| 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: 2011/08/31
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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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| 39 | #endif
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| 40 |
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| 41 | using namespace std;
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| 42 | using namespace flair::core;
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| 43 | using namespace flair::gui;
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| 44 |
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| 45 | ui_com* FrameworkManager_impl::com=NULL;
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| 46 | FrameworkManager_impl* FrameworkManager_impl::_this=NULL;
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| 47 |
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| 48 | namespace {
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| 49 | #ifdef __XENO__
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| 50 |
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| 51 | #ifdef SIGDEBUG
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| 52 | static const char *reason_str[] = {
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| 53 | "undefined",
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| 54 | "received signal",
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| 55 | "invoked syscall",
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| 56 | "triggered fault",
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| 57 | "affected by priority inversion",
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| 58 | "missing mlockall",
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| 59 | "runaway thread",
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| 60 | };
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| 61 |
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| 62 | void warn_upon_switch(int sig, siginfo_t *si, void *context) {
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| 63 | unsigned int reason = si->si_value.sival_int;
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| 64 | void *bt[32];
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| 65 | int nentries;
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| 66 | #ifdef SIGDEBUG_WATCHDOG
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| 67 | printf("\nSIGDEBUG received, reason %d: %s\n", reason,
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| 68 | reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
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| 69 | #endif
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| 70 | // Dump a backtrace of the frame which caused the switch to secondary mode:
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| 71 | nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
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| 72 | backtrace_symbols_fd(bt,nentries,fileno(stdout));
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| 73 | }
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| 74 | #else //SIGDEBUG
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| 75 | void warn_upon_switch(int sig __attribute__((unused))) {
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| 76 | void *bt[32];
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| 77 | int nentries;
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| 78 |
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| 79 | /* Dump a backtrace of the frame which caused the switch to
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| 80 | secondary mode: */
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| 81 | nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
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| 82 | backtrace_symbols_fd(bt,nentries,fileno(stdout));
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| 83 | }
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| 84 | #endif //SIGDEBUG
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| 85 | #endif //__XENO__
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| 86 | void seg_fault(int sig __attribute__((unused))) {
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| 87 | void *bt[32];
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| 88 | int nentries;
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| 89 |
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| 90 | printf("Segmentation fault:\n");
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| 91 | /* Dump a backtrace of the frame which caused the segfault: */
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| 92 | nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
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| 93 | backtrace_symbols_fd(bt,nentries,fileno(stdout));
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| 94 |
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| 95 | exit(1);
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| 96 | }
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| 97 | }
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| 98 |
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| 99 | FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,string name): Thread(self,"FrameworkManager",FRAMEWORK_TASK_PRIORITY) {
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| 100 | this->self=self;
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| 101 | is_logging=false;
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| 102 | logger_defined=false;
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| 103 | disable_errors=false;
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| 104 | ui_defined=false;
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| 105 | rcv_buf=NULL;
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| 106 | _this=this;
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| 107 |
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| 108 | // Avoids memory swapping for this program
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| 109 | mlockall(MCL_CURRENT|MCL_FUTURE);
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| 110 | struct sigaction sa;
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| 111 |
