[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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[272] | 65 | printf("entering secondary mode\n");
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[2] | 66 | #endif
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[15] | 67 | // Dump a backtrace of the frame which caused the switch to secondary mode:
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| 68 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 69 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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| 70 | }
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| 71 | #else // SIGDEBUG
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| 72 | void warn_upon_switch(int sig __attribute__((unused))) {
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| 73 | void *bt[32];
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| 74 | int nentries;
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[2] | 75 |
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[15] | 76 | /* Dump a backtrace of the frame which caused the switch to
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| 77 | secondary mode: */
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| 78 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 79 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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| 80 | }
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| 81 | #endif // SIGDEBUG
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[2] | 82 | #endif //__XENO__
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[15] | 83 | void seg_fault(int sig __attribute__((unused))) {
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| 84 | void *bt[32];
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| 85 | int nentries;
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[2] | 86 |
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[15] | 87 | printf("Segmentation fault:\n");
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| 88 | /* Dump a backtrace of the frame which caused the segfault: */
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| 89 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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| 90 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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[2] | 91 |
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[15] | 92 | exit(1);
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[2] | 93 | }
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[15] | 94 | }
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[2] | 95 |
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[15] | 96 | FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
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| 97 | string name)
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| 98 | : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
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| 99 | this->self = self;
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| 100 | is_logging = false;
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| 101 | logger_defined = false;
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| 102 | disable_errors = false;
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| 103 | ui_defined = false;
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| 104 | rcv_buf = NULL;
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[20] | 105 | gcs_watchdog = NULL;
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[15] | 106 | _this = this;
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[55] | 107 | tabwidget=NULL;
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[2] | 108 |
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[15] | 109 | // Avoids memory swapping for this program
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| 110 | mlockall(MCL_CURRENT | MCL_FUTURE);
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[2] | 111 |
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[15] | 112 | // catch segfault
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| 113 | signal(SIGSEGV, seg_fault);
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[2] | 114 |
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[15] | 115 | // catch primary->secondary switch
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[2] | 116 | #ifdef __XENO__
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| 117 | #ifdef SIGDEBUG
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[45] | 118 | struct sigaction sa;
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[15] | 119 | sigemptyset(&sa.sa_mask);
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| 120 | sa.sa_sigaction = warn_upon_switch;
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| 121 | sa.sa_flags = SA_SIGINFO;
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| 122 | sigaction(SIGDEBUG, &sa, NULL);
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[118] | 123 | #else //SIGDEBUG
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[15] | 124 | signal(SIGXCPU, warn_upon_switch);
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[118] | 125 | #endif //SIGDEBUG
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| 126 | string task_name = "Framework_" + name;
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[2] | 127 |
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[118] | 128 | // Perform auto-init of rt_print buffers if the task doesn't do so
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| 129 | rt_print_auto_init(1);
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| 130 | // Initialise the rt_print buffer for this task explicitly
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| 131 | rt_print_init(512, task_name.c_str());
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| 132 |
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[15] | 133 | int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
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| 134 | if (status != 0) {
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[133] | 135 | char errorMsg[256];
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| 136 | self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 137 | }
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[2] | 138 |
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| 139 | #endif //__XENO__
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| 140 | }
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| 141 |
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[254] | 142 | void FrameworkManager_impl::SetConnectionLost(void) {
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[15] | 143 | Err("connection lost\n");
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[213] | 144 | if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
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[15] | 145 | connection_lost = true;
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[2] | 146 | }
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| 147 |
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| 148 | FrameworkManager_impl::~FrameworkManager_impl() {
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[15] | 149 | // Printf("destruction FrameworkManager_impl\n");
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| 150 | int status;
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[133] | 151 |
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[15] | 152 | SafeStop();
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| 153 | Join();
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[313] | 154 |
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| 155 | if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
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[2] | 156 |
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[15] | 157 | if (rcv_buf != NULL)
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| 158 | free(rcv_buf);
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[2] | 159 |
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[15] | 160 | if (logger_defined == true) {
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| 161 | continuer = false;
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| 162 | (void)pthread_join(log_th, NULL);
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[2] | 163 |
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[15] | 164 | status = DeletePipe(&cmd_pipe);
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| 165 | if (status != 0) {
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[213] | 166 | char errorMsg[256];
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[133] | 167 | Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 168 | }
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| 169 | status = DeletePipe(&data_pipe);
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| 170 | if (status != 0) {
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[213] | 171 | char errorMsg[256];
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[133] | 172 | Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 173 | }
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[2] | 174 |
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| 175 | #ifdef __XENO__
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[15] | 176 | status = rt_heap_delete(&log_heap);
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| 177 | if (status != 0) {
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[213] | 178 | char errorMsg[256];
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[133] | 179 | Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 180 | }
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[2] | 181 | #endif
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| 182 |
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[15] | 183 | logs.clear();
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| 184 | }
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[2] | 185 |
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[15] | 186 | if (file_doc != NULL)
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| 187 | xmlFreeDoc(file_doc);
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[2] | 188 |
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[15] | 189 | if (ui_defined)
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| 190 | delete top_layout;
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[2] | 191 |
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[15] | 192 | if (com != NULL) {
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| 193 | delete com;
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[243] | 194 | //avoid waiting on closing if connection is lost
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| 195 | if(connection_lost) {
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| 196 | bool blocking = false;
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| 197 | if (UDT::setsockopt(com_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
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| 198 | Err("UDT::setsockopt error (UDT_SNDSYN)\n");
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| 199 | }
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[15] | 200 | status = UDT::close(com_sock);
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| 201 | if (status != 0)
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[67] | 202 | Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
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[2] | 203 |
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[15] | 204 | SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
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[243] | 205 |
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| 206 | if(connection_lost) {
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| 207 | //don't know why?
