source: flair-src/trunk/lib/FlairCore/src/FrameworkManager_impl.cpp@ 243

Last change on this file since 243 was 243, checked in by Sanahuja Guillaume, 6 years ago

resolve some bugs when closing connection with gcs

File size: 27.4 KB
RevLine 
[2]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[2]4// %flair:license}
5// created: 2011/08/31
6// filename: FrameworkManager.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Classe de base de la librairie
14//
15//
16/*********************************************************************/
17
18#include "FrameworkManager_impl.h"
19#include "FrameworkManager.h"
20#include "Widget_impl.h"
21#include <unistd.h>
22#include "IODevice.h"
23#include "IODevice_impl.h"
24#include "TabWidget.h"
25#include "Layout.h"
26#include "PushButton.h"
27#include "communication.h"
28#include "config.h"
29#include "Watchdog.h"
30#include <errno.h>
31#include <string.h>
32#include <arpa/inet.h>
33#include <sys/mman.h>
34#include <execinfo.h>
35#include <signal.h>
36#include <fcntl.h>
37#ifdef __XENO__
38#include <native/task.h>
[118]39#include <rtdk.h>
[2]40#endif
41
42using namespace std;
43using namespace flair::core;
44using namespace flair::gui;
45
[15]46ui_com *FrameworkManager_impl::com = NULL;
47FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
[2]48
49namespace {
50#ifdef __XENO__
51
52#ifdef SIGDEBUG
[15]53static const char *reason_str[] = {
54 "undefined", "received signal", "invoked syscall", "triggered fault",
55 "affected by priority inversion", "missing mlockall", "runaway thread",
56};
[2]57
[15]58void warn_upon_switch(int sig, siginfo_t *si, void *context) {
59 unsigned int reason = si->si_value.sival_int;
60 void *bt[32];
61 int nentries;
[2]62#ifdef SIGDEBUG_WATCHDOG
[15]63 printf("\nSIGDEBUG received, reason %d: %s\n", reason,
64 reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
[2]65#endif
[15]66 // Dump a backtrace of the frame which caused the switch to secondary mode:
67 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
68 backtrace_symbols_fd(bt, nentries, fileno(stdout));
69}
70#else // SIGDEBUG
71void warn_upon_switch(int sig __attribute__((unused))) {
72 void *bt[32];
73 int nentries;
[2]74
[15]75 /* Dump a backtrace of the frame which caused the switch to
76 secondary mode: */
77 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
78 backtrace_symbols_fd(bt, nentries, fileno(stdout));
79}
80#endif // SIGDEBUG
[2]81#endif //__XENO__
[15]82void seg_fault(int sig __attribute__((unused))) {
83 void *bt[32];
84 int nentries;
[2]85
[15]86 printf("Segmentation fault:\n");
87 /* Dump a backtrace of the frame which caused the segfault: */
88 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
89 backtrace_symbols_fd(bt, nentries, fileno(stdout));
[2]90
[15]91 exit(1);
[2]92}
[15]93}
[2]94
[15]95FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
96 string name)
97 : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
98 this->self = self;
99 is_logging = false;
100 logger_defined = false;
101 disable_errors = false;
102 ui_defined = false;
103 rcv_buf = NULL;
[20]104 gcs_watchdog = NULL;
[15]105 _this = this;
[55]106 tabwidget=NULL;
[2]107
[15]108 // Avoids memory swapping for this program
109 mlockall(MCL_CURRENT | MCL_FUTURE);
[2]110
[15]111 // catch segfault
112 signal(SIGSEGV, seg_fault);
[2]113
[15]114// catch primary->secondary switch
[2]115#ifdef __XENO__
116#ifdef SIGDEBUG
[45]117 struct sigaction sa;
[15]118 sigemptyset(&sa.sa_mask);
119 sa.sa_sigaction = warn_upon_switch;
120 sa.sa_flags = SA_SIGINFO;
121 sigaction(SIGDEBUG, &sa, NULL);
[118]122#else //SIGDEBUG
[15]123 signal(SIGXCPU, warn_upon_switch);
[118]124#endif //SIGDEBUG
125 string task_name = "Framework_" + name;
[2]126
[118]127 // Perform auto-init of rt_print buffers if the task doesn't do so
128 rt_print_auto_init(1);
129 // Initialise the rt_print buffer for this task explicitly
130 rt_print_init(512, task_name.c_str());
131
[15]132 int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
133 if (status != 0) {
[133]134 char errorMsg[256];
135 self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]136 }