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| 112 | //catch segfault
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| 113 | signal(SIGSEGV, seg_fault);
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| 114 |
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| 115 | //catch primary->secondary switch
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| 116 | #ifdef __XENO__
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| 117 | #ifdef SIGDEBUG
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| 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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| 122 | #else
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| 123 | signal(SIGXCPU, warn_upon_switch);
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| 124 | #endif
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| 125 |
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| 126 | string task_name="Framework_"+name;
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| 127 | int status=rt_task_shadow(NULL,task_name.c_str(),10,0);
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| 128 | if(status!=0) {
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| 129 | self->Err("rt_task_shadow error (%s)\n",strerror(-status));
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| 130 | }
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| 131 |
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| 132 | #endif //__XENO__
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| 133 | }
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| 134 |
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| 135 | void FrameworkManager_impl::ConnectionLost(void) {
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| 136 | Err("connection lost\n");
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| 137 | gcs_watchdog->SafeStop();
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| 138 | connection_lost=true;
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| 139 | }
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| 140 |
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| 141 | FrameworkManager_impl::~FrameworkManager_impl() {
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| 142 | //Printf("destruction FrameworkManager_impl\n");
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| 143 | int status;
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| 144 |
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| 145 | SafeStop();
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| 146 | Join();
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| 147 |
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| 148 | if(rcv_buf!=NULL) free(rcv_buf);
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| 149 |
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| 150 | if(logger_defined==true) {
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| 151 | continuer=false;
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| 152 | (void)pthread_join(log_th,NULL);
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| 153 |
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| 154 | status=DeletePipe(&cmd_pipe);
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| 155 | if(status!=0) {
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| 156 | Err("Error deleting pipe (%s)\n",strerror(-status));
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| 157 | }
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| 158 | status=DeletePipe(&data_pipe);
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| 159 | if(status!=0) {
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| 160 | Err("Error deleting pipe (%s)\n",strerror(-status));
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| 161 | }
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| 162 |
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| 163 | #ifdef __XENO__
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| 164 | status=rt_heap_delete(&log_heap);
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| 165 | if(status!=0) {
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| 166 | Err("rt_heap_delete error (%s)\n",strerror(-status));
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| 167 | }
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| 168 | #endif
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| 169 |
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| 170 | logs.clear();
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| 171 | }
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| 172 |
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| 173 | if(file_doc!=NULL) xmlFreeDoc(file_doc);
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| 174 |
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| 175 | if(ui_defined) delete top_layout;
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| 176 |
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| 177 | if(com!=NULL) {
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| 178 | delete com;
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| 179 | status=UDT::close(com_sock);
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| 180 | if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());
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| 181 |
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| 182 | status=UDT::close(file_sock);
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| 183 | if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());
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| 184 |
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| 185 | SleepMS(200);//a revoir, sinon UDT::cleanup bloque en RT
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| 186 | UDT::cleanup();
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| 187 | }
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| 188 |
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| 189 | //Printf("destruction FrameworkManager_impl ok\n");
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| 190 | }
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| 191 |
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| 192 |
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| 193 | void FrameworkManager_impl::SetupConnection(string address,uint16_t port,size_t rcv_buf_size) {