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| 208 | Warn("Cleaning up UDT socket, this can take some time\n");
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| 209 | }
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| 210 | if (UDT::cleanup() != 0)
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| 211 | Err("UDT::cleanup error\n");
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[15] | 212 | }
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[2] | 213 |
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[15] | 214 | // Printf("destruction FrameworkManager_impl ok\n");
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[2] | 215 | }
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| 216 |
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[55] | 217 | void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
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[15] | 218 | size_t rcv_buf_size) {
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[137] | 219 | if (com != NULL) {
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| 220 | Err("SetupConnection should be called only one time\n");
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| 221 | return;
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| 222 | }
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[414] | 223 | if(address=="autodetect") {
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| 224 | Printf("autodetecting gcs ip address based on ssh connection\n");
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| 225 | address=AutoDetectGCS();
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| 226 | }
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[234] | 227 | this->address=address;
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| 228 | this->port=port;
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[137] | 229 |
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[262] | 230 | UDT::startup2(1024*256,1024*256,1024*256);
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[15] | 231 | this->rcv_buf_size = rcv_buf_size;
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[2] | 232 |
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[15] | 233 | // socket file_socket, doit être créé en premier, cf station sol
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[290] | 234 | Printf("Connecting to FlairGCS on %s:%i\n", address.c_str(), port);
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[234] | 235 | //file_sock = GetSocket(address, port);
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| 236 | com_sock = GetSocket();
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[2] | 237 |
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[15] | 238 | // receive buffer allocation
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| 239 | rcv_buf = (char *)malloc(rcv_buf_size);
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| 240 | if (rcv_buf == NULL) {
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| 241 | Err("receive buffer malloc error\n");
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| 242 | }
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[2] | 243 |
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[15] | 244 | com = new ui_com(this, com_sock);
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[2] | 245 |
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[15] | 246 | Start();
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[2] | 247 |
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[15] | 248 | // watchdog for connection with ground station
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| 249 | connection_lost = false;
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[254] | 250 | gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::SetConnectionLost, this),watchdogTimeout);
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[15] | 251 | gcs_watchdog->Start();
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[2] | 252 | }
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| 253 |
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[414] | 254 | string FrameworkManager_impl::AutoDetectGCS(void) {
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| 255 | FILE *fp;
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| 256 | char result[15];
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| 257 |
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| 258 | //get only first result and remove line feed
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| 259 | fp = popen("who | awk '{ print $7; }' | head -n 1 | tr -d '\n'", "r");
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| 260 | if (fp == NULL) {
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| 261 | Err("Failed to run autodetect command\n" );
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| 262 | }
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| 263 |
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| 264 | fgets(result, sizeof(result), fp);
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| 265 | pclose(fp);
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| 266 |
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| 267 | return result;
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| 268 | }
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| 269 |
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[2] | 270 | void FrameworkManager_impl::SetupUserInterface(string xml_file) {
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[15] | 271 | ui_defined = true;
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| 272 | this->xml_file = xml_file;
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[2] | 273 |
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[15] | 274 | // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
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| 275 | top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
