// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2011/08/31
//  filename:   FrameworkManager.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Classe de base de la librairie
//
//
/*********************************************************************/

#include "FrameworkManager_impl.h"
#include "FrameworkManager.h"
#include "Widget_impl.h"
#include <unistd.h>
#include "IODevice.h"
#include "IODevice_impl.h"
#include "TabWidget.h"
#include "Layout.h"
#include "PushButton.h"
#include "communication.h"
#include "config.h"
#include "Watchdog.h"
#include <errno.h>
#include <string.h>
#include <arpa/inet.h>
#include <sys/mman.h>
#include <execinfo.h>
#include <signal.h>
#include <fcntl.h>
#ifdef __XENO__
#include <native/task.h>
#endif

using namespace std;
using namespace flair::core;
using namespace flair::gui;

ui_com* FrameworkManager_impl::com=NULL;
FrameworkManager_impl* FrameworkManager_impl::_this=NULL;

namespace {
#ifdef __XENO__

#ifdef SIGDEBUG
    static const char *reason_str[] = {
        "undefined",
        "received signal",
        "invoked syscall",
        "triggered fault",
        "affected by priority inversion",
         "missing mlockall",
        "runaway thread",
    };

    void warn_upon_switch(int sig, siginfo_t *si, void *context)     {
        unsigned int reason = si->si_value.sival_int;
        void *bt[32];
        int nentries;
#ifdef SIGDEBUG_WATCHDOG
        printf("\nSIGDEBUG received, reason %d: %s\n", reason,
           reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
#endif
        // Dump a backtrace of the frame which caused the switch to secondary mode:
        nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
        backtrace_symbols_fd(bt,nentries,fileno(stdout));
    }
#else //SIGDEBUG
    void warn_upon_switch(int sig __attribute__((unused))) {
        void *bt[32];
        int nentries;

        /* Dump a backtrace of the frame which caused the switch to
           secondary mode: */
        nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
        backtrace_symbols_fd(bt,nentries,fileno(stdout));
    }
#endif //SIGDEBUG
#endif //__XENO__
    void seg_fault(int sig __attribute__((unused))) {
        void *bt[32];
        int nentries;

        printf("Segmentation fault:\n");
        /* Dump a backtrace of the frame which caused the segfault: */
        nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
        backtrace_symbols_fd(bt,nentries,fileno(stdout));

        exit(1);
    }
}

FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,string name): Thread(self,"FrameworkManager",FRAMEWORK_TASK_PRIORITY) {
    this->self=self;
    is_logging=false;
    logger_defined=false;
    disable_errors=false;
    ui_defined=false;
    rcv_buf=NULL;
    _this=this;

    // Avoids memory swapping for this program
    mlockall(MCL_CURRENT|MCL_FUTURE);
    struct sigaction sa;

    //catch segfault
    signal(SIGSEGV, seg_fault);

    //catch primary->secondary switch
#ifdef __XENO__
#ifdef SIGDEBUG
    sigemptyset(&sa.sa_mask);
    sa.sa_sigaction = warn_upon_switch;
    sa.sa_flags = SA_SIGINFO;
    sigaction(SIGDEBUG, &sa, NULL);
#else
    signal(SIGXCPU, warn_upon_switch);
#endif

    string task_name="Framework_"+name;
    int status=rt_task_shadow(NULL,task_name.c_str(),10,0);
    if(status!=0) {
        self->Err("rt_task_shadow error (%s)\n",strerror(-status));
    }

#endif //__XENO__
}

void FrameworkManager_impl::ConnectionLost(void) {
    Err("connection lost\n");
    gcs_watchdog->SafeStop();
    connection_lost=true;
}

FrameworkManager_impl::~FrameworkManager_impl() {
    //Printf("destruction FrameworkManager_impl\n");
    int status;

    SafeStop();
    Join();

    if(rcv_buf!=NULL) free(rcv_buf);

    if(logger_defined==true) {
        continuer=false;
        (void)pthread_join(log_th,NULL);

        status=DeletePipe(&cmd_pipe);
        if(status!=0) {
            Err("Error deleting pipe (%s)\n",strerror(-status));
        }
        status=DeletePipe(&data_pipe);
        if(status!=0) {
            Err("Error deleting pipe (%s)\n",strerror(-status));
        }