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| 194 | UDT::startup();
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| 195 | this->rcv_buf_size=rcv_buf_size;
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| 196 |
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| 197 | //socket file_socket, doit être créé en premier, cf station sol
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| 198 | Printf("Connecting to %s:%i\n",address.c_str(),port);
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| 199 | file_sock=GetSocket(address,port);
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| 200 | com_sock=GetSocket(address,port);
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| 201 |
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| 202 | //receive buffer allocation
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| 203 | rcv_buf=(char*)malloc(rcv_buf_size);
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| 204 | if(rcv_buf==NULL) {
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| 205 | Err("receive buffer malloc error\n");
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| 206 | }
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| 207 |
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| 208 | com=new ui_com(this,com_sock);
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| 209 |
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| 210 | //file managment
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| 211 | bool blocking = true;
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| 212 | UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
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| 213 | UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));
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| 214 |
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| 215 | //configure timeout of blocking receive, short timeout to have priority on the other socket (see run method)
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| 216 | int timeout=1;//ms
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| 217 | UDT::setsockopt(file_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
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| 218 |
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| 219 | timeout=100;//ms
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| 220 | UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
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| 221 |
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| 222 | Start();
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| 223 |
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| 224 | //watchdog for connection with ground station
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| 225 | connection_lost=false;
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| 226 | gcs_watchdog=new Watchdog(this,std::bind(&FrameworkManager_impl::ConnectionLost,this),(Time)1000000000);
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| 227 | gcs_watchdog->Start();
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| 228 | }
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| 229 |
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| 230 | void FrameworkManager_impl::SetupUserInterface(string xml_file) {
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| 231 | ui_defined=true;
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| 232 | this->xml_file=xml_file;
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| 233 |
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| 234 | //top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
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| 235 | top_layout=new Layout(NULL,self->ObjectName(),XML_ROOT_TYPE);
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| 236 |
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| 237 | //xml setup of the main widget
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| 238 | if(xml_file!="") {
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| 239 | xmlNodePtr* file_node=&(((Widget*)(top_layout))->pimpl_->file_node);
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| 240 | file_doc = xmlParseFile(xml_file.c_str());
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| 241 | if (file_doc == NULL ) {
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| 242 | self->Warn("XML document not parsed successfully. Creating a new one.\n");
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| 243 | file_doc = xmlNewDoc((xmlChar*)"1.0");
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| 244 | *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
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| 245 | xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
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| 246 | xmlDocSetRootElement(file_doc, *file_node);
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| 247 | //PrintXml();
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| 248 | } else {
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| 249 | *file_node=xmlDocGetRootElement(file_doc);
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| 250 | if(xmlStrcmp((*file_node)->name,(xmlChar*)XML_ROOT_TYPE)) {
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| 251 | self->Warn("%s, no match found in xml file\n",XML_ROOT_TYPE);
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| 252 | *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
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| 253 | xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
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| 254 | xmlDocSetRootElement(file_doc, *file_node);
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| 255 | }
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| 256 | }
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| 257 | } else {
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| 258 | self->Err("xml file not defined\n");
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| 259 | }
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| 260 |
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| 261 | //gui
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| 262 | tabwidget=new TabWidget(top_layout->At(0,0),XML_MAIN_TABWIDGET,TabWidget::North);