[2]137
138#endif //__XENO__
139}
140
141void FrameworkManager_impl::ConnectionLost(void) {
[15]142 Err("connection lost\n");
[213]143 if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
[15]144 connection_lost = true;
[2]145}
146
147FrameworkManager_impl::~FrameworkManager_impl() {
[15]148 // Printf("destruction FrameworkManager_impl\n");
149 int status;
[133]150
[15]151 SafeStop();
152 Join();
[2]153
[15]154 if (rcv_buf != NULL)
155 free(rcv_buf);
[2]156
[15]157 if (logger_defined == true) {
158 continuer = false;
159 (void)pthread_join(log_th, NULL);
[2]160
[15]161 status = DeletePipe(&cmd_pipe);
162 if (status != 0) {
[213]163 char errorMsg[256];
[133]164 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]165 }
166 status = DeletePipe(&data_pipe);
167 if (status != 0) {
[213]168 char errorMsg[256];
[133]169 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]170 }
[2]171
172#ifdef __XENO__
[15]173 status = rt_heap_delete(&log_heap);
174 if (status != 0) {
[213]175 char errorMsg[256];
[133]176 Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]177 }
[2]178#endif
179
[15]180 logs.clear();
181 }
[2]182
[15]183 if (file_doc != NULL)
184 xmlFreeDoc(file_doc);
[2]185
[15]186 if (ui_defined)
187 delete top_layout;
[2]188
[15]189 if (com != NULL) {
190 delete com;
[243]191 //avoid waiting on closing if connection is lost
192 if(connection_lost) {
193 bool blocking = false;
194 if (UDT::setsockopt(com_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
195 Err("UDT::setsockopt error (UDT_SNDSYN)\n");
196 }
[15]197 status = UDT::close(com_sock);
198 if (status != 0)
[67]199 Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
[2]200
[15]201 SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
[243]202
203 if(connection_lost) {
204 //don't know why?
205 Warn("Cleaning up UDT socket, this can take some time\n");
206 }
207 if (UDT::cleanup() != 0)
208 Err("UDT::cleanup error\n");
[15]209 }
[2]210
[15]211 // Printf("destruction FrameworkManager_impl ok\n");
[2]212}
213
[55]214void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
[15]215 size_t rcv_buf_size) {
[137]216 if (com != NULL) {
217 Err("SetupConnection should be called only one time\n");
218 return;
219 }
[234]220 this->address=address;
221 this->port=port;
[137]222
[214]223 UDT::startup(1024*256,1024*256,1024*256);
[15]224 this->rcv_buf_size = rcv_buf_size;
[2]225
[15]226 // socket file_socket, doit être créé en premier, cf station sol
227 Printf("Connecting to %s:%i\n", address.c_str(), port);
[234]228 //file_sock = GetSocket(address, port);
229 com_sock = GetSocket();
[2]230
[15]231 // receive buffer allocation
232 rcv_buf = (char *)malloc(rcv_buf_size);
233 if (rcv_buf == NULL) {
234 Err("receive buffer malloc error\n");
235 }
[2]236
[15]237 com = new ui_com(this, com_sock);
[2]238
[15]239 Start();
[2]240
[15]241 // watchdog for connection with ground station
242 connection_lost = false;
[213]243 gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::ConnectionLost, this),watchdogTimeout);
[15]244 gcs_watchdog->Start();
[2]245}
246
247void FrameworkManager_impl::SetupUserInterface(string xml_file) {
[15]248 ui_defined = true;
249 this->xml_file = xml_file;
[2]250
[15]251 // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
252 top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
[2]253
[15]254 // xml setup of the main widget
255 if (xml_file != "") {
256 xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
257 file_doc = xmlParseFile(xml_file.c_str());
258 if (file_doc == NULL) {
259 self->Warn("XML document not parsed successfully. Creating a new one.\n");
260 file_doc = xmlNewDoc((xmlChar *)"1.0");
261 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
262 xmlSetProp(*file_node, (xmlChar *)"name",
263 (xmlChar *)ObjectName().c_str());
264 xmlDocSetRootElement(file_doc, *file_node);
265 // PrintXml();
[2]266 } else {
[15]267 *file_node = xmlDocGetRootElement(file_doc);
268 if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
269 self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
270 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
