __XENO__
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| 51 |
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| 52 | #ifdef SIGDEBUG
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[15] | 53 | static const char *reason_str[] = {
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| 54 | "undefined", "received signal", "invoked syscall", "triggered fault",
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| 55 | "affected by priority inversion", "missing mlockall", "runaway thread",
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| 56 | };
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[2] | 57 |
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[15] | 58 | void warn_upon_switch(int sig, siginfo_t *si, void *context) {
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| 59 | unsigned int reason = si->si_value.sival_int;
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| 60 | void *bt[32];
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| 61 | int nentries;
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[2] | 62 | #ifdef SIGDEBUG_WATCHDOG
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[15] | 63 | printf("\nSIGDEBUG received, reason %d: %s\n", reason,
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| 64 | reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
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[2] | 65 | #endif
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[15] | 66 | // Dump a backtrace of the frame which caused the switch to secondary mode:
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| 67 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 68 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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| 69 | }
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| 70 | #else // SIGDEBUG
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| 71 | void warn_upon_switch(int sig __attribute__((unused))) {
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| 72 | void *bt[32];
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| 73 | int nentries;
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[2] | 74 |
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[15] | 75 | /* Dump a backtrace of the frame which caused the switch to
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| 76 | secondary mode: */
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| 77 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 78 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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| 79 | }
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| 80 | #endif // SIGDEBUG
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[2] | 81 | #endif //__XENO__
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[15] | 82 | void seg_fault(int sig __attribute__((unused))) {
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| 83 | void *bt[32];
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| 84 | int nentries;
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[2] | 85 |
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[15] | 86 | printf("Segmentation fault:\n");
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| 87 | /* Dump a backtrace of the frame which caused the segfault: */
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| 88 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 89 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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[2] | 90 |
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[15] | 91 | exit(1);
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[2] | 92 | }
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[15] | 93 | }
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[2] | 94 |
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[15] | 95 | FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
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| 96 | string name)
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| 97 | : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
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| 98 | this->self = self;
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| 99 | is_logging = false;
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| 100 | logger_defined = false;
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| 101 | disable_errors = false;
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| 102 | ui_defined = false;
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| 103 | rcv_buf = NULL;
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[20] | 104 | gcs_watchdog = NULL;
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[15] | 105 | _this = this;
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[55] | 106 | tabwidget=NULL;
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[2] | 107 |
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[15] | 108 | // Avoids memory swapping for this program
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| 109 | mlockall(MCL_CURRENT | MCL_FUTURE);
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[2] | 110 |
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[15] | 111 | // catch segfault
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| 112 | signal(SIGSEGV, seg_fault);
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[2] | 113 |
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[15] | 114 | // catch primary->secondary switch
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[2] | 115 | #ifdef __XENO__
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| 116 | #ifdef SIGDEBUG
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[45] | 117 | struct sigaction sa;
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[15] | 118 | sigemptyset(&sa.sa_mask);
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| 119 | sa.sa_sigaction = warn_upon_switch;
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| 120 | sa.sa_flags = SA_SIGINFO;
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| 121 | sigaction(SIGDEBUG, &sa, NULL);
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[118] | 122 | #else //SIGDEBUG
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[15] | 123 | signal(SIGXCPU, warn_upon_switch);
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[118] | 124 | #endif //SIGDEBUG
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| 125 | string task_name = "Framework_" + name;
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[2] | 126 |
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[118] | 127 | // Perform auto-init of rt_print buffers if the task doesn't do so
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| 128 | rt_print_auto_init(1);