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| 263 | save_button=new PushButton(top_layout->At(1,0),"save config on target (" + self->ObjectName() + ")");
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| 264 | //load_button=new PushButton(top_layout->At(1,1),"load config on target (" + self->ObjectName() + ")");
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| 265 | }
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| 266 |
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| 267 | //in case of RT, this thread switches to secondary mode when calling com->Receive
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| 268 | //it switches back to RT in ProcessXML when mutex are locked
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| 269 | void FrameworkManager_impl::Run(void)
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| 270 | {
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| 271 | while(!ToBeStopped())
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| 272 | {
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| 273 | ssize_t bytesRead;
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| 274 |
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| 275 | bytesRead=com->Receive(rcv_buf,rcv_buf_size);
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| 276 |
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| 277 | if(bytesRead==(ssize_t)rcv_buf_size) Err("FrameworkManager max receive size, augmenter le buffer size!\n");
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| 278 |
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| 279 | if(bytesRead>0)
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| 280 | {
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| 281 | //printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
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| 282 | //rcv_buf[bytesRead-1]=0;//pour affichage
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| 283 | //printf("%s\n",rcv_buf);
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| 284 |
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| 285 | switch((uint8_t)rcv_buf[0])
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| 286 | {
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| 287 | case XML_HEADER:
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| 288 | {
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| 289 | xmlDoc *doc;
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| 290 | rcv_buf[bytesRead]=0;
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| 291 |
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| 292 | doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml", "ISO-8859-1", 0);
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| 293 | xmlNode *cur_node = NULL;
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| 294 |
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| 295 | for (cur_node = xmlDocGetRootElement(doc); cur_node; cur_node = cur_node->next)
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| 296 | {
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| 297 | if (cur_node->type == XML_ELEMENT_NODE)
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| 298 | {
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| 299 | if(!xmlStrcmp(cur_node->name,(xmlChar*)XML_ROOT_TYPE) )
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| 300 | {
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| 301 | #ifdef __XENO__
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| 302 | WarnUponSwitches(true);//ProcessXML should not switch to secondary mode
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| 303 | #endif
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| 304 | top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
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| 305 | #ifdef __XENO__
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| 306 | WarnUponSwitches(false);//other parts of this thread can switch to secondary mode
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| 307 | #endif
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| 308 | break;
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| 309 | }
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| 310 | }
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| 311 | }
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| 312 |
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| 313 | xmlFreeDoc(doc);
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| 314 |
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| 315 | if(save_button->Clicked()) SaveXml();
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| 316 |
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| 317 | SaveXmlChange(rcv_buf);
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| 318 |
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| 319 | break;
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| 320 | }
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| 321 | case WATCHDOG_HEADER: {
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| 322 | gcs_watchdog->Touch();
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| 323 | break;
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| 324 | }
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| 325 | default:
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| 326 | Err("unknown id: %x\n",(uint8_t)rcv_buf[0]);
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| 327 | break;
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| 328 | }
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| 329 | } else {
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| 330 | if(com->ConnectionLost()) SleepMS(10);//avoid infinite loop in this case
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| 331 | }
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| 332 | }
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| 333 | }
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| 334 |
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| 335 | void FrameworkManager_impl::SaveXml(void)
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| 336 | {
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| 337 | if(ui_defined) xmlSaveFormatFile(xml_file.c_str(),file_doc,1);