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[2] | 276 |
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[15] | 277 | // xml setup of the main widget
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| 278 | if (xml_file != "") {
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| 279 | xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
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| 280 | file_doc = xmlParseFile(xml_file.c_str());
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| 281 | if (file_doc == NULL) {
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| 282 | self->Warn("XML document not parsed successfully. Creating a new one.\n");
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| 283 | file_doc = xmlNewDoc((xmlChar *)"1.0");
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| 284 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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| 285 | xmlSetProp(*file_node, (xmlChar *)"name",
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| 286 | (xmlChar *)ObjectName().c_str());
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| 287 | xmlDocSetRootElement(file_doc, *file_node);
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| 288 | // PrintXml();
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[2] | 289 | } else {
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[15] | 290 | *file_node = xmlDocGetRootElement(file_doc);
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| 291 | if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
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| 292 | self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
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| 293 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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| 294 | xmlSetProp(*file_node, (xmlChar *)"name",
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| 295 | (xmlChar *)ObjectName().c_str());
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| 296 | xmlDocSetRootElement(file_doc, *file_node);
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| 297 | }
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[2] | 298 | }
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[15] | 299 | } else {
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| 300 | self->Err("xml file not defined\n");
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| 301 | }
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[2] | 302 |
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[15] | 303 | // gui
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| 304 | tabwidget =
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| 305 | new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
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| 306 | save_button =
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| 307 | new PushButton(top_layout->At(1, 0),
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| 308 | "save config on target (" + self->ObjectName() + ")");
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| 309 | // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
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| 310 | // self->ObjectName() + ")");
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[2] | 311 | }
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| 312 |
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[15] | 313 | // in case of RT, this thread switches to secondary mode when calling
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| 314 | // com->Receive
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| 315 | // it switches back to RT in ProcessXML when mutex are locked
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| 316 | void FrameworkManager_impl::Run(void) {
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[414] | 317 |
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| 318 | if (self->ErrorOccured() == true) {
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| 319 | return ;
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| 320 | }
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| 321 |
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| 322 |
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[15] | 323 | while (!ToBeStopped()) {
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| 324 | ssize_t bytesRead;
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| 325 | bytesRead = com->Receive(rcv_buf, rcv_buf_size);
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[234] | 326 | com->CheckConnection();
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| 327 | //printf("%i\n",bytesRead);
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[15] | 328 | if (bytesRead == (ssize_t)rcv_buf_size)
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| 329 | Err("FrameworkManager max receive size, augmenter le buffer size!\n");
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[2] | 330 |
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[15] | 331 | if (bytesRead > 0) {
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[234] | 332 | //printf("recu %ld, trame %x %lld\n",bytesRead,(uint8_t)rcv_buf[0],GetTime()/(1000000));
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| 333 | //rcv_buf[bytesRead-1]=0;//pour affichage
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| 334 | //printf("%s\n",rcv_buf);
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[2] | 335 |
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[15] | 336 | switch ((uint8_t)rcv_buf[0]) {
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| 337 | case XML_HEADER: {
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| 338 | xmlDoc *doc;
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| 339 | rcv_buf[bytesRead] = 0;
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[67] | 340 | //Printf("%s\n",rcv_buf);