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| 129 | // Initialise the rt_print buffer for this task explicitly
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| 130 | rt_print_init(512, task_name.c_str());
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| 131 |
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[15] | 132 | int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
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| 133 | if (status != 0) {
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[133] | 134 | char errorMsg[256];
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| 135 | self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 136 | }
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[2] | 137 |
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| 138 | #endif //__XENO__
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| 139 | }
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| 140 |
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| 141 | void FrameworkManager_impl::ConnectionLost(void) {
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[15] | 142 | Err("connection lost\n");
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| 143 | gcs_watchdog->SafeStop();
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| 144 | connection_lost = true;
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[2] | 145 | }
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| 146 |
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| 147 | FrameworkManager_impl::~FrameworkManager_impl() {
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[15] | 148 | // Printf("destruction FrameworkManager_impl\n");
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| 149 | int status;
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[133] | 150 | char errorMsg[256];
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| 151 |
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[15] | 152 | SafeStop();
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| 153 | Join();
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[2] | 154 |
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[15] | 155 | if (rcv_buf != NULL)
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| 156 | free(rcv_buf);
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[2] | 157 |
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[15] | 158 | if (logger_defined == true) {
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| 159 | continuer = false;
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| 160 | (void)pthread_join(log_th, NULL);
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[2] | 161 |
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[15] | 162 | status = DeletePipe(&cmd_pipe);
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| 163 | if (status != 0) {
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[133] | 164 | Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 165 | }
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| 166 | status = DeletePipe(&data_pipe);
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| 167 | if (status != 0) {
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[133] | 168 | Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 169 | }
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[2] | 170 |
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| 171 | #ifdef __XENO__
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[15] | 172 | status = rt_heap_delete(&log_heap);
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| 173 | if (status != 0) {
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[133] | 174 | Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 175 | }
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[2] | 176 | #endif
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| 177 |
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[15] | 178 | logs.clear();
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| 179 | }
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[2] | 180 |
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[15] | 181 | if (file_doc != NULL)
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| 182 | xmlFreeDoc(file_doc);
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[2] | 183 |
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[15] | 184 | if (ui_defined)
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| 185 | delete top_layout;
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[2] | 186 |
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[15] | 187 | if (com != NULL) {
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| 188 | delete com;
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| 189 | status = UDT::close(com_sock);
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| 190 | if (status != 0)
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[67] | 191 | Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
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[2] | 192 |
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[15] | 193 | status = UDT::close(file_sock);
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| 194 | if (status != 0)
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[67] | 195 | Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
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[2] | 196 |
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[15] | 197 | SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
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| 198 | UDT::cleanup();
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| 199 | }
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[2] | 200 |
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[15] | 201 | // Printf("destruction FrameworkManager_impl ok\n");
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[2] | 202 | }
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| 203 |
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[55] | 204 | void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
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[15] | 205 | size_t rcv_buf_size) {
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[137] | 206 | if (com != NULL) {
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| 207 | Err("SetupConnection should be called only one time\n");
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| 208 | return;
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| 209 | }
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| 210 |
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| 211 | UDT::startup();
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[15] | 212 | this->rcv_buf_size = rcv_buf_size;