#ifdef __XENO__
        status=rt_heap_delete(&log_heap);
        if(status!=0) {
            Err("rt_heap_delete error (%s)\n",strerror(-status));
        }
#endif

        logs.clear();
    }

    if(file_doc!=NULL) xmlFreeDoc(file_doc);

    if(ui_defined) delete top_layout;

    if(com!=NULL) {
        delete com;
        status=UDT::close(com_sock);
        if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());

        status=UDT::close(file_sock);
        if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());

        SleepMS(200);//a revoir, sinon UDT::cleanup bloque en RT
        UDT::cleanup();
    }

    //Printf("destruction FrameworkManager_impl ok\n");
}


void FrameworkManager_impl::SetupConnection(string address,uint16_t port,size_t rcv_buf_size) {
    UDT::startup();
    this->rcv_buf_size=rcv_buf_size;

    //socket file_socket, doit être créé en premier, cf station sol
    Printf("Connecting to %s:%i\n",address.c_str(),port);
    file_sock=GetSocket(address,port);
    com_sock=GetSocket(address,port);

    //receive buffer allocation
    rcv_buf=(char*)malloc(rcv_buf_size);
    if(rcv_buf==NULL) {
        Err("receive buffer malloc error\n");
    }

    com=new ui_com(this,com_sock);

    //file managment
    bool blocking = true;
    UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
    UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));

    //configure timeout of blocking receive, short timeout to have priority on the other socket (see run method)
    int timeout=1;//ms
    UDT::setsockopt(file_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));

    timeout=100;//ms
    UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));

    Start();

    //watchdog for connection with ground station
    connection_lost=false;
    gcs_watchdog=new Watchdog(this,std::bind(&FrameworkManager_impl::ConnectionLost,this),(Time)1000000000);
    gcs_watchdog->Start();
}

void FrameworkManager_impl::SetupUserInterface(string xml_file) {
    ui_defined=true;
    this->xml_file=xml_file;

    //top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
    top_layout=new Layout(NULL,self->ObjectName(),XML_ROOT_TYPE);

    //xml setup of the main widget
    if(xml_file!="") {
        xmlNodePtr* file_node=&(((Widget*)(top_layout))->pimpl_->file_node);
        file_doc = xmlParseFile(xml_file.c_str());
        if (file_doc == NULL ) {
            self->Warn("XML document not parsed successfully. Creating a new one.\n");
            file_doc = xmlNewDoc((xmlChar*)"1.0");
            *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
            xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
            xmlDocSetRootElement(file_doc, *file_node);
            //PrintXml();
        } else {
            *file_node=xmlDocGetRootElement(file_doc);
            if(xmlStrcmp((*file_node)->name,(xmlChar*)XML_ROOT_TYPE)) {
                self->Warn("%s, no match found in xml file\n",XML_ROOT_TYPE);
                *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
                xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
                xmlDocSetRootElement(file_doc, *file_node);
            }
        }
    } else {
        self->Err("xml file not defined\n");
    }

    //gui
    tabwidget=new TabWidget(top_layout->At(0,0),XML_MAIN_TABWIDGET,TabWidget::North);
    save_button=new PushButton(top_layout->At(1,0),"save config on target (" + self->ObjectName() + ")");
    //load_button=new PushButton(top_layout->At(1,1),"load config on target (" + self->ObjectName() + ")");
}

//in case of RT, this thread switches to secondary mode when calling com->Receive
//it switches back to RT in ProcessXML when mutex are locked
void FrameworkManager_impl::Run(void)
{
    while(!ToBeStopped())
    {
        ssize_t bytesRead;

        bytesRead=com->Receive(rcv_buf,rcv_buf_size);

        if(bytesRead==(ssize_t)rcv_buf_size) Err("FrameworkManager max receive size, augmenter le buffer size!\n");

        if(bytesRead>0)
        {
            //printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
            //rcv_buf[bytesRead-1]=0;//pour affichage
            //printf("%s\n",rcv_buf);

            switch((uint8_t)rcv_buf[0])
            {
                case XML_HEADER:
                {
                    xmlDoc *doc;
                    rcv_buf[bytesRead]=0;

                    doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml", "ISO-8859-1", 0);
                    xmlNode *cur_node = NULL;

                    for (cur_node = xmlDocGetRootElement(doc); cur_node; cur_node = cur_node->next)
                    {
                        if (cur_node->type == XML_ELEMENT_NODE)
                        {
                            if(!xmlStrcmp(cur_node->name,(xmlChar*)XML_ROOT_TYPE) )
                            {
#ifdef __XENO__
                                WarnUponSwitches(true);//ProcessXML should not switch to secondary mode
#endif
                                top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
#ifdef __XENO__
                                WarnUponSwitches(false);//other parts of this thread can switch to secondary mode
#endif
                                break;
                            }
                        }
                    }

                    xmlFreeDoc(doc);

                    if(save_button->Clicked()) SaveXml();