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[15] | 341 | doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
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| 342 | "ISO-8859-1", 0);
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| 343 | xmlNode *cur_node = NULL;
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[2] | 344 |
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[15] | 345 | for (cur_node = xmlDocGetRootElement(doc); cur_node;
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| 346 | cur_node = cur_node->next) {
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| 347 | if (cur_node->type == XML_ELEMENT_NODE) {
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| 348 | if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
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[2] | 349 | #ifdef __XENO__
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[15] | 350 | WarnUponSwitches(
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| 351 | true); // ProcessXML should not switch to secondary mode
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[2] | 352 | #endif
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[15] | 353 | top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
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[2] | 354 | #ifdef __XENO__
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[15] | 355 | WarnUponSwitches(false); // other parts of this thread can switch
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| 356 | // to secondary mode
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[2] | 357 | #endif
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[15] | 358 | break;
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| 359 | }
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| 360 | }
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| 361 | }
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[2] | 362 |
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[15] | 363 | xmlFreeDoc(doc);
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[2] | 364 |
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[15] | 365 | if (save_button->Clicked())
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| 366 | SaveXml();
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[2] | 367 |
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[15] | 368 | SaveXmlChange(rcv_buf);
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[2] | 369 |
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[15] | 370 | break;
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| 371 | }
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| 372 | case WATCHDOG_HEADER: {
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[213] | 373 | if(gcs_watchdog!=NULL) gcs_watchdog->Touch();
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[15] | 374 | break;
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| 375 | }
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| 376 | default:
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| 377 | Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
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| 378 | break;
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| 379 | }
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| 380 | } else {
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| 381 | if (com->ConnectionLost())
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| 382 | SleepMS(10); // avoid infinite loop in this case
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[2] | 383 | }
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[15] | 384 | }
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[2] | 385 | }
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| 386 |
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[15] | 387 | void FrameworkManager_impl::SaveXml(void) {
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| 388 | if (ui_defined)
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| 389 | xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
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[2] | 390 | }
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| 391 |
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[15] | 392 | void FrameworkManager_impl::SaveXmlChange(char *buf) {
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| 393 | if (is_logging == true) {
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| 394 | FILE *xml_change;
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| 395 | char filename[256];
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| 396 | Time time = GetTime();
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[2] | 397 |
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[15] | 398 | sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
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[2] | 399 |
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[15] | 400 | xml_change = fopen(filename, "a");
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| 401 | fprintf(xml_change, "%s", buf);
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| 402 | fclose(xml_change);
|
---|
[2] | 403 |
|
---|
[15] | 404 | sprintf(filename, "changes_at_%lld.xml", time);
|
---|
| 405 | xml_changes.push_back(filename);
|
---|
| 406 | }
|
---|
[2] | 407 | }
|
---|
| 408 |
|
---|
[234] | 409 | void FrameworkManager_impl::SendFile(UDTSOCKET socket,string path, string name) {
|
---|
[15] | 410 | char *buf, *more_buf;
|
---|
| 411 | int size;
|
---|
| 412 | filebuf *pbuf;
|
---|
| 413 | ssize_t nb_write;
|
---|
| 414 | string filename = path + "/" + name;
|
---|
[2] | 415 |
|
---|
[15] | 416 | // open the file
|
---|
| 417 | fstream ifs(filename.c_str(), ios::in | ios::binary);
|
---|
| 418 | ifs.seekg(0, ios::end);
|
---|
| 419 | size = ifs.tellg();
|
---|
| 420 | ifs.seekg(0, ios::beg);
|
---|
| 421 | pbuf = ifs.rdbuf();
|
---|
[2] | 422 |
|
---|
[15] | 423 | if (size <= 0) {
|
---|