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[2] | 213 |
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[15] | 214 | // socket file_socket, doit être créé en premier, cf station sol
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| 215 | Printf("Connecting to %s:%i\n", address.c_str(), port);
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| 216 | file_sock = GetSocket(address, port);
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| 217 | com_sock = GetSocket(address, port);
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[2] | 218 |
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[15] | 219 | // receive buffer allocation
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| 220 | rcv_buf = (char *)malloc(rcv_buf_size);
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| 221 | if (rcv_buf == NULL) {
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| 222 | Err("receive buffer malloc error\n");
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| 223 | }
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[2] | 224 |
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[15] | 225 | com = new ui_com(this, com_sock);
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[2] | 226 |
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[15] | 227 | // file managment
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| 228 | bool blocking = true;
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| 229 | UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
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| 230 | UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));
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[2] | 231 |
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[20] | 232 | int timeout = 100; // ms
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[15] | 233 | UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
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[2] | 234 |
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[15] | 235 | Start();
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[2] | 236 |
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[15] | 237 | // watchdog for connection with ground station
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| 238 | connection_lost = false;
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| 239 | gcs_watchdog = new Watchdog(
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| 240 | this, std::bind(&FrameworkManager_impl::ConnectionLost, this),
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[186] | 241 | watchdogTimeout);
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[15] | 242 | gcs_watchdog->Start();
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[2] | 243 | }
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| 244 |
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| 245 | void FrameworkManager_impl::SetupUserInterface(string xml_file) {
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[15] | 246 | ui_defined = true;
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| 247 | this->xml_file = xml_file;
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[2] | 248 |
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[15] | 249 | // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
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| 250 | top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
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[2] | 251 |
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[15] | 252 | // xml setup of the main widget
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| 253 | if (xml_file != "") {
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| 254 | xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
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| 255 | file_doc = xmlParseFile(xml_file.c_str());
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| 256 | if (file_doc == NULL) {
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| 257 | self->Warn("XML document not parsed successfully. Creating a new one.\n");
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| 258 | file_doc = xmlNewDoc((xmlChar *)"1.0");
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| 259 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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| 260 | xmlSetProp(*file_node, (xmlChar *)"name",
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| 261 | (xmlChar *)ObjectName().c_str());
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| 262 | xmlDocSetRootElement(file_doc, *file_node);
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| 263 | // PrintXml();
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[2] | 264 | } else {
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[15] | 265 | *file_node = xmlDocGetRootElement(file_doc);
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| 266 | if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
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| 267 | self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
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| 268 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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| 269 | xmlSetProp(*file_node, (xmlChar *)"name",
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| 270 | (xmlChar *)ObjectName().c_str());
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| 271 | xmlDocSetRootElement(file_doc, *file_node);
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| 272 | }
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[2] | 273 | }
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[15] | 274 | } else {
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| 275 | self->Err("xml file not defined\n");
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| 276 | }
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[2] | 277 |
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[15] | 278 | // gui
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| 279 | tabwidget =
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| 280 | new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
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| 281 | save_button =
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| 282 | new PushButton(top_layout->At(1, 0),
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| 283 | "save config on target (" + self->ObjectName() + ")");
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| 284 | // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
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| 285 | // self->ObjectName() + ")");
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[2] | 286 | }