                    SaveXmlChange(rcv_buf);

                    break;
                }
                case WATCHDOG_HEADER: {
                    gcs_watchdog->Touch();
                    break;
                }
                default:
                    Err("unknown id: %x\n",(uint8_t)rcv_buf[0]);
                    break;
            }
        } else {
            if(com->ConnectionLost()) SleepMS(10);//avoid infinite loop in this case
        }
    }
}

void FrameworkManager_impl::SaveXml(void)
{
    if(ui_defined) xmlSaveFormatFile(xml_file.c_str(),file_doc,1);
}

void FrameworkManager_impl::SaveXmlChange(char* buf)
{
    if(is_logging==true)
    {
        FILE *xml_change;
        char filename[256];
        Time time=GetTime();

        sprintf(filename,"%s/changes_at_%lld.xml",log_path.c_str(),time);

        xml_change=fopen(filename,"a");
        fprintf(xml_change,"%s",buf);
        fclose(xml_change);

        sprintf(filename,"changes_at_%lld.xml",time);
        xml_changes.push_back(filename);
    }
}

void FrameworkManager_impl::SendFile(string path,string name)
{
    char *buf,*more_buf;
    int size;
    filebuf *pbuf;
    ssize_t nb_write;
    string filename=path+ "/" +name;

    // open the file
    fstream ifs(filename.c_str(), ios::in | ios::binary);
    ifs.seekg(0, ios::end);
    size = ifs.tellg();
    ifs.seekg(0, ios::beg);
    pbuf=ifs.rdbuf();

    if(size<=0)
    {
        Err("error opening file %s\n",filename.c_str());
        return;
    }

    buf=(char*)malloc(sizeof(uint8_t)+sizeof(int)+name.size());
    if(buf==NULL)
    {
        Err("malloc error, not sending file\n");
        return;
    }

    if(IsBigEndian())
    {
        buf[0]=FILE_INFO_BIG_ENDIAN;
    }
    else
    {
        buf[0]=FILE_INFO_LITTLE_ENDIAN;
    }

    memcpy(buf+1,&size,sizeof(int));
    memcpy(buf+1+sizeof(int),name.c_str(),name.size());
    Printf("sending %s, size: %i\n",filename.c_str(),size);
    // send file information
    UDT::sendmsg(file_sock, buf, sizeof(uint8_t)+sizeof(int)+name.size(), -1,true);

    more_buf=(char*)realloc((void*)buf,size);
    if(more_buf==NULL)
    {
        Err("realloc error, not sending file\n");
        free(buf);
        return;
    }
    else
    {
        buf=more_buf;
    }

    pbuf->sgetn (buf,size);
    // send the file
    nb_write=UDT::sendmsg(file_sock, buf, size,-1,true);

    if(nb_write<0)
    {
        Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
    }
    else if (nb_write != size)
    {
        Err("UDT::sendmsg error, sent %ld/%i\n",nb_write,size);
    }

    ifs.close();
    free(buf);
}

void FrameworkManager_impl::FinishSending()
{
    char rm_cmd[256];

    //send orignal xml
    SendFile(log_path,"setup.xml");
    sprintf(rm_cmd,"rm %s/setup.xml",log_path.c_str());
    system(rm_cmd);

    //send xml changes
    for(size_t i=0;i<xml_changes.size();i++)
    {
        //Printf("%s\n",xml_changes.at(i).c_str());
        SendFile(log_path,xml_changes.at(i).c_str());
        sprintf(rm_cmd,"rm %s/%s",log_path.c_str(),xml_changes.at(i).c_str());
        system(rm_cmd);
    }
    xml_changes.clear();

    //end notify
    char buf=END;
    int nb_write=UDT::sendmsg(file_sock, &buf, 1,-1,true);

    if(nb_write<0)
    {
        Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
    }
    else if (nb_write != 1)
    {
        Err("UDT::sendmsg error, sent %i/%i\n",nb_write,1);
    }
}