271 xmlSetProp(*file_node, (xmlChar *)"name",
272 (xmlChar *)ObjectName().c_str());
273 xmlDocSetRootElement(file_doc, *file_node);
274 }
[2]275 }
[15]276 } else {
277 self->Err("xml file not defined\n");
278 }
[2]279
[15]280 // gui
281 tabwidget =
282 new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
283 save_button =
284 new PushButton(top_layout->At(1, 0),
285 "save config on target (" + self->ObjectName() + ")");
286 // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
287 // self->ObjectName() + ")");
[2]288}
289
[15]290// in case of RT, this thread switches to secondary mode when calling
291// com->Receive
292// it switches back to RT in ProcessXML when mutex are locked
293void FrameworkManager_impl::Run(void) {
294 while (!ToBeStopped()) {
295 ssize_t bytesRead;
296 bytesRead = com->Receive(rcv_buf, rcv_buf_size);
[234]297 com->CheckConnection();
298//printf("%i\n",bytesRead);
[15]299 if (bytesRead == (ssize_t)rcv_buf_size)
300 Err("FrameworkManager max receive size, augmenter le buffer size!\n");
[2]301
[15]302 if (bytesRead > 0) {
[234]303 //printf("recu %ld, trame %x %lld\n",bytesRead,(uint8_t)rcv_buf[0],GetTime()/(1000000));
304 //rcv_buf[bytesRead-1]=0;//pour affichage
305 //printf("%s\n",rcv_buf);
[2]306
[15]307 switch ((uint8_t)rcv_buf[0]) {
308 case XML_HEADER: {
309 xmlDoc *doc;
310 rcv_buf[bytesRead] = 0;
[67]311 //Printf("%s\n",rcv_buf);
[15]312 doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
313 "ISO-8859-1", 0);
314 xmlNode *cur_node = NULL;
[2]315
[15]316 for (cur_node = xmlDocGetRootElement(doc); cur_node;
317 cur_node = cur_node->next) {
318 if (cur_node->type == XML_ELEMENT_NODE) {
319 if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
[2]320#ifdef __XENO__
[15]321 WarnUponSwitches(
322 true); // ProcessXML should not switch to secondary mode
[2]323#endif
[15]324 top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
[2]325#ifdef __XENO__
[15]326 WarnUponSwitches(false); // other parts of this thread can switch
327 // to secondary mode
[2]328#endif
[15]329 break;
330 }
331 }
332 }
[2]333
[15]334 xmlFreeDoc(doc);
[2]335
[15]336 if (save_button->Clicked())
337 SaveXml();
[2]338
[15]339 SaveXmlChange(rcv_buf);
[2]340
[15]341 break;
342 }
343 case WATCHDOG_HEADER: {
[213]344 if(gcs_watchdog!=NULL) gcs_watchdog->Touch();
[15]345 break;
346 }
347 default:
348 Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
349 break;
350 }
351 } else {
352 if (com->ConnectionLost())
353 SleepMS(10); // avoid infinite loop in this case
[2]354 }
[15]355 }
[2]356}
357
[15]358void FrameworkManager_impl::SaveXml(void) {
359 if (ui_defined)
360 xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
[2]361}
362
[15]363void FrameworkManager_impl::SaveXmlChange(char *buf) {
364 if (is_logging == true) {
365 FILE *xml_change;
366 char filename[256];
367 Time time = GetTime();
[2]368
[15]369 sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
[2]370
[15]371 xml_change = fopen(filename, "a");
372 fprintf(xml_change, "%s", buf);
373 fclose(xml_change);
[2]374
[15]375 sprintf(filename, "changes_at_%lld.xml", time);
376 xml_changes.push_back(filename);
377 }
[2]378}
379
[234]380void FrameworkManager_impl::SendFile(UDTSOCKET socket,string path, string name) {
[15]381 char *buf, *more_buf;
382 int size;
383 filebuf *pbuf;
384 ssize_t nb_write;
385 string filename = path + "/" + name;
[2]386
[15]387 // open the file
388 fstream ifs(filename.c_str(), ios::in | ios::binary);
389 ifs.seekg(0, ios::end);
390 size = ifs.tellg();
391 ifs.seekg(0, ios::beg);
392 pbuf = ifs.rdbuf();
[2]393
[15]394 if (size <= 0) {
395 Err("error opening file %s\n", filename.c_str());
396 return;
397 }
[2]398
[15]399 buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
400 if (buf == NULL) {
401 Err("malloc error, not sending file\n");
402 return;
403 }
[2]404
[15]405 if (IsBigEndian()) {
406 buf[0] = FILE_INFO_BIG_ENDIAN;
407 } else {
408 buf[0] = FILE_INFO_LITTLE_ENDIAN;
409 }
[2]410
[15]411 memcpy(buf + 1, &size, sizeof(int));
412 memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
413 Printf("sending %s, size: %i\n", filename.c_str(), size);