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| 287 |
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[15] | 288 | // in case of RT, this thread switches to secondary mode when calling
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| 289 | // com->Receive
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| 290 | // it switches back to RT in ProcessXML when mutex are locked
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| 291 | void FrameworkManager_impl::Run(void) {
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| 292 | while (!ToBeStopped()) {
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| 293 | ssize_t bytesRead;
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[2] | 294 |
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[15] | 295 | bytesRead = com->Receive(rcv_buf, rcv_buf_size);
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[2] | 296 |
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[15] | 297 | if (bytesRead == (ssize_t)rcv_buf_size)
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| 298 | Err("FrameworkManager max receive size, augmenter le buffer size!\n");
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[2] | 299 |
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[15] | 300 | if (bytesRead > 0) {
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| 301 | // printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
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| 302 | // rcv_buf[bytesRead-1]=0;//pour affichage
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| 303 | // printf("%s\n",rcv_buf);
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[2] | 304 |
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[15] | 305 | switch ((uint8_t)rcv_buf[0]) {
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| 306 | case XML_HEADER: {
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| 307 | xmlDoc *doc;
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| 308 | rcv_buf[bytesRead] = 0;
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[67] | 309 | //Printf("%s\n",rcv_buf);
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[15] | 310 | doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
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| 311 | "ISO-8859-1", 0);
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| 312 | xmlNode *cur_node = NULL;
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[2] | 313 |
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[15] | 314 | for (cur_node = xmlDocGetRootElement(doc); cur_node;
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| 315 | cur_node = cur_node->next) {
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| 316 | if (cur_node->type == XML_ELEMENT_NODE) {
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| 317 | if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
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[2] | 318 | #ifdef __XENO__
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[15] | 319 | WarnUponSwitches(
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| 320 | true); // ProcessXML should not switch to secondary mode
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[2] | 321 | #endif
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[15] | 322 | top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
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[2] | 323 | #ifdef __XENO__
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[15] | 324 | WarnUponSwitches(false); // other parts of this thread can switch
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| 325 | // to secondary mode
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[2] | 326 | #endif
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[15] | 327 | break;
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| 328 | }
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| 329 | }
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| 330 | }
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[2] | 331 |
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[15] | 332 | xmlFreeDoc(doc);
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[2] | 333 |
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[15] | 334 | if (save_button->Clicked())
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| 335 | SaveXml();
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[2] | 336 |
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[15] | 337 | SaveXmlChange(rcv_buf);
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[2] | 338 |
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[15] | 339 | break;
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| 340 | }
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| 341 | case WATCHDOG_HEADER: {
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| 342 | gcs_watchdog->Touch();
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| 343 | break;
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| 344 | }
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| 345 | default:
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| 346 | Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
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| 347 | break;
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| 348 | }
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| 349 | } else {
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| 350 | if (com->ConnectionLost())
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| 351 | SleepMS(10); // avoid infinite loop in this case
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[2] | 352 | }
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[15] | 353 | }
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[2] | 354 | }
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| 355 |
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[15] | 356 | void FrameworkManager_impl::SaveXml(void) {
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| 357 | if (ui_defined)
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| 358 | xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
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[2] | 359 | }
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| 360 |
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[15] | 361 | void FrameworkManager_impl::SaveXmlChange(char *buf) {
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| 362 | if (is_logging == true) {
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| 363 | FILE *xml_change;
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| 364 | char filename[256];
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| 365 | Time time = GetTime();
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[2] | 366 |