UDTSOCKET FrameworkManager_impl::GetSocket(string address,uint16_t port) {
    while(1) {
        UDTSOCKET new_fd;
        new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
        if(new_fd==UDT::INVALID_SOCK) {
            Err("socket error: %s\n",UDT::getlasterror().getErrorMessage());
            return 0;
        }

        sockaddr_in serv_addr;
        serv_addr.sin_family = AF_INET;
        serv_addr.sin_port = htons(short(port));

        if (inet_pton(AF_INET,address.c_str(), &serv_addr.sin_addr) <= 0) {
            Err("incorrect network address\n");
            return 0;
        }

        memset(&(serv_addr.sin_zero), '\0', 8);

        if (UDT::ERROR == UDT::connect(new_fd, (sockaddr*)&serv_addr, sizeof(serv_addr))) {
            //Printf("connect error: %s %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
            UDT::close(new_fd);
            if(UDT::getlasterror().getErrorCode()!=1001 && UDT::getlasterror().getErrorCode()!=1002) {
                Err("connect error: %s\n",UDT::getlasterror().getErrorMessage());
                return 0;
            }
        } else {
            //printf("connected to %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
            return new_fd;
        }
    }
}

#ifdef __XENO__
int FrameworkManager_impl::CreatePipe(RT_PIPE* fd,string name)
{
    name=self->ObjectName()+ "-" + name;
    //xenomai limitation
    if(name.size()>31) self->Err("rt_pipe_create error (%s is too long)\n",name.c_str());
    //start log writter
#ifdef RT_PIPE_SIZE
    return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,RT_PIPE_SIZE);
#else
    return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,0);
#endif
}
#else
int FrameworkManager_impl::CreatePipe(int (*fd)[2],string name)
{
    //if(pipe2(fd[0],O_NONBLOCK) == -1)
    if(pipe(fd[0]) == -1)
    {
        return errno;
    }
    else
    {
        int attr=fcntl((*fd)[0], F_GETFL,0);
        if(attr == -1)
        {
            return errno;
        }
        if(fcntl((*fd)[0], F_SETFL, attr|O_NONBLOCK)== -1)
        {
            return errno;
        }
        attr=fcntl((*fd)[1], F_GETFL,0);
        if(attr == -1)
        {
            return errno;
        }
        if(fcntl((*fd)[1], F_SETFL, attr|O_NONBLOCK)== -1)
        {
            return errno;
        }

        return 0;
    }
}
#endif

#ifdef __XENO__
int FrameworkManager_impl::DeletePipe(RT_PIPE* fd)
{
    return rt_pipe_delete(fd);
}
#else
int FrameworkManager_impl::DeletePipe(int (*fd)[2])
{
    int status1=close((*fd)[0]);
    int status2=close((*fd)[1]);
    if(status1==0 && status2==0) return 0;
    if(status1!=0) return status1;
    if(status2!=0) return status2;
}
#endif

void FrameworkManager_impl::SetupLogger(string log_path) {
    if(logger_defined==true) {
        Warn("SetupLogger() was already called.\n");
        return;
    }

    this->log_path=log_path;

    int status=CreatePipe(&cmd_pipe,"log_cmd");
    if(status!=0) {
        Err("Error creating pipe (%s)\n",strerror(-status));
        return;
    }

    status=CreatePipe(&data_pipe,"log_data");
    if(status!=0) {
        Err("Error creating pipe (%s)\n",strerror(-status));
        return;
    }

#ifdef __XENO__
    string tmp_name;
    tmp_name=self->ObjectName() + "-log_heap";
    status=rt_heap_create(&log_heap,tmp_name.c_str(),LOG_HEAP,H_FIFO);
    if(status!=0) {
        Err("rt_heap_create error (%s)\n",strerror(-status));
        return;
    }
#endif //__XENO__

    continuer=true;