414 // send file information
[234]415 UDT::sendmsg(socket, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,true);
[2]416
[15]417 more_buf = (char *)realloc((void *)buf, size);
418 if (more_buf == NULL) {
419 Err("realloc error, not sending file\n");
420 free(buf);
421 return;
422 } else {
423 buf = more_buf;
424 }
[2]425
[15]426 pbuf->sgetn(buf, size);
427 // send the file
[234]428 nb_write = UDT::sendmsg(socket, buf, size, -1, true);
[2]429
[15]430 if (nb_write < 0) {
431 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
432 } else if (nb_write != size) {
433 Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
434 }
[2]435
[15]436 ifs.close();
437 free(buf);
[2]438}
439
[234]440void FrameworkManager_impl::FinishSending(UDTSOCKET socket) {
[15]441 char rm_cmd[256];
[2]442
[15]443 // send orignal xml
[234]444 SendFile(socket,log_path, "setup.xml");
[15]445 sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
446 system(rm_cmd);
447
448 // send xml changes
449 for (size_t i = 0; i < xml_changes.size(); i++) {
450 // Printf("%s\n",xml_changes.at(i).c_str());
[234]451 SendFile(socket,log_path, xml_changes.at(i).c_str());
[15]452 sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
[2]453 system(rm_cmd);
[15]454 }
455 xml_changes.clear();
[2]456
[15]457 // end notify
[234]458 char buf = END_SENDING_FILES;
459 int nb_write = UDT::sendmsg(socket, &buf, 1, -1, true);
[2]460
[15]461 if (nb_write < 0) {
462 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
463 } else if (nb_write != 1) {
464 Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
465 }
[20]466
[213]467 //wait end ACK
[234]468 int nb_read = UDT::recvmsg(socket,&buf,1);
[213]469 if(nb_read<0) {
[20]470 Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
[213]471 } else if (nb_read != 1) {
[20]472 Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
[213]473 }
[15]474}
[2]475
[234]476UDTSOCKET FrameworkManager_impl::GetSocket(void) {
[15]477 while (1) {
478 UDTSOCKET new_fd;
479 new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
480 if (new_fd == UDT::INVALID_SOCK) {
481 Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
482 return 0;
[2]483 }
484
[15]485 sockaddr_in serv_addr;
486 serv_addr.sin_family = AF_INET;
487 serv_addr.sin_port = htons(short(port));
[2]488
[15]489 if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
490 Err("incorrect network address\n");
491 return 0;
492 }
[2]493
[15]494 memset(&(serv_addr.sin_zero), '\0', 8);
[2]495
[15]496 if (UDT::ERROR ==
497 UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
498 // Printf("connect error: %s
499 // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
500 UDT::close(new_fd);
501 if (UDT::getlasterror().getErrorCode() != 1001 &&
502 UDT::getlasterror().getErrorCode() != 1002) {
503 Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
504 return 0;
505 }
506 } else {
507 // printf("connected to
508 // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
509 return new_fd;
[2]510 }
[15]511 }
[2]512}
513
514#ifdef __XENO__
[15]515int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
516 name = self->ObjectName() + "-" + name;
517 // xenomai limitation
518 if (name.size() > 31)
519 self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
520// start log writter
[2]521#ifdef RT_PIPE_SIZE
[15]522 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
[2]523#else
[15]524 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
[2]525#endif
526}
527#else
[15]528int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
529 // if(pipe2(fd[0],O_NONBLOCK) == -1)
530 if (pipe(fd[0]) == -1) {
531 return errno;
532 } else {
533 int attr = fcntl((*fd)[0], F_GETFL, 0);
534 if (attr == -1) {
535 return errno;
[2]536 }
[15]537 if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
538 return errno;
539 }
540 attr = fcntl((*fd)[1], F_GETFL, 0);
541 if (attr == -1) {
542 return errno;
543 }
544 if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
545 return errno;
546 }
[2]547
[15]548 return 0;
549 }
[2]550}
551#endif
552
553#ifdef __XENO__
[15]554int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