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[15] | 367 | sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
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[2] | 368 |
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[15] | 369 | xml_change = fopen(filename, "a");
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| 370 | fprintf(xml_change, "%s", buf);
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| 371 | fclose(xml_change);
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[2] | 372 |
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[15] | 373 | sprintf(filename, "changes_at_%lld.xml", time);
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| 374 | xml_changes.push_back(filename);
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| 375 | }
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[2] | 376 | }
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| 377 |
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[15] | 378 | void FrameworkManager_impl::SendFile(string path, string name) {
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| 379 | char *buf, *more_buf;
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| 380 | int size;
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| 381 | filebuf *pbuf;
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| 382 | ssize_t nb_write;
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| 383 | string filename = path + "/" + name;
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[2] | 384 |
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[15] | 385 | // open the file
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| 386 | fstream ifs(filename.c_str(), ios::in | ios::binary);
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| 387 | ifs.seekg(0, ios::end);
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| 388 | size = ifs.tellg();
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| 389 | ifs.seekg(0, ios::beg);
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| 390 | pbuf = ifs.rdbuf();
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[2] | 391 |
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[15] | 392 | if (size <= 0) {
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| 393 | Err("error opening file %s\n", filename.c_str());
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| 394 | return;
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| 395 | }
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[2] | 396 |
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[15] | 397 | buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
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| 398 | if (buf == NULL) {
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| 399 | Err("malloc error, not sending file\n");
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| 400 | return;
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| 401 | }
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[2] | 402 |
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[15] | 403 | if (IsBigEndian()) {
|
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| 404 | buf[0] = FILE_INFO_BIG_ENDIAN;
|
---|
| 405 | } else {
|
---|
| 406 | buf[0] = FILE_INFO_LITTLE_ENDIAN;
|
---|
| 407 | }
|
---|
[2] | 408 |
|
---|
[15] | 409 | memcpy(buf + 1, &size, sizeof(int));
|
---|
| 410 | memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
|
---|
| 411 | Printf("sending %s, size: %i\n", filename.c_str(), size);
|
---|
| 412 | // send file information
|
---|
| 413 | UDT::sendmsg(file_sock, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,
|
---|
| 414 | true);
|
---|
[2] | 415 |
|
---|
[15] | 416 | more_buf = (char *)realloc((void *)buf, size);
|
---|
| 417 | if (more_buf == NULL) {
|
---|
| 418 | Err("realloc error, not sending file\n");
|
---|
| 419 | free(buf);
|
---|
| 420 | return;
|
---|
| 421 | } else {
|
---|
| 422 | buf = more_buf;
|
---|
| 423 | }
|
---|
[2] | 424 |
|
---|
[15] | 425 | pbuf->sgetn(buf, size);
|
---|
| 426 | // send the file
|
---|
| 427 | nb_write = UDT::sendmsg(file_sock, buf, size, -1, true);
|
---|
[2] | 428 |
|
---|
[15] | 429 | if (nb_write < 0) {
|
---|
| 430 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
| 431 | } else if (nb_write != size) {
|
---|
| 432 | Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
|
---|
| 433 | }
|
---|
[2] | 434 |
|
---|
[15] | 435 | ifs.close();
|
---|
| 436 | free(buf);
|
---|
[2] | 437 | }
|
---|
| 438 |
|
---|
[15] | 439 | void FrameworkManager_impl::FinishSending() {
|
---|
| 440 | char rm_cmd[256];
|
---|
[2] | 441 |
|
---|
[15] | 442 | // send orignal xml
|
---|
| 443 | SendFile(log_path, "setup.xml");
|
---|
| 444 | sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
|
---|
| 445 | system(rm_cmd);
|
---|
| 446 |
|
---|
| 447 | // send xml changes
|
---|
| 448 | for (size_t i = 0; i < xml_changes.size(); i++) {
|
---|
| 449 | // Printf("%s\n",xml_changes.at(i).c_str());
|
---|
| 450 | SendFile(log_path, xml_changes.at(i).c_str());
|
---|
| 451 | sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
|
---|
[2] | 452 | system(rm_cmd);
|
---|
[15] | 453 | }
|
---|
| 454 | xml_changes.clear();
|
---|
[2] | 455 |
|
---|
[15] | 456 | // end notify
|
---|
| 457 | char buf = END;
|
---|
| 458 | int nb_write = UDT::sendmsg(file_sock, &buf, 1, -1, true);
|
---|
[2] | 459 |
|
---|
[15] | 460 | if (nb_write < 0) {
|
---|
| 461 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
| 462 | } else if (nb_write != 1) {
|
---|
| 463 | Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
|
---|
| 464 | }
|
---|
[20] | 465 |
|
---|
| 466 | //wait end ACK
|
---|
| 467 | int nb_read = UDT::recvmsg(file_sock,&buf,1);
|
---|
| 468 | if(nb_read<0) {
|
---|
| 469 | Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
|
---|
| 470 | } else if (nb_read != 1) {
|
---|
| 471 | Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
|
---|
| 472 | }
|
---|
[15] | 473 | }
|
---|
[2] | 474 |
|
---|
[15] | 475 | UDTSOCKET FrameworkManager_impl::GetSocket(string address, uint16_t port) {
|
---|
| 476 | while (1) {
|
---|
| 477 | UDTSOCKET new_fd;
|
---|
| 478 | new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
|
---|
| 479 | if (new_fd == UDT::INVALID_SOCK) {
|
---|
| 480 | Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
| 481 | return 0;
|
---|
[2] | 482 | }
|
---|
| 483 |
|
---|
[15] | 484 | sockaddr_in serv_addr;
|
---|
| 485 | serv_addr.sin_family = AF_INET;
|
---|
| 486 | serv_addr.sin_port = htons(short(port));
|
---|
[2] | 487 |
|
---|
[15] | 488 | if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
|
---|
| 489 | Err("incorrect network address\n");
|
---|
| 490 | return 0;
|
---|
| 491 | }
|
---|
[2] | 492 |
|
---|
[15] | 493 | memset(&(serv_addr.sin_zero), '\0', 8);
|
---|
[2] | 494 |