#ifdef NRT_STACK_SIZE
    // Initialize thread creation attributes
    pthread_attr_t attr;
    if(pthread_attr_init(&attr) != 0) {
        Err("pthread_attr_init error\n");
        return;
    }

    if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
       Err("pthread_attr_setstacksize error\n");
       return;
    }

    if(pthread_create(&log_th,  &attr, write_log_user, (void*)this) < 0)
#else
    if(pthread_create(&log_th, NULL, write_log_user, (void*)this) < 0)
#endif
    {
        Err("pthread_create error\n");
        return;
    }
#ifdef NRT_STACK_SIZE
    if(pthread_attr_destroy(&attr) != 0) {
        Err("pthread_attr_destroy error\n");
        return;
    }
#endif

    logger_defined=true;
}

void FrameworkManager_impl::AddDeviceToLog(IODevice *device)
{
    if(logger_defined==false)
    {
        Err("SetupLogger() was not called, not starting log\n");
        return;
    }

    if(is_logging==false)
    {
        if(device->pimpl_->SetToBeLogged()) {
            log_desc_t tmp;
            tmp.device=device;
            logs.push_back(tmp);
        } else {
            Warn("not adding it twice\n");
        }
    }
    else
    {
        Err("impossible while logging\n");
    }
}

void FrameworkManager_impl::StartLog(void)
{
    if(logger_defined==false)
    {
        Err("SetupLogger() was not called, not starting log\n");
        return;
    }

    ssize_t written;
    size_t nb_err=0;

    if(logs.size()==0)
    {
        Warn("Not starting log: nothing to log!\n");
        return;
    }

    if(is_logging==false)
    {
        for(size_t i=0;i<logs.size();i++)
        {

            logs.at(i).running=true;
            logs.at(i).dbtFile=NULL;
            logs.at(i).size=logs.at(i).device->pimpl_->LogSize();
#ifdef __XENO__
            written=rt_pipe_write(&cmd_pipe,&logs.at(i),sizeof(log_desc_t),P_NORMAL);
#else
            written=write(cmd_pipe[1],&logs.at(i),sizeof(log_desc_t));
#endif

            if(written<0)
            {
                Err("write pipe error (%s)\n",strerror(-written));
                nb_err++;
                logs.at(i).running=false;
            }
            else if (written != sizeof(log_desc_t))
            {
                Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
                nb_err++;
                logs.at(i).running=false;
            }
        }

        if(nb_err!=logs.size()) is_logging=true;
    }
    else
    {
        Warn("Already logging\n");
    }
}

void FrameworkManager_impl::StopLog(void)
{
    ssize_t written;

    if(is_logging==true)
    {
        for(size_t i=0;i<logs.size();i++)
        {
            logs.at(i).running=false;
        }
        //send only one running false condition, user thread will stop and send all
#ifdef __XENO__
        written=rt_pipe_write(&cmd_pipe,&logs.at(0),sizeof(log_desc_t),P_NORMAL);
#else
        written=write(cmd_pipe[1],&logs.at(0),sizeof(log_desc_t));
#endif

        if(written<0)
        {
            Err("write pipe error (%s)\n",strerror(-written));
            return;
        }
        else if (written != sizeof(log_desc_t))
        {
            Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
            return;
        }

        is_logging=false;
    }
    else
    {
        Warn("Not logging\n");
    }
}

char* FrameworkManager_impl::GetBuffer(size_t sz)
{
    //Printf("alloc %i\n",sz);
#ifdef __XENO__
    void *ptr;
    int status=rt_heap_alloc(&log_heap,sz,TM_NONBLOCK ,&ptr);
    if(status!=0)
    {
        Err("rt_heap_alloc error (%s)\n",strerror(-status));
        ptr=NULL;
    }
    return (char*)ptr;
#else
    return (char*)malloc(sz);
#endif
}

void FrameworkManager_impl::ReleaseBuffer(char* buf)
{
#ifdef __XENO__
    int status=rt_heap_free(&log_heap,buf);

    if(status!=0)
    {
        Err("rt_heap_free error (%s)\n",strerror(-status));
    }
#else
    free(buf);
#endif
}

void FrameworkManager_impl::WriteLog(const char* buf,size_t size)
{
    ssize_t written;

#ifdef __XENO__
    written=rt_pipe_write(&data_pipe,buf,size,P_NORMAL);
#else
    written=write(data_pipe[1],buf,size);
#endif

    if(written<0)
    {
        Err("erreur write pipe (%s)\n",strerror(-written));
    }
    else if (written != (ssize_t)size)
    {
        Err("erreur write pipe %ld/%ld\n",written,size);
    }
}

void* FrameworkManager_impl::write_log_user(void * arg)
{
    int cmd_pipe=-1;
    int data_pipe=-1;
    string filename;
    fd_set set;
    struct timeval timeout;
    FrameworkManager_impl *caller = (FrameworkManager_impl*)arg;
    int rv;

    vector<log_desc_t> logs;