| 424 | Err("error opening file %s\n", filename.c_str());
|
---|
| 425 | return;
|
---|
| 426 | }
|
---|
[2] | 427 |
|
---|
[15] | 428 | buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
|
---|
| 429 | if (buf == NULL) {
|
---|
| 430 | Err("malloc error, not sending file\n");
|
---|
| 431 | return;
|
---|
| 432 | }
|
---|
[2] | 433 |
|
---|
[15] | 434 | if (IsBigEndian()) {
|
---|
| 435 | buf[0] = FILE_INFO_BIG_ENDIAN;
|
---|
| 436 | } else {
|
---|
| 437 | buf[0] = FILE_INFO_LITTLE_ENDIAN;
|
---|
| 438 | }
|
---|
[2] | 439 |
|
---|
[15] | 440 | memcpy(buf + 1, &size, sizeof(int));
|
---|
| 441 | memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
|
---|
| 442 | Printf("sending %s, size: %i\n", filename.c_str(), size);
|
---|
| 443 | // send file information
|
---|
[234] | 444 | UDT::sendmsg(socket, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,true);
|
---|
[2] | 445 |
|
---|
[15] | 446 | more_buf = (char *)realloc((void *)buf, size);
|
---|
| 447 | if (more_buf == NULL) {
|
---|
| 448 | Err("realloc error, not sending file\n");
|
---|
| 449 | free(buf);
|
---|
| 450 | return;
|
---|
| 451 | } else {
|
---|
| 452 | buf = more_buf;
|
---|
| 453 | }
|
---|
[2] | 454 |
|
---|
[15] | 455 | pbuf->sgetn(buf, size);
|
---|
| 456 | // send the file
|
---|
[234] | 457 | nb_write = UDT::sendmsg(socket, buf, size, -1, true);
|
---|
[2] | 458 |
|
---|
[15] | 459 | if (nb_write < 0) {
|
---|
| 460 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
| 461 | } else if (nb_write != size) {
|
---|
| 462 | Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
|
---|
| 463 | }
|
---|
[2] | 464 |
|
---|
[15] | 465 | ifs.close();
|
---|
| 466 | free(buf);
|
---|
[2] | 467 | }
|
---|
| 468 |
|
---|
[234] | 469 | void FrameworkManager_impl::FinishSending(UDTSOCKET socket) {
|
---|
[15] | 470 | char rm_cmd[256];
|
---|
[2] | 471 |
|
---|
[15] | 472 | // send orignal xml
|
---|
[234] | 473 | SendFile(socket,log_path, "setup.xml");
|
---|
[15] | 474 | sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
|
---|
| 475 | system(rm_cmd);
|
---|
| 476 |
|
---|
| 477 | // send xml changes
|
---|
| 478 | for (size_t i = 0; i < xml_changes.size(); i++) {
|
---|
| 479 | // Printf("%s\n",xml_changes.at(i).c_str());
|
---|
[234] | 480 | SendFile(socket,log_path, xml_changes.at(i).c_str());
|
---|
[15] | 481 | sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
|
---|
[2] | 482 | system(rm_cmd);
|
---|
[15] | 483 | }
|
---|
| 484 | xml_changes.clear();
|
---|
[2] | 485 |
|
---|
[15] | 486 | // end notify
|
---|
[234] | 487 | char buf = END_SENDING_FILES;
|
---|
| 488 | int nb_write = UDT::sendmsg(socket, &buf, 1, -1, true);
|
---|
[2] | 489 |
|
---|
[15] | 490 | if (nb_write < 0) {
|
---|
| 491 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
| 492 | } else if (nb_write != 1) {
|
---|
| 493 | Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
|
---|
| 494 | }
|
---|
[20] | 495 |
|
---|
[213] | 496 | //wait end ACK
|
---|
[234] | 497 | int nb_read = UDT::recvmsg(socket,&buf,1);
|
---|
[213] | 498 | if(nb_read<0) {
|
---|
[20] | 499 | Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
|
---|
[213] | 500 | } else if (nb_read != 1) {
|
---|
[20] | 501 | Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
|
---|
[213] | 502 | }
|
---|
[15] | 503 | }
|
---|
[2] | 504 |
|
---|
[234] | 505 | UDTSOCKET FrameworkManager_impl::GetSocket(void) {
|
---|
[15] | 506 | while (1) {
|
---|
| 507 | UDTSOCKET new_fd;
|
---|
| 508 | new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
|
---|
| 509 | if (new_fd == UDT::INVALID_SOCK) {
|
---|
| 510 | Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
| 511 | return 0;
|
---|
[2] | 512 | }
|
---|
| 513 |
|
---|
[15] | 514 | sockaddr_in serv_addr;
|
---|
| 515 | serv_addr.sin_family = AF_INET;
|
---|
| 516 | serv_addr.sin_port = htons(short(port));
|
---|
[2] | 517 |
|
---|
[15] | 518 | if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
|
---|
| 519 | Err("incorrect network address\n");
|
---|
| 520 | return 0;
|
---|
| 521 | }
|
---|
[2] | 522 |
|
---|
[15] | 523 | memset(&(serv_addr.sin_zero), '\0', 8);
|
---|
[2] | 524 |
|
---|
[15] | 525 | if (UDT::ERROR ==
|
---|
| 526 | UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
|
---|
| 527 | // Printf("connect error: %s
|
---|
| 528 | // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
|
---|
| 529 | UDT::close(new_fd);
|
---|
| 530 | if (UDT::getlasterror().getErrorCode() != 1001 &&
|
---|
| 531 | UDT::getlasterror().getErrorCode() != 1002) {
|
---|
| 532 | Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
| 533 | return 0;
|
---|
| 534 | }
|
---|
| 535 | } else {
|
---|
| 536 | // printf("connected to
|
---|
| 537 | // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
|
---|
| 538 | return new_fd;
|
---|
[2] | 539 | }
|
---|
[15] | 540 | }
|
---|
[2] | 541 | }
|
---|
| 542 |
|
---|
| 543 | #ifdef __XENO__
|
---|
[15] | 544 | int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
|
---|
| 545 | name = self->ObjectName() + "-" + name;
|
---|
| 546 | // xenomai limitation
|
---|
| 547 | if (name.size() > 31)
|
---|
| 548 | self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
|
---|
| 549 | // start log writter
|
---|
[2] | 550 | #ifdef RT_PIPE_SIZE
|
---|
[15] | 551 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
|
---|
[2] | 552 | #else
|
---|
[15] | 553 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
|
---|
[2] | 554 | #endif
|
---|
| 555 | }
|
---|
| 556 | #else
|
---|
[15] | 557 | int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
|
---|
| 558 | // if(pipe2(fd[0],O_NONBLOCK) == -1)
|
---|
| 559 | if (pipe(fd[0]) == -1) {
|
---|
| 560 | return errno;
|
---|
| 561 | } else {
|
---|
| 562 | int attr = fcntl((*fd)[0], F_GETFL, 0);
|
---|
| 563 | if (attr == -1) {
|
---|
| 564 | return errno;
|
---|
[2] | 565 | }
|
---|
[15] | 566 | if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
| 567 | return errno;
|
---|
| 568 | }
|
---|
| 569 | attr = fcntl((*fd)[1], F_GETFL, 0);