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| 338 | }
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| 339 |
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| 340 | void FrameworkManager_impl::SaveXmlChange(char* buf)
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| 341 | {
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| 342 | if(is_logging==true)
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| 343 | {
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| 344 | FILE *xml_change;
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| 345 | char filename[256];
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| 346 | Time time=GetTime();
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| 347 |
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| 348 | sprintf(filename,"%s/changes_at_%lld.xml",log_path.c_str(),time);
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| 349 |
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| 350 | xml_change=fopen(filename,"a");
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| 351 | fprintf(xml_change,"%s",buf);
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| 352 | fclose(xml_change);
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| 353 |
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| 354 | sprintf(filename,"changes_at_%lld.xml",time);
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| 355 | xml_changes.push_back(filename);
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| 356 | }
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| 357 | }
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| 358 |
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| 359 | void FrameworkManager_impl::SendFile(string path,string name)
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| 360 | {
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| 361 | char *buf,*more_buf;
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| 362 | int size;
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| 363 | filebuf *pbuf;
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| 364 | ssize_t nb_write;
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| 365 | string filename=path+ "/" +name;
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| 366 |
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| 367 | // open the file
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| 368 | fstream ifs(filename.c_str(), ios::in | ios::binary);
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| 369 | ifs.seekg(0, ios::end);
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| 370 | size = ifs.tellg();
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| 371 | ifs.seekg(0, ios::beg);
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| 372 | pbuf=ifs.rdbuf();
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| 373 |
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| 374 | if(size<=0)
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| 375 | {
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| 376 | Err("error opening file %s\n",filename.c_str());
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| 377 | return;
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| 378 | }
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| 379 |
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| 380 | buf=(char*)malloc(sizeof(uint8_t)+sizeof(int)+name.size());
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| 381 | if(buf==NULL)
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| 382 | {
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| 383 | Err("malloc error, not sending file\n");
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| 384 | return;
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| 385 | }
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| 386 |
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| 387 | if(IsBigEndian())
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| 388 | {
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| 389 | buf[0]=FILE_INFO_BIG_ENDIAN;
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| 390 | }
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| 391 | else
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| 392 | {
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| 393 | buf[0]=FILE_INFO_LITTLE_ENDIAN;
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| 394 | }
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| 395 |
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| 396 | memcpy(buf+1,&size,sizeof(int));
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| 397 | memcpy(buf+1+sizeof(int),name.c_str(),name.size());
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| 398 | Printf("sending %s, size: %i\n",filename.c_str(),size);
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| 399 | // send file information
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| 400 | UDT::sendmsg(file_sock, buf, sizeof(uint8_t)+sizeof(int)+name.size(), -1,true);
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| 401 |
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| 402 | more_buf=(char*)realloc((void*)buf,size);
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| 403 | if(more_buf==NULL)
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| 404 | {
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| 405 | Err("realloc error, not sending file\n");
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| 406 | free(buf);
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| 407 | return;
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| 408 | }
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| 409 | else
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| 410 | {
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| 411 | buf=more_buf;
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| 412 | }
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| 413 |
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| 414 | pbuf->sgetn (buf,size);
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| 415 | // send the file
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| 416 | nb_write=UDT::sendmsg(file_sock, buf, size,-1,true);
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| 417 |
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| 418 | if(nb_write<0)