555 return rt_pipe_delete(fd);
[2]556}
557#else
[15]558int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
559 int status1 = close((*fd)[0]);
560 int status2 = close((*fd)[1]);
561 if (status1 == 0 && status2 == 0)
562 return 0;
563 if (status1 != 0)
564 return status1;
565 if (status2 != 0)
566 return status2;
[2]567}
568#endif
569
[213]570void FrameworkManager_impl::SetupLogger(string log_path,uint32_t stackSize) {
[133]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) {
[213]581 char errorMsg[256];
[133]582 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]583 return;
584 }
[2]585
[15]586 status = CreatePipe(&data_pipe, "log_data");
587 if (status != 0) {
[213]588 char errorMsg[256];
[133]589 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]590 return;
591 }
[2]592
593#ifdef __XENO__
[15]594 string tmp_name;
595 tmp_name = self->ObjectName() + "-log_heap";
[213]596 status = rt_heap_create(&log_heap, tmp_name.c_str(), RT_LOG_HEAP, H_FIFO);
[15]597 if (status != 0) {
[213]598 char errorMsg[256];
[133]599 Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]600 return;
601 }
[2]602#endif //__XENO__
603
[15]604 continuer = true;
[2]605
[15]606 // Initialize thread creation attributes
607 pthread_attr_t attr;
[213]608 status=pthread_attr_init(&attr);
609 if (status != 0) {
610 char errorMsg[256];
611 Err("pthread_attr_init error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]612 return;
613 }
[2]614
[213]615 status=pthread_attr_setstacksize(&attr, stackSize);
616 if (status != 0) {
617 char errorMsg[256];
618 Err("pthread_attr_setstacksize error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]619 return;
620 }
[2]621
[213]622 status=pthread_create(&log_th, &attr, write_log_user, (void *)this);
623 if (status < 0) {
624 char errorMsg[256];
625 Err("pthread_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]626 return;
627 }
[213]628
629 status=pthread_attr_destroy(&attr);
630 if (status != 0) {
631 char errorMsg[256];
632 Err("pthread_attr_destroy error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]633 return;
634 }
[2]635
[15]636 logger_defined = true;
[2]637}
638
[15]639void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
640 if (logger_defined == false) {
[51]641 Warn("SetupLogger() was not called, not adding to log\n");
[15]642 return;
643 }
[2]644
[15]645 if (is_logging == false) {
[122]646 if (!device->pimpl_->IsSetToBeLogged()) {
647 device->pimpl_->SetToBeLogged();
[15]648 log_desc_t tmp;
649 tmp.device = device;
650 logs.push_back(tmp);
651 } else {
652 Warn("not adding it twice\n");
[2]653 }
[15]654 } else {
655 Err("impossible while logging\n");
656 }
[2]657}
658
[122]659bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
660 return device->pimpl_->IsSetToBeLogged();
661}
662
[15]663void FrameworkManager_impl::StartLog(void) {
664 if (logger_defined == false) {
665 Err("SetupLogger() was not called, not starting log\n");
666 return;
667 }
[2]668
[15]669 ssize_t written;
670 size_t nb_err = 0;
[2]671
[15]672 if (logs.size() == 0) {
673 Warn("Not starting log: nothing to log!\n");
674 return;
675 }
[2]676
[15]677 if (is_logging == false) {
678 for (size_t i = 0; i < logs.size(); i++) {
[2]679
[15]680 logs.at(i).running = true;
681 logs.at(i).dbtFile = NULL;
682 logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
[2]683#ifdef __XENO__
[15]684 written =
685 rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
[2]686#else
[15]687 written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
[2]688#endif
689
[15]690 if (written < 0) {
[133]691 char errorMsg[256];
692 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]693 nb_err++;
694 logs.at(i).running = false;
695 } else if (written != sizeof(log_desc_t)) {
696 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
697 nb_err++;
698 logs.at(i).running = false;
699 }
700 }
[2]701
[15]702 if (nb_err != logs.size())
703 is_logging = true;
704 } else {
705 Warn("Already logging\n");
706 }
[2]707}
708
[15]709void FrameworkManager_impl::StopLog(void) {
710 ssize_t written;
[2]711
[15]712 if (is_logging == true) {
713 for (size_t i = 0; i < logs.size(); i++) {