#ifdef __XENO__
    filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_cmd";
    while(cmd_pipe<0)
    {
        cmd_pipe = open(filename.c_str(), O_RDWR);
        if (cmd_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
        usleep(1000);
    }
    filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_data";
    while(data_pipe<0)
    {
        data_pipe = open(filename.c_str(), O_RDWR);
        if (data_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
        usleep(1000);
    }
#else
    cmd_pipe=caller->cmd_pipe[0];
    data_pipe=caller->data_pipe[0];
#endif

    while(caller->continuer==true)
    {
        FD_ZERO(&set);
        FD_SET(cmd_pipe, &set);
        FD_SET(data_pipe, &set);

        timeout.tv_sec = 0;
        timeout.tv_usec = SELECT_TIMEOUT_MS*1000;
        rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);

        if(rv == -1)
        {
            caller->Err("select error\n"); // an error accured
        }
        else if(rv == 0)
        {
            //printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); // a timeout occured
        }
        else
        {
            if(FD_ISSET(cmd_pipe, &set))
            {
                log_desc_t tmp;
                read(cmd_pipe,&tmp,sizeof(log_desc_t));

                if(tmp.running==true)//start logging
                {
                    filename= caller->log_path + "/" +caller->FileName(tmp.device)+ ".dbt";
                    printf("Creating log file %s (log size %i)\n",filename.c_str(), (int)tmp.size);
                    tmp.dbtFile = inithdFile((char*)filename.c_str(),UAV,tmp.size);
                    logs.push_back(tmp);

                    if(logs.size()==1)
                    {
                        filename= caller->log_path + "/setup.xml";
                        xmlSaveFile(filename.c_str(),caller->file_doc);
                    }
                }
                else//stop logging
                {
                    for(size_t i=0;i<logs.size();i++)
                    {
                        if(logs.at(i).dbtFile!=NULL)
                        {
                            close_hdfile(logs.at(i).dbtFile);

                            filename= caller->FileName(logs.at(i).device)+ ".dbt";
                            caller->SendFile(caller->log_path,filename);

                            fstream txt_file;
                            filename= caller->FileName(logs.at(i).device)+ ".txt";
                            txt_file.open((caller->log_path+"/"+filename).c_str(),fstream::out);
                            txt_file << "1: time (us)\n2: time (ns)\n";
                            int index=3;
                            logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file,&index);
                            txt_file.close();

                            caller->SendFile(caller->log_path,filename);
                        }
                    }
                    //a revoir celui ci est le xml enregistré et pas forcement l'actuel
                    //if(caller->xml_file!="") caller->SendFile(caller->xml_file);
                    caller->FinishSending();

                    logs.clear();
                }
            }

            if(FD_ISSET(data_pipe, &set))
            {
                log_header_t header;
                read(data_pipe,&header,sizeof(log_header_t));

                for(size_t i=0;i<logs.size();i++)
                {
                    if(logs.at(i).device==header.device)
                    {
                        char* buf=(char*)malloc(header.size);
                        read(data_pipe,buf,header.size);
//printf("%s \n",header.device->ObjectName().c_str());
//for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
//printf("\n");
                        if(logs.at(i).size==header.size)
                        {
                            if(logs.at(i).dbtFile!=NULL)
                            {
                                write_hdfile(logs.at(i).dbtFile,buf,(road_time_t)(header.time/1000),(road_timerange_t)(header.time%1000),header.size);
                            }
                            else
                            {
                                printf("err\n");
                            }
                        }
                        else
                        {
                            caller->self->Err("%s log size is not correct %i/%i\n",header.device->ObjectName().c_str(),header.size,logs.at(i).size);
                        }
                        free(buf);
                    }
                }
            }
        }
    }

#ifdef __XENO__
    close(cmd_pipe);
    close(data_pipe);
#endif

    pthread_exit(0);

}

string FrameworkManager_impl::FileName(IODevice* device)
{
    return getFrameworkManager()->ObjectName() + "_"+device->ObjectName();
}

void FrameworkManager_impl::PrintXml(void) const
{
    xmlChar *xmlbuff;
    int buffersize;
    xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
    Printf("xml:\n%s\n",xmlbuff);
    xmlFree(xmlbuff);
}