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| 419 | {
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| 420 | Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
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| 421 | }
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| 422 | else if (nb_write != size)
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| 423 | {
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| 424 | Err("UDT::sendmsg error, sent %ld/%i\n",nb_write,size);
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| 425 | }
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| 426 |
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| 427 | ifs.close();
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| 428 | free(buf);
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| 429 | }
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| 430 |
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| 431 | void FrameworkManager_impl::FinishSending()
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| 432 | {
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| 433 | char rm_cmd[256];
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| 434 |
|
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| 435 | //send orignal xml
|
---|
| 436 | SendFile(log_path,"setup.xml");
|
---|
| 437 | sprintf(rm_cmd,"rm %s/setup.xml",log_path.c_str());
|
---|
| 438 | system(rm_cmd);
|
---|
| 439 |
|
---|
| 440 | //send xml changes
|
---|
| 441 | for(size_t i=0;i<xml_changes.size();i++)
|
---|
| 442 | {
|
---|
| 443 | //Printf("%s\n",xml_changes.at(i).c_str());
|
---|
| 444 | SendFile(log_path,xml_changes.at(i).c_str());
|
---|
| 445 | sprintf(rm_cmd,"rm %s/%s",log_path.c_str(),xml_changes.at(i).c_str());
|
---|
| 446 | system(rm_cmd);
|
---|
| 447 | }
|
---|
| 448 | xml_changes.clear();
|
---|
| 449 |
|
---|
| 450 | //end notify
|
---|
| 451 | char buf=END;
|
---|
| 452 | int nb_write=UDT::sendmsg(file_sock, &buf, 1,-1,true);
|
---|
| 453 |
|
---|
| 454 | if(nb_write<0)
|
---|
| 455 | {
|
---|
| 456 | Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
|
---|
| 457 | }
|
---|
| 458 | else if (nb_write != 1)
|
---|
| 459 | {
|
---|
| 460 | Err("UDT::sendmsg error, sent %i/%i\n",nb_write,1);
|
---|
| 461 | }
|
---|
| 462 | }
|
---|
| 463 |
|
---|
| 464 | UDTSOCKET FrameworkManager_impl::GetSocket(string address,uint16_t port) {
|
---|
| 465 | while(1) {
|
---|
| 466 | UDTSOCKET new_fd;
|
---|
| 467 | new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
|
---|
| 468 | if(new_fd==UDT::INVALID_SOCK) {
|
---|
| 469 | Err("socket error: %s\n",UDT::getlasterror().getErrorMessage());
|
---|
| 470 | return 0;
|
---|
| 471 | }
|
---|
| 472 |
|
---|
| 473 | sockaddr_in serv_addr;
|
---|
| 474 | serv_addr.sin_family = AF_INET;
|
---|
| 475 | serv_addr.sin_port = htons(short(port));
|
---|
| 476 |
|
---|
| 477 | if (inet_pton(AF_INET,address.c_str(), &serv_addr.sin_addr) <= 0) {
|
---|
| 478 | Err("incorrect network address\n");
|
---|
| 479 | return 0;
|
---|
| 480 | }
|
---|
| 481 |
|
---|
| 482 | memset(&(serv_addr.sin_zero), '\0', 8);
|
---|
| 483 |
|
---|
| 484 | if (UDT::ERROR == UDT::connect(new_fd, (sockaddr*)&serv_addr, sizeof(serv_addr))) {
|
---|
| 485 | //Printf("connect error: %s %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
|
---|
| 486 | UDT::close(new_fd);
|
---|
| 487 | if(UDT::getlasterror().getErrorCode()!=1001 && UDT::getlasterror().getErrorCode()!=1002) {
|
---|
| 488 | Err("connect error: %s\n",UDT::getlasterror().getErrorMessage());
|
---|
| 489 | return 0;
|
---|
| 490 | }
|
---|
| 491 | } else {
|
---|
| 492 | //printf("connected to %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
|
---|
| 493 | return new_fd;
|
---|
| 494 | }
|
---|
| 495 | }
|
---|
| 496 | }
|
---|
| 497 |
|
---|
| 498 | #ifdef __XENO__
|
---|
| 499 | int FrameworkManager_impl::CreatePipe(RT_PIPE* fd,string name)
|
---|
| 500 | {
|
---|
| 501 | name=self->ObjectName()+ "-" + name;
|
---|
| 502 | //xenomai limitation
|
---|
| 503 | if(name.size()>31) self->Err("rt_pipe_create error (%s is too long)\n",name.c_str());
|
---|
| 504 | //start log writter
|
---|
| 505 | #ifdef RT_PIPE_SIZE
|
---|
| 506 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,RT_PIPE_SIZE);
|
---|
| 507 | #else
|
---|
| 508 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,0);
|
---|
| 509 | #endif
|
---|
| 510 | }
|
---|
| 511 | #else
|
---|
| 512 | int FrameworkManager_impl::CreatePipe(int (*fd)[2],string name)
|
---|
| 513 | {
|
---|
| 514 | //if(pipe2(fd[0],O_NONBLOCK) == -1)
|
---|
| 515 | if(pipe(fd[0]) == -1)
|
---|
| 516 | {
|
---|
| 517 | return errno;
|
---|
| 518 | }
|
---|
| 519 | else
|
---|
| 520 | {
|
---|
| 521 | int attr=fcntl((*fd)[0], F_GETFL,0);
|
---|
| 522 | if(attr == -1)
|
---|
| 523 | {
|
---|
| 524 | return errno;
|
---|
| 525 | }
|
---|
| 526 | if(fcntl((*fd)[0], F_SETFL, attr|O_NONBLOCK)== -1)
|
---|
| 527 | {
|
---|
| 528 | return errno;
|
---|
| 529 | }
|
---|
| 530 | attr=fcntl((*fd)[1], F_GETFL,0);
|
---|
| 531 | if(attr == -1)
|
---|
| 532 | {
|
---|
| 533 | return errno;
|
---|
| 534 | }
|
---|
| 535 | if(fcntl((*fd)[1], F_SETFL, attr|O_NONBLOCK)== -1)
|
---|
| 536 | {
|
---|
| 537 | return errno;
|
---|
| 538 | }
|
---|
| 539 |
|
---|
| 540 | return 0;
|
---|
| 541 | }
|
---|
| 542 | }
|
---|
| 543 | #endif
|
---|
| 544 |
|
---|
| 545 | #ifdef __XENO__
|
---|
| 546 | int FrameworkManager_impl::DeletePipe(RT_PIPE* fd)
|
---|
| 547 | {
|
---|
| 548 | return rt_pipe_delete(fd);
|
---|
| 549 | }
|
---|
| 550 | #else
|
---|
| 551 | int FrameworkManager_impl::DeletePipe(int (*fd)[2])
|
---|
| 552 | {
|
---|
| 553 | int status1=close((*fd)[0]);
|
---|
| 554 | int status2=close((*fd)[1]);
|
---|
| 555 | if(status1==0 && status2==0) return 0;
|
---|
| 556 | if(status1!=0) return status1;
|
---|
| 557 | if(status2!=0) return status2;
|
---|
| 558 | }
|
---|
| 559 | #endif
|
---|
| 560 |
|
---|
| 561 | void FrameworkManager_impl::SetupLogger(string log_path) {
|
---|
| 562 | if(logger_defined==true) {
|
---|
| 563 | Warn("SetupLogger() was already called.\n");
|
---|
| 564 | return;
|
---|
| 565 | }
|
---|
| 566 |
|
---|
| 567 | this->log_path=log_path;
|
---|
| 568 |
|
---|
| 569 | int status=CreatePipe(&cmd_pipe,"log_cmd");
|
---|
| 570 | if(status!=0) {
|
---|
| 571 | Err("Error creating pipe (%s)\n",strerror(-status));
|
---|
| 572 | return;
|
---|
| 573 | }