|
---|
[15] | 495 | if (UDT::ERROR ==
|
---|
| 496 | UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
|
---|
| 497 | // Printf("connect error: %s
|
---|
| 498 | // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
|
---|
| 499 | UDT::close(new_fd);
|
---|
| 500 | if (UDT::getlasterror().getErrorCode() != 1001 &&
|
---|
| 501 | UDT::getlasterror().getErrorCode() != 1002) {
|
---|
| 502 | Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
| 503 | return 0;
|
---|
| 504 | }
|
---|
| 505 | } else {
|
---|
| 506 | // printf("connected to
|
---|
| 507 | // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
|
---|
| 508 | return new_fd;
|
---|
[2] | 509 | }
|
---|
[15] | 510 | }
|
---|
[2] | 511 | }
|
---|
| 512 |
|
---|
| 513 | #ifdef __XENO__
|
---|
[15] | 514 | int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
|
---|
| 515 | name = self->ObjectName() + "-" + name;
|
---|
| 516 | // xenomai limitation
|
---|
| 517 | if (name.size() > 31)
|
---|
| 518 | self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
|
---|
| 519 | // start log writter
|
---|
[2] | 520 | #ifdef RT_PIPE_SIZE
|
---|
[15] | 521 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
|
---|
[2] | 522 | #else
|
---|
[15] | 523 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
|
---|
[2] | 524 | #endif
|
---|
| 525 | }
|
---|
| 526 | #else
|
---|
[15] | 527 | int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
|
---|
| 528 | // if(pipe2(fd[0],O_NONBLOCK) == -1)
|
---|
| 529 | if (pipe(fd[0]) == -1) {
|
---|
| 530 | return errno;
|
---|
| 531 | } else {
|
---|
| 532 | int attr = fcntl((*fd)[0], F_GETFL, 0);
|
---|
| 533 | if (attr == -1) {
|
---|
| 534 | return errno;
|
---|
[2] | 535 | }
|
---|
[15] | 536 | if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
| 537 | return errno;
|
---|
| 538 | }
|
---|
| 539 | attr = fcntl((*fd)[1], F_GETFL, 0);
|
---|
| 540 | if (attr == -1) {
|
---|
| 541 | return errno;
|
---|
| 542 | }
|
---|
| 543 | if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
| 544 | return errno;
|
---|
| 545 | }
|
---|
[2] | 546 |
|
---|
[15] | 547 | return 0;
|
---|
| 548 | }
|
---|
[2] | 549 | }
|
---|
| 550 | #endif
|
---|
| 551 |
|
---|
| 552 | #ifdef __XENO__
|
---|
[15] | 553 | int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
|
---|
| 554 | return rt_pipe_delete(fd);
|
---|
[2] | 555 | }
|
---|
| 556 | #else
|
---|
[15] | 557 | int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
|
---|
| 558 | int status1 = close((*fd)[0]);
|
---|
| 559 | int status2 = close((*fd)[1]);
|
---|
| 560 | if (status1 == 0 && status2 == 0)
|
---|
| 561 | return 0;
|
---|
| 562 | if (status1 != 0)
|
---|
| 563 | return status1;
|
---|
| 564 | if (status2 != 0)
|
---|
| 565 | return status2;
|
---|
[2] | 566 | }
|
---|
| 567 | #endif
|
---|
| 568 |
|
---|
| 569 | void FrameworkManager_impl::SetupLogger(string log_path) {
|
---|
[133] | 570 | char errorMsg[256];
|
---|
| 571 |
|
---|
| 572 | if (logger_defined == true) {
|
---|
[15] | 573 | Warn("SetupLogger() was already called.\n");
|
---|
| 574 | return;
|
---|
| 575 | }
|
---|
[2] | 576 |
|
---|
[15] | 577 | this->log_path = log_path;
|
---|
[2] | 578 |
|
---|
[15] | 579 | int status = CreatePipe(&cmd_pipe, "log_cmd");
|
---|
| 580 | if (status != 0) {
|
---|
[133] | 581 | Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 582 | return;
|
---|
| 583 | }
|
---|
[2] | 584 |
|
---|
[15] | 585 | status = CreatePipe(&data_pipe, "log_data");
|
---|
| 586 | if (status != 0) {
|
---|
[133] | 587 | Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 588 | return;
|
---|
| 589 | }
|
---|
[2] | 590 |
|
---|
| 591 | #ifdef __XENO__
|
---|
[15] | 592 | string tmp_name;
|
---|
| 593 | tmp_name = self->ObjectName() + "-log_heap";
|
---|
| 594 | status = rt_heap_create(&log_heap, tmp_name.c_str(), LOG_HEAP, H_FIFO);
|
---|
| 595 | if (status != 0) {
|
---|
[133] | 596 | Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 597 | return;
|
---|
| 598 | }
|
---|
[2] | 599 | #endif //__XENO__
|
---|
| 600 |
|
---|
[15] | 601 | continuer = true;
|
---|
[2] | 602 |
|
---|
| 603 | #ifdef NRT_STACK_SIZE
|
---|
[15] | 604 | // Initialize thread creation attributes
|
---|
| 605 | pthread_attr_t attr;
|
---|
| 606 | if (pthread_attr_init(&attr) != 0) {
|
---|
| 607 | Err("pthread_attr_init error\n");
|
---|
| 608 | return;
|
---|
| 609 | }
|
---|
[2] | 610 |
|
---|
[15] | 611 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
|
---|
| 612 | Err("pthread_attr_setstacksize error\n");
|
---|
| 613 | return;
|
---|
| 614 | }
|
---|
[2] | 615 |
|
---|
[15] | 616 | if (pthread_create(&log_th, &attr, write_log_user, (void *)this) < 0)
|
---|
[2] | 617 | #else
|
---|
[15] | 618 | if (pthread_create(&log_th, NULL, write_log_user, (void *)this) < 0)
|
---|
[2] | 619 | #endif
|
---|
[15] | 620 | {
|
---|
| 621 | Err("pthread_create error\n");
|
---|
| 622 | return;
|
---|
| 623 | }
|
---|
[2] | 624 | #ifdef NRT_STACK_SIZE
|
---|
[15] | 625 | if (pthread_attr_destroy(&attr) != 0) {
|
---|
| 626 | Err("pthread_attr_destroy error\n");
|
---|
| 627 | return;
|
---|
| 628 | }
|
---|
[2] | 629 | #endif
|
---|
| 630 |
|
---|
[15] | 631 | logger_defined = true;
|
---|
[2] | 632 | }
|
---|
| 633 |
|
---|
[15] | 634 | void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
|
---|
| 635 | if (logger_defined == false) {
|
---|
[51] | 636 | Warn("SetupLogger() was not called, not adding to log\n");
|
---|
[15] | 637 | return;
|
---|
| 638 | }
|
---|
[2] | 639 |
|
---|
[15] | 640 | if (is_logging == false) {
|
---|
[122] | 641 | if (!device->pimpl_->IsSetToBeLogged()) {
|
---|
| 642 | device->pimpl_->SetToBeLogged();
|
---|
[15] | 643 | log_desc_t tmp;
|
---|
| 644 | tmp.device = device;
|
---|
| 645 | logs.push_back(tmp);
|
---|
| 646 | } else {
|
---|
| 647 | Warn("not adding it twice\n");
|
---|
[2] | 648 | }
|
---|
[15] | 649 | } else {
|
---|
| 650 | Err("impossible while logging\n");
|
---|
| 651 | }
|
---|
[2] | 652 | }
|
---|
| 653 |
|
---|
[122] | 654 | bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
|
---|
| 655 | return device->pimpl_->IsSetToBeLogged();
|
---|
| 656 | }
|
---|
| 657 |
|
---|
[15] | 658 | void FrameworkManager_impl::StartLog(void) {
|
---|
| 659 | if (logger_defined == false) {
|
---|
| 660 | Err("SetupLogger() was not called, not starting log\n");
|
---|
| 661 | return;
|
---|
| 662 | }
|
---|
[2] | 663 |
|
---|
[15] | 664 | ssize_t written;
|
---|
| 665 | size_t nb_err = 0;
|
---|
[2] | 666 |
|
---|
[15] | 667 | if (logs.size() == 0) {
|
---|
| 668 | Warn("Not starting log: nothing to log!\n");
|
---|
| 669 | return;
|
---|
| 670 | }
|
---|
[2] | 671 |
|
---|
[15] | 672 | if (is_logging == false) {
|
---|
| 673 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
[2] | 674 |
|
---|
[15] | 675 | logs.at(i).running = true;
|
---|