714 logs.at(i).running = false;
715 }
716// send only one running false condition, user thread will stop and send all
[2]717#ifdef __XENO__
[15]718 written =
719 rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
[2]720#else
[15]721 written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
[2]722#endif
723
[15]724 if (written < 0) {
[133]725 char errorMsg[256];
726 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]727 return;
728 } else if (written != sizeof(log_desc_t)) {
729 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
730 return;
731 }
[2]732
[15]733 is_logging = false;
734 } else {
735 Warn("Not logging\n");
736 }
[2]737}
738
[15]739char *FrameworkManager_impl::GetBuffer(size_t sz) {
740// Printf("alloc %i\n",sz);
[2]741#ifdef __XENO__
[15]742 void *ptr;
743 int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
744 if (status != 0) {
[133]745 char errorMsg[256];
746 Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]747 ptr = NULL;
748 }
749 return (char *)ptr;
[2]750#else
[15]751 return (char *)malloc(sz);
[2]752#endif
753}
754
[15]755void FrameworkManager_impl::ReleaseBuffer(char *buf) {
[2]756#ifdef __XENO__
[15]757 int status = rt_heap_free(&log_heap, buf);
[2]758
[15]759 if (status != 0) {
[133]760 char errorMsg[256];
761 Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
[15]762 }
[2]763#else
[15]764 free(buf);
[2]765#endif
766}
767
[15]768void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
769 ssize_t written;
[2]770
771#ifdef __XENO__
[15]772 written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
[2]773#else
[15]774 written = write(data_pipe[1], buf, size);
[2]775#endif
776
[15]777 if (written < 0) {
[133]778 char errorMsg[256];
779 Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
[15]780 } else if (written != (ssize_t)size) {
[133]781 Err("error write pipe %ld/%ld\n", written, size);
[15]782 }
[2]783}
784
[15]785void *FrameworkManager_impl::write_log_user(void *arg) {
786 int cmd_pipe = -1;
787 int data_pipe = -1;
788 fd_set set;
789 struct timeval timeout;
790 FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
791 int rv;
[2]792
[15]793 vector<log_desc_t> logs;
[2]794
795#ifdef __XENO__
[15]796 while (cmd_pipe < 0) {
[213]797 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
[15]798 cmd_pipe = open(filename.c_str(), O_RDWR);
[213]799 if (cmd_pipe < 0 && errno != ENOENT) {
800 char errorMsg[256];
[133]801 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
[213]802 }
[15]803 usleep(1000);
804 }
805 while (data_pipe < 0) {
[213]806 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
[15]807 data_pipe = open(filename.c_str(), O_RDWR);
[213]808 if (data_pipe < 0 && errno != ENOENT) {
809 char errorMsg[256];
[133]810 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
[213]811 }
[15]812 usleep(1000);
813 }
[2]814#else
[15]815 cmd_pipe = caller->cmd_pipe[0];
816 data_pipe = caller->data_pipe[0];
[2]817#endif
818
[15]819 while (caller->continuer == true) {
820 FD_ZERO(&set);
821 FD_SET(cmd_pipe, &set);
822 FD_SET(data_pipe, &set);
[2]823
[15]824 timeout.tv_sec = 0;
825 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
826 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
[2]827
[15]828 if (rv == -1) {
829 caller->Err("select error\n"); // an error accured
830 } else if (rv == 0) {
831 // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
832 // a timeout occured
833 } else {
834 if (FD_ISSET(cmd_pipe, &set)) {
835 log_desc_t tmp;
836 read(cmd_pipe, &tmp, sizeof(log_desc_t));
837
[213]838 if (tmp.running == true) {// start logging
839 string filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
[55]840 printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
[15]841 tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
842 logs.push_back(tmp);
843
844 if (logs.size() == 1) {
845 filename = caller->log_path + "/setup.xml";
846 xmlSaveFile(filename.c_str(), caller->file_doc);
847 }
[213]848 } else {// stop logging
849 //disable watchdog temporarly
850 //this is necessary because GCS is no longer sending the heartbeat when receiving files...