|
---|
| 574 |
|
---|
| 575 | status=CreatePipe(&data_pipe,"log_data");
|
---|
| 576 | if(status!=0) {
|
---|
| 577 | Err("Error creating pipe (%s)\n",strerror(-status));
|
---|
| 578 | return;
|
---|
| 579 | }
|
---|
| 580 |
|
---|
| 581 | #ifdef __XENO__
|
---|
| 582 | string tmp_name;
|
---|
| 583 | tmp_name=self->ObjectName() + "-log_heap";
|
---|
| 584 | status=rt_heap_create(&log_heap,tmp_name.c_str(),LOG_HEAP,H_FIFO);
|
---|
| 585 | if(status!=0) {
|
---|
| 586 | Err("rt_heap_create error (%s)\n",strerror(-status));
|
---|
| 587 | return;
|
---|
| 588 | }
|
---|
| 589 | #endif //__XENO__
|
---|
| 590 |
|
---|
| 591 | continuer=true;
|
---|
| 592 |
|
---|
| 593 | #ifdef NRT_STACK_SIZE
|
---|
| 594 | // Initialize thread creation attributes
|
---|
| 595 | pthread_attr_t attr;
|
---|
| 596 | if(pthread_attr_init(&attr) != 0) {
|
---|
| 597 | Err("pthread_attr_init error\n");
|
---|
| 598 | return;
|
---|
| 599 | }
|
---|
| 600 |
|
---|
| 601 | if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
|
---|
| 602 | Err("pthread_attr_setstacksize error\n");
|
---|
| 603 | return;
|
---|
| 604 | }
|
---|
| 605 |
|
---|
| 606 | if(pthread_create(&log_th, &attr, write_log_user, (void*)this) < 0)
|
---|
| 607 | #else
|
---|
| 608 | if(pthread_create(&log_th, NULL, write_log_user, (void*)this) < 0)
|
---|
| 609 | #endif
|
---|
| 610 | {
|
---|
| 611 | Err("pthread_create error\n");
|
---|
| 612 | return;
|
---|
| 613 | }
|
---|
| 614 | #ifdef NRT_STACK_SIZE
|
---|
| 615 | if(pthread_attr_destroy(&attr) != 0) {
|
---|
| 616 | Err("pthread_attr_destroy error\n");
|
---|
| 617 | return;
|
---|
| 618 | }
|
---|
| 619 | #endif
|
---|
| 620 |
|
---|
| 621 | logger_defined=true;
|
---|
| 622 | }
|
---|
| 623 |
|
---|
| 624 | void FrameworkManager_impl::AddDeviceToLog(IODevice *device)
|
---|
| 625 | {
|
---|
| 626 | if(logger_defined==false)
|
---|
| 627 | {
|
---|
| 628 | Err("SetupLogger() was not called, not starting log\n");
|
---|
| 629 | return;
|
---|
| 630 | }
|
---|
| 631 |
|
---|
| 632 | if(is_logging==false)
|
---|
| 633 | {
|
---|
| 634 | if(device->pimpl_->SetToBeLogged()) {
|
---|
| 635 | log_desc_t tmp;
|
---|
| 636 | tmp.device=device;
|
---|
| 637 | logs.push_back(tmp);
|
---|
| 638 | } else {
|
---|
| 639 | Warn("not adding it twice\n");
|
---|
| 640 | }
|
---|
| 641 | }
|
---|
| 642 | else
|
---|
| 643 | {
|
---|
| 644 | Err("impossible while logging\n");
|
---|
| 645 | }
|
---|
| 646 | }
|
---|
| 647 |
|
---|
| 648 | void FrameworkManager_impl::StartLog(void)
|
---|
| 649 | {
|
---|
| 650 | if(logger_defined==false)
|
---|
| 651 | {
|
---|
| 652 | Err("SetupLogger() was not called, not starting log\n");
|
---|
| 653 | return;
|
---|
| 654 | }
|
---|
| 655 |
|
---|
| 656 | ssize_t written;
|
---|
| 657 | size_t nb_err=0;
|
---|
| 658 |
|
---|
| 659 | if(logs.size()==0)
|
---|
| 660 | {
|
---|
| 661 | Warn("Not starting log: nothing to log!\n");
|
---|
| 662 | return;
|
---|
| 663 | }
|
---|
| 664 |
|
---|
| 665 | if(is_logging==false)
|
---|
| 666 | {
|
---|
| 667 | for(size_t i=0;i<logs.size();i++)
|
---|
| 668 | {
|
---|
| 669 |
|
---|
| 670 | logs.at(i).running=true;
|
---|
| 671 | logs.at(i).dbtFile=NULL;
|
---|
| 672 | logs.at(i).size=logs.at(i).device->pimpl_->LogSize();
|
---|
| 673 | #ifdef __XENO__
|
---|
| 674 | written=rt_pipe_write(&cmd_pipe,&logs.at(i),sizeof(log_desc_t),P_NORMAL);
|
---|
| 675 | #else
|
---|
| 676 | written=write(cmd_pipe[1],&logs.at(i),sizeof(log_desc_t));
|
---|
| 677 | #endif
|
---|
| 678 |
|
---|
| 679 | if(written<0)
|
---|
| 680 | {
|
---|
| 681 | Err("write pipe error (%s)\n",strerror(-written));
|
---|
| 682 | nb_err++;
|
---|
| 683 | logs.at(i).running=false;
|
---|
| 684 | }
|
---|
| 685 | else if (written != sizeof(log_desc_t))
|
---|
| 686 | {
|
---|
| 687 | Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
|
---|
| 688 | nb_err++;
|
---|
| 689 | logs.at(i).running=false;
|
---|
| 690 | }
|
---|
| 691 | }
|
---|
| 692 |
|
---|
| 693 | if(nb_err!=logs.size()) is_logging=true;
|
---|
| 694 | }
|
---|
| 695 | else
|
---|
| 696 | {
|
---|
| 697 | Warn("Already logging\n");
|
---|
| 698 | }
|
---|
| 699 | }
|
---|
| 700 |
|
---|
| 701 | void FrameworkManager_impl::StopLog(void)
|
---|
| 702 | {
|
---|
| 703 | ssize_t written;
|
---|
| 704 |
|
---|
| 705 | if(is_logging==true)
|
---|
| 706 | {
|
---|
| 707 | for(size_t i=0;i<logs.size();i++)
|
---|
| 708 | {
|
---|
| 709 | logs.at(i).running=false;
|
---|
| 710 | }
|
---|
| 711 | //send only one running false condition, user thread will stop and send all
|
---|
| 712 | #ifdef __XENO__
|
---|
| 713 | written=rt_pipe_write(&cmd_pipe,&logs.at(0),sizeof(log_desc_t),P_NORMAL);
|
---|
| 714 | #else
|
---|
| 715 | written=write(cmd_pipe[1],&logs.at(0),sizeof(log_desc_t));
|
---|
| 716 | #endif
|
---|
| 717 |
|
---|
| 718 | if(written<0)
|
---|
| 719 | {
|
---|
| 720 | Err("write pipe error (%s)\n",strerror(-written));
|
---|
| 721 | return;
|
---|
| 722 | }
|
---|
| 723 | else if (written != sizeof(log_desc_t))
|
---|
| 724 | {
|
---|
| 725 | Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
|
---|
| 726 | return;
|
---|
| 727 | }
|
---|
| 728 |
|
---|
| 729 | is_logging=false;
|
---|
| 730 | }
|
---|
| 731 | else
|
---|
| 732 | {
|
---|
| 733 | Warn("Not logging\n");
|
---|
| 734 | }
|
---|
| 735 | }
|
---|
| 736 |
|
---|
| 737 | char* FrameworkManager_impl::GetBuffer(size_t sz)
|
---|
| 738 | {
|
---|
| 739 | //Printf("alloc %i\n",sz);
|
---|
| 740 | #ifdef __XENO__
|
---|
| 741 | void *ptr;
|
---|
| 742 | int status=rt_heap_alloc(&log_heap,sz,TM_NONBLOCK ,&ptr);
|
---|
| 743 | if(status!=0)
|
---|
| 744 | {
|
---|
| 745 | Err("rt_heap_alloc error (%s)\n",strerror(-status));
|
---|
| 746 | ptr=NULL;
|
---|
| 747 | }
|
---|
| 748 | return (char*)ptr;
|
---|
| 749 | #else
|
---|
| 750 | return (char*)malloc(sz);
|
---|
| 751 | #endif
|
---|
| 752 | }
|
---|
| 753 |
|
---|
| 754 | void FrameworkManager_impl::ReleaseBuffer(char* buf)
|
---|
| 755 | {
|
---|
| 756 | #ifdef __XENO__
|
---|
| 757 | int status=rt_heap_free(&log_heap,buf);
|
---|
| 758 |
|
---|
| 759 | if(status!=0)
|
---|
| 760 | {
|
---|
| 761 | Err("rt_heap_free error (%s)\n",strerror(-status));
|
---|
| 762 | }
|
---|
| 763 | #else
|
---|
| 764 | free(buf);
|
---|
| 765 | #endif
|
---|
| 766 | }
|
---|
| 767 |
|
---|
| 768 | void FrameworkManager_impl::WriteLog(const char* buf,size_t size)
|
---|
| 769 | {
|
---|
| 770 | ssize_t written;