| 676 | logs.at(i).dbtFile = NULL;
|
---|
| 677 | logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
|
---|
[2] | 678 | #ifdef __XENO__
|
---|
[15] | 679 | written =
|
---|
| 680 | rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
|
---|
[2] | 681 | #else
|
---|
[15] | 682 | written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
|
---|
[2] | 683 | #endif
|
---|
| 684 |
|
---|
[15] | 685 | if (written < 0) {
|
---|
[133] | 686 | char errorMsg[256];
|
---|
| 687 | Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 688 | nb_err++;
|
---|
| 689 | logs.at(i).running = false;
|
---|
| 690 | } else if (written != sizeof(log_desc_t)) {
|
---|
| 691 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
| 692 | nb_err++;
|
---|
| 693 | logs.at(i).running = false;
|
---|
| 694 | }
|
---|
| 695 | }
|
---|
[2] | 696 |
|
---|
[15] | 697 | if (nb_err != logs.size())
|
---|
| 698 | is_logging = true;
|
---|
| 699 | } else {
|
---|
| 700 | Warn("Already logging\n");
|
---|
| 701 | }
|
---|
[2] | 702 | }
|
---|
| 703 |
|
---|
[15] | 704 | void FrameworkManager_impl::StopLog(void) {
|
---|
| 705 | ssize_t written;
|
---|
[2] | 706 |
|
---|
[15] | 707 | if (is_logging == true) {
|
---|
| 708 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 709 | logs.at(i).running = false;
|
---|
| 710 | }
|
---|
| 711 | // send only one running false condition, user thread will stop and send all
|
---|
[2] | 712 | #ifdef __XENO__
|
---|
[15] | 713 | written =
|
---|
| 714 | rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
|
---|
[2] | 715 | #else
|
---|
[15] | 716 | written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
|
---|
[2] | 717 | #endif
|
---|
| 718 |
|
---|
[15] | 719 | if (written < 0) {
|
---|
[133] | 720 | char errorMsg[256];
|
---|
| 721 | Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 722 | return;
|
---|
| 723 | } else if (written != sizeof(log_desc_t)) {
|
---|
| 724 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
| 725 | return;
|
---|
| 726 | }
|
---|
[2] | 727 |
|
---|
[15] | 728 | is_logging = false;
|
---|
| 729 | } else {
|
---|
| 730 | Warn("Not logging\n");
|
---|
| 731 | }
|
---|
[2] | 732 | }
|
---|
| 733 |
|
---|
[15] | 734 | char *FrameworkManager_impl::GetBuffer(size_t sz) {
|
---|
| 735 | // Printf("alloc %i\n",sz);
|
---|
[2] | 736 | #ifdef __XENO__
|
---|
[15] | 737 | void *ptr;
|
---|
| 738 | int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
|
---|
| 739 | if (status != 0) {
|
---|
[133] | 740 | char errorMsg[256];
|
---|
| 741 | Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 742 | ptr = NULL;
|
---|
| 743 | }
|
---|
| 744 | return (char *)ptr;
|
---|
[2] | 745 | #else
|
---|
[15] | 746 | return (char *)malloc(sz);
|
---|
[2] | 747 | #endif
|
---|
| 748 | }
|
---|
| 749 |
|
---|
[15] | 750 | void FrameworkManager_impl::ReleaseBuffer(char *buf) {
|
---|
[2] | 751 | #ifdef __XENO__
|
---|
[15] | 752 | int status = rt_heap_free(&log_heap, buf);
|
---|
[2] | 753 |
|
---|
[15] | 754 | if (status != 0) {
|
---|
[133] | 755 | char errorMsg[256];
|
---|
| 756 | Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 757 | }
|
---|
[2] | 758 | #else
|
---|
[15] | 759 | free(buf);
|
---|
[2] | 760 | #endif
|
---|
| 761 | }
|
---|
| 762 |
|
---|
[15] | 763 | void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
|
---|
| 764 | ssize_t written;
|
---|
[2] | 765 |
|
---|
| 766 | #ifdef __XENO__
|
---|
[15] | 767 | written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
|
---|
[2] | 768 | #else
|
---|
[15] | 769 | written = write(data_pipe[1], buf, size);
|
---|
[2] | 770 | #endif
|
---|
| 771 |
|
---|
[15] | 772 | if (written < 0) {
|
---|
[133] | 773 | char errorMsg[256];
|
---|
| 774 | Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 775 | } else if (written != (ssize_t)size) {
|
---|
[133] | 776 | Err("error write pipe %ld/%ld\n", written, size);
|
---|
[15] | 777 | }
|
---|
[2] | 778 | }
|
---|
| 779 |
|
---|
[15] | 780 | void *FrameworkManager_impl::write_log_user(void *arg) {
|
---|
| 781 | int cmd_pipe = -1;
|
---|
| 782 | int data_pipe = -1;
|
---|
| 783 | string filename;
|
---|
| 784 | fd_set set;
|
---|
| 785 | struct timeval timeout;
|
---|
| 786 | FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
|
---|
| 787 | int rv;
|
---|
[2] | 788 |
|
---|
[15] | 789 | vector<log_desc_t> logs;
|
---|
[2] | 790 |
|
---|
| 791 | #ifdef __XENO__
|
---|
[133] | 792 | char errorMsg[256];
|
---|
[15] | 793 | filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
|
---|
| 794 | while (cmd_pipe < 0) {
|
---|
| 795 | cmd_pipe = open(filename.c_str(), O_RDWR);
|
---|
| 796 | if (cmd_pipe < 0 && errno != ENOENT)
|
---|
[133] | 797 | caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 798 | usleep(1000);
|
---|
| 799 | }
|
---|
| 800 | filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
|
---|
| 801 | while (data_pipe < 0) {
|
---|
| 802 | data_pipe = open(filename.c_str(), O_RDWR);
|
---|
| 803 | if (data_pipe < 0 && errno != ENOENT)
|
---|
[133] | 804 | caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 805 | usleep(1000);
|
---|
| 806 | }
|
---|
[2] | 807 | #else
|
---|
[15] | 808 | cmd_pipe = caller->cmd_pipe[0];
|
---|
| 809 | data_pipe = caller->data_pipe[0];
|
---|
[2] | 810 | #endif
|
---|
| 811 |
|
---|
[15] | 812 | while (caller->continuer == true) {
|
---|
| 813 | FD_ZERO(&set);
|
---|
| 814 | FD_SET(cmd_pipe, &set);
|
---|
| 815 | FD_SET(data_pipe, &set);
|
---|
[2] | 816 |
|
---|
[15] | 817 | timeout.tv_sec = 0;
|
---|
| 818 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
|
---|
| 819 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
|
---|
[2] | 820 |
|
---|
[15] | 821 | if (rv == -1) {
|
---|
| 822 | caller->Err("select error\n"); // an error accured
|
---|
| 823 | } else if (rv == 0) {
|
---|
| 824 | // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
|
---|
| 825 | // a timeout occured
|
---|
| 826 | } else {
|
---|
| 827 | if (FD_ISSET(cmd_pipe, &set)) {
|
---|
| 828 | log_desc_t tmp;
|
---|
| 829 | read(cmd_pipe, &tmp, sizeof(log_desc_t));
|
---|
| 830 |
|
---|
| 831 | if (tmp.running == true) // start logging
|
---|
[2] | 832 | {
|
---|
[55] | 833 | filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
|
---|
| 834 | printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
|
---|
[15] | 835 | tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
|
---|
| 836 | logs.push_back(tmp);
|
---|
| 837 |
|
---|
| 838 | if (logs.size() == 1) {
|
---|
| 839 | filename = caller->log_path + "/setup.xml";
|
---|
| 840 | xmlSaveFile(filename.c_str(), caller->file_doc);
|
---|
| 841 | }
|
---|
| 842 | } else // stop logging
|
---|
[2] | 843 | {
|
---|
[20] | 844 | //disable watchdog temporarly
|
---|
| 845 | //this is necessary because GCS is no longer sending the heartbeat when receiving files...