851 //TODO: add a thread in GCS for receiving file
852 //but be careful that with a xbee modem for exemple, sending files can saturate communication and
853 //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
854 if(caller->gcs_watchdog!=NULL) {
855 caller->gcs_watchdog->SafeStop();
856 caller->gcs_watchdog->Join();
857 }
[234]858 //create a socket for files
859 UDTSOCKET file_sock = caller->GetSocket();
860 char data=START_SENDING_FILES;
861 ssize_t nb_write = UDT::sendmsg(file_sock, &data, 1, -1, true);
862 if (nb_write < 0) {
863 caller->Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
864 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
865 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
866 }
867 } else if (nb_write != 1) {
868 caller->Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
869 UDT::getlasterror().getErrorCode(), nb_write, 1);
870 }
[15]871 for (size_t i = 0; i < logs.size(); i++) {
872 if (logs.at(i).dbtFile != NULL) {
873 close_hdfile(logs.at(i).dbtFile);
[2]874
[213]875 string filename = caller->FileName(logs.at(i).device) + ".dbt";
[234]876 caller->SendFile(file_sock,caller->log_path, filename);
[2]877
[15]878 fstream txt_file;
879 filename = caller->FileName(logs.at(i).device) + ".txt";
880 txt_file.open((caller->log_path + "/" + filename).c_str(),
881 fstream::out);
882 txt_file << "1: time (us)\n2: time (ns)\n";
883 int index = 3;
884 logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
885 txt_file.close();
[2]886
[234]887 caller->SendFile(file_sock,caller->log_path, filename);
[15]888 }
889 }
890 // a revoir celui ci est le xml enregistré et pas forcement l'actuel
891 // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
[234]892 caller->FinishSending(file_sock);
893
894 int status = UDT::close(file_sock);
895 if (status != 0)
896 caller->Err("Error udt::close %s", UDT::getlasterror().getErrorMessage());
[2]897
[15]898 logs.clear();
[213]899 //enable watchdog again
900 if(caller->gcs_watchdog!=NULL) {
901 caller->gcs_watchdog->Start();
902 }
[15]903 }
904 }
[2]905
[15]906 if (FD_ISSET(data_pipe, &set)) {
907 log_header_t header;
908 read(data_pipe, &header, sizeof(log_header_t));
[2]909
[15]910 for (size_t i = 0; i < logs.size(); i++) {
911 if (logs.at(i).device == header.device) {
912 char *buf = (char *)malloc(header.size);
913 read(data_pipe, buf, header.size);
914 // printf("%s \n",header.device->ObjectName().c_str());
915 // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
916 // printf("\n");
917 if (logs.at(i).size == header.size) {
918 if (logs.at(i).dbtFile != NULL) {
919 write_hdfile(
920 logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
921 (road_timerange_t)(header.time % 1000), header.size);
922 } else {
923 printf("err\n");
924 }
925 } else {
926 caller->self->Err("%s log size is not correct %i/%i\n",
927 header.device->ObjectName().c_str(),
928 header.size, logs.at(i).size);
[2]929 }
[15]930 free(buf);
931 }
[2]932 }
[15]933 }
[2]934 }
[15]935 }
[2]936
937#ifdef __XENO__
[15]938 close(cmd_pipe);
939 close(data_pipe);
[2]940#endif
941
[15]942 pthread_exit(0);
[2]943}
944
[15]945string FrameworkManager_impl::FileName(IODevice *device) {
946 return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
[2]947}
948
[15]949void FrameworkManager_impl::PrintXml(void) const {
950 xmlChar *xmlbuff;
951 int buffersize;
952 xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
953 Printf("xml:\n%s\n", xmlbuff);
954 xmlFree(xmlbuff);
[2]955}
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