|
---|
| 570 | if (attr == -1) {
|
---|
| 571 | return errno;
|
---|
| 572 | }
|
---|
| 573 | if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
| 574 | return errno;
|
---|
| 575 | }
|
---|
[2] | 576 |
|
---|
[15] | 577 | return 0;
|
---|
| 578 | }
|
---|
[2] | 579 | }
|
---|
| 580 | #endif
|
---|
| 581 |
|
---|
| 582 | #ifdef __XENO__
|
---|
[15] | 583 | int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
|
---|
| 584 | return rt_pipe_delete(fd);
|
---|
[2] | 585 | }
|
---|
| 586 | #else
|
---|
[15] | 587 | int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
|
---|
| 588 | int status1 = close((*fd)[0]);
|
---|
| 589 | int status2 = close((*fd)[1]);
|
---|
| 590 | if (status1 == 0 && status2 == 0)
|
---|
| 591 | return 0;
|
---|
| 592 | if (status1 != 0)
|
---|
| 593 | return status1;
|
---|
| 594 | if (status2 != 0)
|
---|
| 595 | return status2;
|
---|
[2] | 596 | }
|
---|
| 597 | #endif
|
---|
| 598 |
|
---|
[213] | 599 | void FrameworkManager_impl::SetupLogger(string log_path,uint32_t stackSize) {
|
---|
[133] | 600 |
|
---|
| 601 | if (logger_defined == true) {
|
---|
[15] | 602 | Warn("SetupLogger() was already called.\n");
|
---|
| 603 | return;
|
---|
| 604 | }
|
---|
[2] | 605 |
|
---|
[15] | 606 | this->log_path = log_path;
|
---|
[2] | 607 |
|
---|
[15] | 608 | int status = CreatePipe(&cmd_pipe, "log_cmd");
|
---|
| 609 | if (status != 0) {
|
---|
[213] | 610 | char errorMsg[256];
|
---|
[133] | 611 | Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 612 | return;
|
---|
| 613 | }
|
---|
[2] | 614 |
|
---|
[15] | 615 | status = CreatePipe(&data_pipe, "log_data");
|
---|
| 616 | if (status != 0) {
|
---|
[213] | 617 | char errorMsg[256];
|
---|
[133] | 618 | Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 619 | return;
|
---|
| 620 | }
|
---|
[2] | 621 |
|
---|
| 622 | #ifdef __XENO__
|
---|
[15] | 623 | string tmp_name;
|
---|
| 624 | tmp_name = self->ObjectName() + "-log_heap";
|
---|
[213] | 625 | status = rt_heap_create(&log_heap, tmp_name.c_str(), RT_LOG_HEAP, H_FIFO);
|
---|
[15] | 626 | if (status != 0) {
|
---|
[213] | 627 | char errorMsg[256];
|
---|
[133] | 628 | Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 629 | return;
|
---|
| 630 | }
|
---|
[2] | 631 | #endif //__XENO__
|
---|
| 632 |
|
---|
[15] | 633 | continuer = true;
|
---|
[2] | 634 |
|
---|
[15] | 635 | // Initialize thread creation attributes
|
---|
| 636 | pthread_attr_t attr;
|
---|
[213] | 637 | status=pthread_attr_init(&attr);
|
---|
| 638 | if (status != 0) {
|
---|
| 639 | char errorMsg[256];
|
---|
| 640 | Err("pthread_attr_init error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 641 | return;
|
---|
| 642 | }
|
---|
[2] | 643 |
|
---|
[213] | 644 | status=pthread_attr_setstacksize(&attr, stackSize);
|
---|
| 645 | if (status != 0) {
|
---|
| 646 | char errorMsg[256];
|
---|
| 647 | Err("pthread_attr_setstacksize error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 648 | return;
|
---|
| 649 | }
|
---|
[2] | 650 |
|
---|
[213] | 651 | status=pthread_create(&log_th, &attr, write_log_user, (void *)this);
|
---|
| 652 | if (status < 0) {
|
---|
| 653 | char errorMsg[256];
|
---|
| 654 | Err("pthread_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 655 | return;
|
---|
| 656 | }
|
---|
[213] | 657 |
|
---|
| 658 | status=pthread_attr_destroy(&attr);
|
---|
| 659 | if (status != 0) {
|
---|
| 660 | char errorMsg[256];
|
---|
| 661 | Err("pthread_attr_destroy error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 662 | return;
|
---|
| 663 | }
|
---|
[2] | 664 |
|
---|
[15] | 665 | logger_defined = true;
|
---|
[2] | 666 | }
|
---|
| 667 |
|
---|
[15] | 668 | void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
|
---|
| 669 | if (logger_defined == false) {
|
---|
[51] | 670 | Warn("SetupLogger() was not called, not adding to log\n");
|
---|
[15] | 671 | return;
|
---|
| 672 | }
|
---|
[2] | 673 |
|
---|
[15] | 674 | if (is_logging == false) {
|
---|
[122] | 675 | if (!device->pimpl_->IsSetToBeLogged()) {
|
---|
| 676 | device->pimpl_->SetToBeLogged();
|
---|
[15] | 677 | log_desc_t tmp;
|
---|
| 678 | tmp.device = device;
|
---|
| 679 | logs.push_back(tmp);
|
---|
| 680 | } else {
|
---|
| 681 | Warn("not adding it twice\n");
|
---|
[2] | 682 | }
|
---|
[15] | 683 | } else {
|
---|
| 684 | Err("impossible while logging\n");
|
---|
| 685 | }
|
---|
[2] | 686 | }
|
---|
| 687 |
|
---|
[122] | 688 | bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
|
---|
| 689 | return device->pimpl_->IsSetToBeLogged();
|
---|
| 690 | }
|
---|
| 691 |
|
---|
[15] | 692 | void FrameworkManager_impl::StartLog(void) {
|
---|
| 693 | if (logger_defined == false) {
|
---|
| 694 | Err("SetupLogger() was not called, not starting log\n");
|
---|
| 695 | return;
|
---|
| 696 | }
|
---|
[2] | 697 |
|
---|
[15] | 698 | ssize_t written;
|
---|
| 699 | size_t nb_err = 0;
|
---|
[2] | 700 |
|
---|
[15] | 701 | if (logs.size() == 0) {
|
---|
| 702 | Warn("Not starting log: nothing to log!\n");
|
---|
| 703 | return;
|
---|
| 704 | }
|
---|
[2] | 705 |
|
---|
[15] | 706 | if (is_logging == false) {
|
---|
| 707 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
[2] | 708 |
|
---|
[15] | 709 | logs.at(i).running = true;
|
---|
| 710 | logs.at(i).dbtFile = NULL;
|
---|
| 711 | logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
|
---|
[2] | 712 | #ifdef __XENO__
|
---|
[15] | 713 | written =
|
---|
| 714 | rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
|
---|
[2] | 715 | #else
|
---|
[15] | 716 | written = write(cmd_pipe[1], &logs.at(i), 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 | nb_err++;
|
---|
| 723 | logs.at(i).running = false;
|
---|
| 724 | } else if (written != sizeof(log_desc_t)) {
|
---|
| 725 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
| 726 | nb_err++;
|
---|
| 727 | logs.at(i).running = false;
|
---|
| 728 | }
|
---|
| 729 | }
|
---|
[2] | 730 |
|
---|
[15] | 731 | if (nb_err != logs.size())
|
---|
| 732 | is_logging = true;