|
---|
| 846 | //TODO: add a thread in GCS for receiving file
|
---|
| 847 | //but be careful that with a xbee modem for exemple, sending files can saturate communication and
|
---|
| 848 | //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
|
---|
| 849 | if(caller->gcs_watchdog!=NULL) {
|
---|
| 850 | caller->gcs_watchdog->SafeStop();
|
---|
| 851 | caller->gcs_watchdog->Join();
|
---|
| 852 | }
|
---|
[15] | 853 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 854 | if (logs.at(i).dbtFile != NULL) {
|
---|
| 855 | close_hdfile(logs.at(i).dbtFile);
|
---|
[2] | 856 |
|
---|
[15] | 857 | filename = caller->FileName(logs.at(i).device) + ".dbt";
|
---|
| 858 | caller->SendFile(caller->log_path, filename);
|
---|
[2] | 859 |
|
---|
[15] | 860 | fstream txt_file;
|
---|
| 861 | filename = caller->FileName(logs.at(i).device) + ".txt";
|
---|
| 862 | txt_file.open((caller->log_path + "/" + filename).c_str(),
|
---|
| 863 | fstream::out);
|
---|
| 864 | txt_file << "1: time (us)\n2: time (ns)\n";
|
---|
| 865 | int index = 3;
|
---|
| 866 | logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
|
---|
| 867 | txt_file.close();
|
---|
[2] | 868 |
|
---|
[15] | 869 | caller->SendFile(caller->log_path, filename);
|
---|
| 870 | }
|
---|
| 871 | }
|
---|
| 872 | // a revoir celui ci est le xml enregistré et pas forcement l'actuel
|
---|
| 873 | // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
|
---|
| 874 | caller->FinishSending();
|
---|
[2] | 875 |
|
---|
[15] | 876 | logs.clear();
|
---|
[20] | 877 | //enable watchdog again
|
---|
| 878 | if(caller->gcs_watchdog!=NULL) {
|
---|
| 879 | caller->gcs_watchdog->Start();
|
---|
| 880 | }
|
---|
[15] | 881 | }
|
---|
| 882 | }
|
---|
[2] | 883 |
|
---|
[15] | 884 | if (FD_ISSET(data_pipe, &set)) {
|
---|
| 885 | log_header_t header;
|
---|
| 886 | read(data_pipe, &header, sizeof(log_header_t));
|
---|
[2] | 887 |
|
---|
[15] | 888 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 889 | if (logs.at(i).device == header.device) {
|
---|
| 890 | char *buf = (char *)malloc(header.size);
|
---|
| 891 | read(data_pipe, buf, header.size);
|
---|
| 892 | // printf("%s \n",header.device->ObjectName().c_str());
|
---|
| 893 | // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
|
---|
| 894 | // printf("\n");
|
---|
| 895 | if (logs.at(i).size == header.size) {
|
---|
| 896 | if (logs.at(i).dbtFile != NULL) {
|
---|
| 897 | write_hdfile(
|
---|
| 898 | logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
|
---|
| 899 | (road_timerange_t)(header.time % 1000), header.size);
|
---|
| 900 | } else {
|
---|
| 901 | printf("err\n");
|
---|
| 902 | }
|
---|
| 903 | } else {
|
---|
| 904 | caller->self->Err("%s log size is not correct %i/%i\n",
|
---|
| 905 | header.device->ObjectName().c_str(),
|
---|
| 906 | header.size, logs.at(i).size);
|
---|
[2] | 907 | }
|
---|
[15] | 908 | free(buf);
|
---|
| 909 | }
|
---|
[2] | 910 | }
|
---|
[15] | 911 | }
|
---|
[2] | 912 | }
|
---|
[15] | 913 | }
|
---|
[2] | 914 |
|
---|
| 915 | #ifdef __XENO__
|
---|
[15] | 916 | close(cmd_pipe);
|
---|
| 917 | close(data_pipe);
|
---|
[2] | 918 | #endif
|
---|
| 919 |
|
---|
[15] | 920 | pthread_exit(0);
|
---|
[2] | 921 | }
|
---|
| 922 |
|
---|
[15] | 923 | string FrameworkManager_impl::FileName(IODevice *device) {
|
---|
| 924 | return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
|
---|
[2] | 925 | }
|
---|
| 926 |
|
---|
[15] | 927 | void FrameworkManager_impl::PrintXml(void) const {
|
---|
| 928 | xmlChar *xmlbuff;
|
---|
| 929 | int buffersize;
|
---|
| 930 | xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
|
---|
| 931 | Printf("xml:\n%s\n", xmlbuff);
|
---|
| 932 | xmlFree(xmlbuff);
|
---|
[2] | 933 | }
|
---|