|
---|
| 771 |
|
---|
| 772 | #ifdef __XENO__
|
---|
| 773 | written=rt_pipe_write(&data_pipe,buf,size,P_NORMAL);
|
---|
| 774 | #else
|
---|
| 775 | written=write(data_pipe[1],buf,size);
|
---|
| 776 | #endif
|
---|
| 777 |
|
---|
| 778 | if(written<0)
|
---|
| 779 | {
|
---|
| 780 | Err("erreur write pipe (%s)\n",strerror(-written));
|
---|
| 781 | }
|
---|
| 782 | else if (written != (ssize_t)size)
|
---|
| 783 | {
|
---|
| 784 | Err("erreur write pipe %ld/%ld\n",written,size);
|
---|
| 785 | }
|
---|
| 786 | }
|
---|
| 787 |
|
---|
| 788 | void* FrameworkManager_impl::write_log_user(void * arg)
|
---|
| 789 | {
|
---|
| 790 | int cmd_pipe=-1;
|
---|
| 791 | int data_pipe=-1;
|
---|
| 792 | string filename;
|
---|
| 793 | fd_set set;
|
---|
| 794 | struct timeval timeout;
|
---|
| 795 | FrameworkManager_impl *caller = (FrameworkManager_impl*)arg;
|
---|
| 796 | int rv;
|
---|
| 797 |
|
---|
| 798 | vector<log_desc_t> logs;
|
---|
| 799 |
|
---|
| 800 | #ifdef __XENO__
|
---|
| 801 | filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_cmd";
|
---|
| 802 | while(cmd_pipe<0)
|
---|
| 803 | {
|
---|
| 804 | cmd_pipe = open(filename.c_str(), O_RDWR);
|
---|
| 805 | if (cmd_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
|
---|
| 806 | usleep(1000);
|
---|
| 807 | }
|
---|
| 808 | filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_data";
|
---|
| 809 | while(data_pipe<0)
|
---|
| 810 | {
|
---|
| 811 | data_pipe = open(filename.c_str(), O_RDWR);
|
---|
| 812 | if (data_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
|
---|
| 813 | usleep(1000);
|
---|
| 814 | }
|
---|
| 815 | #else
|
---|
| 816 | cmd_pipe=caller->cmd_pipe[0];
|
---|
| 817 | data_pipe=caller->data_pipe[0];
|
---|
| 818 | #endif
|
---|
| 819 |
|
---|
| 820 | while(caller->continuer==true)
|
---|
| 821 | {
|
---|
| 822 | FD_ZERO(&set);
|
---|
| 823 | FD_SET(cmd_pipe, &set);
|
---|
| 824 | FD_SET(data_pipe, &set);
|
---|
| 825 |
|
---|
| 826 | timeout.tv_sec = 0;
|
---|
| 827 | timeout.tv_usec = SELECT_TIMEOUT_MS*1000;
|
---|
| 828 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
|
---|
| 829 |
|
---|
| 830 | if(rv == -1)
|
---|
| 831 | {
|
---|
| 832 | caller->Err("select error\n"); // an error accured
|
---|
| 833 | }
|
---|
| 834 | else if(rv == 0)
|
---|
| 835 | {
|
---|
| 836 | //printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); // a timeout occured
|
---|
| 837 | }
|
---|
| 838 | else
|
---|
| 839 | {
|
---|
| 840 | if(FD_ISSET(cmd_pipe, &set))
|
---|
| 841 | {
|
---|
| 842 | log_desc_t tmp;
|
---|
| 843 | read(cmd_pipe,&tmp,sizeof(log_desc_t));
|
---|
| 844 |
|
---|
| 845 | if(tmp.running==true)//start logging
|
---|
| 846 | {
|
---|
| 847 | filename= caller->log_path + "/" +caller->FileName(tmp.device)+ ".dbt";
|
---|
| 848 | printf("Creating log file %s (log size %i)\n",filename.c_str(), (int)tmp.size);
|
---|
| 849 | tmp.dbtFile = inithdFile((char*)filename.c_str(),UAV,tmp.size);
|
---|
| 850 | logs.push_back(tmp);
|
---|
| 851 |
|
---|
| 852 | if(logs.size()==1)
|
---|
| 853 | {
|
---|
| 854 | filename= caller->log_path + "/setup.xml";
|
---|
| 855 | xmlSaveFile(filename.c_str(),caller->file_doc);
|
---|
| 856 | }
|
---|
| 857 | }
|
---|
| 858 | else//stop logging
|
---|
| 859 | {
|
---|
| 860 | for(size_t i=0;i<logs.size();i++)
|
---|
| 861 | {
|
---|
| 862 | if(logs.at(i).dbtFile!=NULL)
|
---|
| 863 | {
|
---|
| 864 | close_hdfile(logs.at(i).dbtFile);
|
---|
| 865 |
|
---|
| 866 | filename= caller->FileName(logs.at(i).device)+ ".dbt";
|
---|
| 867 | caller->SendFile(caller->log_path,filename);
|
---|
| 868 |
|
---|
| 869 | fstream txt_file;
|
---|
| 870 | filename= caller->FileName(logs.at(i).device)+ ".txt";
|
---|
| 871 | txt_file.open((caller->log_path+"/"+filename).c_str(),fstream::out);
|
---|
| 872 | txt_file << "1: time (us)\n2: time (ns)\n";
|
---|
| 873 | int index=3;
|
---|
| 874 | logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file,&index);
|
---|
| 875 | txt_file.close();
|
---|
| 876 |
|
---|
| 877 | caller->SendFile(caller->log_path,filename);
|
---|
| 878 | }
|
---|
| 879 | }
|
---|
| 880 | //a revoir celui ci est le xml enregistré et pas forcement l'actuel
|
---|
| 881 | //if(caller->xml_file!="") caller->SendFile(caller->xml_file);
|
---|
| 882 | caller->FinishSending();
|
---|
| 883 |
|
---|
| 884 | logs.clear();
|
---|
| 885 | }
|
---|
| 886 | }
|
---|
| 887 |
|
---|
| 888 | if(FD_ISSET(data_pipe, &set))
|
---|
| 889 | {
|
---|
| 890 | log_header_t header;
|
---|
| 891 | read(data_pipe,&header,sizeof(log_header_t));
|
---|
| 892 |
|
---|
| 893 | for(size_t i=0;i<logs.size();i++)
|
---|
| 894 | {
|
---|
| 895 | if(logs.at(i).device==header.device)
|
---|
| 896 | {
|
---|
| 897 | char* buf=(char*)malloc(header.size);
|
---|
| 898 | read(data_pipe,buf,header.size);
|
---|
| 899 | //printf("%s \n",header.device->ObjectName().c_str());
|
---|
| 900 | //for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
|
---|
| 901 | //printf("\n");
|
---|
| 902 | if(logs.at(i).size==header.size)
|
---|
| 903 | {
|
---|
| 904 | if(logs.at(i).dbtFile!=NULL)
|
---|
| 905 | {
|
---|
| 906 | write_hdfile(logs.at(i).dbtFile,buf,(road_time_t)(header.time/1000),(road_timerange_t)(header.time%1000),header.size);
|
---|
| 907 | }
|
---|
| 908 | else
|
---|
| 909 | {
|
---|
| 910 | printf("err\n");
|
---|
| 911 | }
|
---|
| 912 | }
|
---|
| 913 | else
|
---|
| 914 | {
|
---|
| 915 | caller->self->Err("%s log size is not correct %i/%i\n",header.device->ObjectName().c_str(),header.size,logs.at(i).size);
|
---|
| 916 | }
|
---|
| 917 | free(buf);
|
---|
| 918 | }
|
---|
| 919 | }
|
---|
| 920 | }
|
---|
| 921 | }
|
---|
| 922 | }
|
---|
| 923 |
|
---|
| 924 | #ifdef __XENO__
|
---|
| 925 | close(cmd_pipe);
|
---|
| 926 | close(data_pipe);
|
---|
| 927 | #endif
|
---|
| 928 |
|
---|
| 929 | pthread_exit(0);
|
---|
| 930 |
|
---|
| 931 | }
|
---|
| 932 |
|
---|
| 933 | string FrameworkManager_impl::FileName(IODevice* device)
|
---|
| 934 | {
|
---|
| 935 | return getFrameworkManager()->ObjectName() + "_"+device->ObjectName();
|
---|
| 936 | }
|
---|
| 937 |
|
---|
| 938 | void FrameworkManager_impl::PrintXml(void) const
|
---|
| 939 | {
|
---|
| 940 | xmlChar *xmlbuff;
|
---|
| 941 | int buffersize;
|
---|
| 942 | xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
|
---|
| 943 | Printf("xml:\n%s\n",xmlbuff);
|
---|
| 944 | xmlFree(xmlbuff);
|
---|
| 945 | }
|
---|