|
---|
| 733 | } else {
|
---|
| 734 | Warn("Already logging\n");
|
---|
| 735 | }
|
---|
[2] | 736 | }
|
---|
| 737 |
|
---|
[15] | 738 | void FrameworkManager_impl::StopLog(void) {
|
---|
| 739 | ssize_t written;
|
---|
[2] | 740 |
|
---|
[15] | 741 | if (is_logging == true) {
|
---|
| 742 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 743 | logs.at(i).running = false;
|
---|
| 744 | }
|
---|
| 745 | // send only one running false condition, user thread will stop and send all
|
---|
[2] | 746 | #ifdef __XENO__
|
---|
[15] | 747 | written =
|
---|
| 748 | rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
|
---|
[2] | 749 | #else
|
---|
[15] | 750 | written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
|
---|
[2] | 751 | #endif
|
---|
| 752 |
|
---|
[15] | 753 | if (written < 0) {
|
---|
[133] | 754 | char errorMsg[256];
|
---|
| 755 | Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 756 | return;
|
---|
| 757 | } else if (written != sizeof(log_desc_t)) {
|
---|
| 758 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
| 759 | return;
|
---|
| 760 | }
|
---|
[2] | 761 |
|
---|
[15] | 762 | is_logging = false;
|
---|
| 763 | } else {
|
---|
| 764 | Warn("Not logging\n");
|
---|
| 765 | }
|
---|
[2] | 766 | }
|
---|
| 767 |
|
---|
[15] | 768 | char *FrameworkManager_impl::GetBuffer(size_t sz) {
|
---|
| 769 | // Printf("alloc %i\n",sz);
|
---|
[2] | 770 | #ifdef __XENO__
|
---|
[15] | 771 | void *ptr;
|
---|
| 772 | int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
|
---|
| 773 | if (status != 0) {
|
---|
[133] | 774 | char errorMsg[256];
|
---|
| 775 | Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 776 | ptr = NULL;
|
---|
| 777 | }
|
---|
| 778 | return (char *)ptr;
|
---|
[2] | 779 | #else
|
---|
[15] | 780 | return (char *)malloc(sz);
|
---|
[2] | 781 | #endif
|
---|
| 782 | }
|
---|
| 783 |
|
---|
[15] | 784 | void FrameworkManager_impl::ReleaseBuffer(char *buf) {
|
---|
[2] | 785 | #ifdef __XENO__
|
---|
[15] | 786 | int status = rt_heap_free(&log_heap, buf);
|
---|
[2] | 787 |
|
---|
[15] | 788 | if (status != 0) {
|
---|
[133] | 789 | char errorMsg[256];
|
---|
| 790 | Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 791 | }
|
---|
[2] | 792 | #else
|
---|
[15] | 793 | free(buf);
|
---|
[2] | 794 | #endif
|
---|
| 795 | }
|
---|
| 796 |
|
---|
[15] | 797 | void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
|
---|
| 798 | ssize_t written;
|
---|
[2] | 799 |
|
---|
| 800 | #ifdef __XENO__
|
---|
[15] | 801 | written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
|
---|
[2] | 802 | #else
|
---|
[15] | 803 | written = write(data_pipe[1], buf, size);
|
---|
[2] | 804 | #endif
|
---|
| 805 |
|
---|
[15] | 806 | if (written < 0) {
|
---|
[133] | 807 | char errorMsg[256];
|
---|
| 808 | Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
|
---|
[15] | 809 | } else if (written != (ssize_t)size) {
|
---|
[133] | 810 | Err("error write pipe %ld/%ld\n", written, size);
|
---|
[15] | 811 | }
|
---|
[2] | 812 | }
|
---|
| 813 |
|
---|
[15] | 814 | void *FrameworkManager_impl::write_log_user(void *arg) {
|
---|
| 815 | int cmd_pipe = -1;
|
---|
| 816 | int data_pipe = -1;
|
---|
| 817 | fd_set set;
|
---|
| 818 | struct timeval timeout;
|
---|
| 819 | FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
|
---|
| 820 | int rv;
|
---|
[2] | 821 |
|
---|
[15] | 822 | vector<log_desc_t> logs;
|
---|
[2] | 823 |
|
---|
| 824 | #ifdef __XENO__
|
---|
[15] | 825 | while (cmd_pipe < 0) {
|
---|
[213] | 826 | string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
|
---|
[15] | 827 | cmd_pipe = open(filename.c_str(), O_RDWR);
|
---|
[213] | 828 | if (cmd_pipe < 0 && errno != ENOENT) {
|
---|
| 829 | char errorMsg[256];
|
---|
[133] | 830 | caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
|
---|
[213] | 831 | }
|
---|
[15] | 832 | usleep(1000);
|
---|
| 833 | }
|
---|
| 834 | while (data_pipe < 0) {
|
---|
[213] | 835 | string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
|
---|
[15] | 836 | data_pipe = open(filename.c_str(), O_RDWR);
|
---|
[213] | 837 | if (data_pipe < 0 && errno != ENOENT) {
|
---|
| 838 | char errorMsg[256];
|
---|
[133] | 839 | caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
|
---|
[213] | 840 | }
|
---|
[15] | 841 | usleep(1000);
|
---|
| 842 | }
|
---|
[2] | 843 | #else
|
---|
[15] | 844 | cmd_pipe = caller->cmd_pipe[0];
|
---|
| 845 | data_pipe = caller->data_pipe[0];
|
---|
[2] | 846 | #endif
|
---|
| 847 |
|
---|
[15] | 848 | while (caller->continuer == true) {
|
---|
| 849 | FD_ZERO(&set);
|
---|
| 850 | FD_SET(cmd_pipe, &set);
|
---|
| 851 | FD_SET(data_pipe, &set);
|
---|
[2] | 852 |
|
---|
[15] | 853 | timeout.tv_sec = 0;
|
---|
| 854 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
|
---|
| 855 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
|
---|
[2] | 856 |
|
---|
[15] | 857 | if (rv == -1) {
|
---|
| 858 | caller->Err("select error\n"); // an error accured
|
---|
| 859 | } else if (rv == 0) {
|
---|
| 860 | // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
|
---|
| 861 | // a timeout occured
|
---|
| 862 | } else {
|
---|
| 863 | if (FD_ISSET(cmd_pipe, &set)) {
|
---|
| 864 | log_desc_t tmp;
|
---|
| 865 | read(cmd_pipe, &tmp, sizeof(log_desc_t));
|
---|
| 866 |
|
---|
[213] | 867 | if (tmp.running == true) {// start logging
|
---|
| 868 | string filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
|
---|
[55] | 869 | printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
|
---|
[15] | 870 | tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
|
---|
| 871 | logs.push_back(tmp);
|
---|
| 872 |
|
---|
| 873 | if (logs.size() == 1) {
|
---|
| 874 | filename = caller->log_path + "/setup.xml";
|
---|
| 875 | xmlSaveFile(filename.c_str(), caller->file_doc);
|
---|
| 876 | }
|
---|
[213] | 877 | } else {// stop logging
|
---|
| 878 | //disable watchdog temporarly
|
---|
| 879 | //this is necessary because GCS is no longer sending the heartbeat when receiving files...
|
---|
| 880 | //TODO: add a thread in GCS for receiving file
|
---|
| 881 | //but be careful that with a xbee modem for exemple, sending files can saturate communication and
|
---|
| 882 | //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
|
---|
| 883 | if(caller->gcs_watchdog!=NULL) {
|
---|
| 884 | caller->gcs_watchdog->SafeStop();
|
---|
| 885 | caller->gcs_watchdog->Join();
|
---|
| 886 | }
|
---|
[234] | 887 | //create a socket for files
|
---|
| 888 | UDTSOCKET file_sock = caller->GetSocket();
|
---|
| 889 | char data=START_SENDING_FILES;
|
---|
| 890 | ssize_t nb_write = UDT::sendmsg(file_sock, &data, 1, -1, true);
|
---|
| 891 | if (nb_write < 0) {
|
---|
| 892 | caller->Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
| 893 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
|
---|
| 894 | UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
|
---|
| 895 | }
|
---|
| 896 | } else if (nb_write != 1) {
|
---|
| 897 | caller->Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
|
---|
| 898 | UDT::getlasterror().getErrorCode(), nb_write, 1);
|
---|
| 899 | }
|
---|
[15] | 900 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 901 | if (logs.at(i).dbtFile != NULL) {
|
---|
| 902 | close_hdfile(logs.at(i).dbtFile);
|
---|
[2] | 903 |
|
---|
[213] | 904 | string filename = caller->FileName(logs.at(i).device) + ".dbt";
|
---|
[234] | 905 | caller->SendFile(file_sock,caller->log_path, filename);
|
---|
[2] | 906 |
|
---|
[15] | 907 | fstream txt_file;
|
---|
| 908 | filename = caller->FileName(logs.at(i).device) + ".txt";
|
---|
| 909 | txt_file.open((caller->log_path + "/" + filename).c_str(),
|
---|
| 910 | fstream::out);
|
---|
| 911 | txt_file << "1: time (us)\n2: time (ns)\n";
|
---|
| 912 | int index = 3;
|
---|
| 913 | logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
|
---|
| 914 | txt_file.close();
|
---|
[2] | 915 |
|
---|
[234] | 916 | caller->SendFile(file_sock,caller->log_path, filename);
|
---|
[15] | 917 | }
|
---|
| 918 | }
|
---|
| 919 | // a revoir celui ci est le xml enregistré et pas forcement l'actuel
|
---|
| 920 | // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
|
---|
[234] | 921 | caller->FinishSending(file_sock);
|
---|
| 922 |
|
---|
| 923 | int status = UDT::close(file_sock);
|
---|
| 924 | if (status != 0)
|
---|
| 925 | caller->Err("Error udt::close %s", UDT::getlasterror().getErrorMessage());
|
---|
[2] | 926 |
|
---|
[15] | 927 | logs.clear();
|
---|
[213] | 928 | //enable watchdog again
|
---|
| 929 | if(caller->gcs_watchdog!=NULL) {
|
---|
| 930 | caller->gcs_watchdog->Start();
|
---|
| 931 | }
|
---|
[15] | 932 | }
|
---|
| 933 | }
|
---|
[2] | 934 |
|
---|
[15] | 935 | if (FD_ISSET(data_pipe, &set)) {
|
---|
| 936 | log_header_t header;
|
---|
| 937 | read(data_pipe, &header, sizeof(log_header_t));
|
---|
[2] | 938 |
|
---|
[15] | 939 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
| 940 | if (logs.at(i).device == header.device) {
|
---|
| 941 | char *buf = (char *)malloc(header.size);
|
---|
| 942 | read(data_pipe, buf, header.size);
|
---|
| 943 | // printf("%s \n",header.device->ObjectName().c_str());
|
---|
| 944 | // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
|
---|
| 945 | // printf("\n");
|
---|
| 946 | if (logs.at(i).size == header.size) {
|
---|
| 947 | if (logs.at(i).dbtFile != NULL) {
|
---|
| 948 | write_hdfile(
|
---|
| 949 | logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
|
---|
| 950 | (road_timerange_t)(header.time % 1000), header.size);
|
---|
| 951 | } else {
|
---|
| 952 | printf("err\n");
|
---|
| 953 | }
|
---|
| 954 | } else {
|
---|
| 955 | caller->self->Err("%s log size is not correct %i/%i\n",
|
---|
| 956 | header.device->ObjectName().c_str(),
|
---|
| 957 | header.size, logs.at(i).size);
|
---|
[2] | 958 | }
|
---|
[15] | 959 | free(buf);
|
---|
| 960 | }
|
---|
[2] | 961 | }
|
---|
[15] | 962 | }
|
---|
[2] | 963 | }
|
---|
[15] | 964 | }
|
---|
[2] | 965 |
|
---|
| 966 | #ifdef __XENO__
|
---|
[15] | 967 | close(cmd_pipe);
|
---|
| 968 | close(data_pipe);
|
---|
[2] | 969 | #endif
|
---|
| 970 |
|
---|
[15] | 971 | pthread_exit(0);
|
---|
[2] | 972 | }
|
---|
| 973 |
|
---|
[15] | 974 | string FrameworkManager_impl::FileName(IODevice *device) {
|
---|
| 975 | return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
|
---|
[2] | 976 | }
|
---|
| 977 |
|
---|
[15] | 978 | void FrameworkManager_impl::PrintXml(void) const {
|
---|
| 979 | xmlChar *xmlbuff;
|
---|
| 980 | int buffersize;
|
---|
| 981 | xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
|
---|
| 982 | Printf("xml:\n%s\n", xmlbuff);
|
---|
| 983 | xmlFree(xmlbuff);
|
---|
[2] | 984 | }
|
---|