1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2011/08/31
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6 | // filename: FrameworkManager.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: Classe de base de la librairie
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #include "FrameworkManager_impl.h"
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19 | #include "FrameworkManager.h"
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20 | #include "Widget_impl.h"
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21 | #include <unistd.h>
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22 | #include "IODevice.h"
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23 | #include "IODevice_impl.h"
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24 | #include "TabWidget.h"
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25 | #include "Layout.h"
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26 | #include "PushButton.h"
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27 | #include "communication.h"
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28 | #include "config.h"
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29 | #include "Watchdog.h"
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30 | #include <errno.h>
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31 | #include <string.h>
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32 | #include <arpa/inet.h>
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33 | #include <sys/mman.h>
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34 | #include <execinfo.h>
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35 | #include <signal.h>
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36 | #include <fcntl.h>
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37 | #ifdef __XENO__
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38 | #include <native/task.h>
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39 | #include <rtdk.h>
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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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46 | ui_com *FrameworkManager_impl::com = NULL;
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47 | FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
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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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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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57 |
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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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62 | #ifdef SIGDEBUG_WATCHDOG
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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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65 | #endif
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66 | // Dump a backtrace of the frame which caused the switch to secondary mode:
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67 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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68 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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69 | }
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70 | #else // SIGDEBUG
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71 | void warn_upon_switch(int sig __attribute__((unused))) {
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72 | void *bt[32];
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73 | int nentries;
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74 |
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75 | /* Dump a backtrace of the frame which caused the switch to
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76 | secondary mode: */
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77 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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78 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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79 | }
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80 | #endif // SIGDEBUG
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81 | #endif //__XENO__
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82 | void seg_fault(int sig __attribute__((unused))) {
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83 | void *bt[32];
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84 | int nentries;
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85 |
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86 | printf("Segmentation fault:\n");
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87 | /* Dump a backtrace of the frame which caused the segfault: */
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88 | nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
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89 | backtrace_symbols_fd(bt, nentries, fileno(stdout));
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90 |
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91 | exit(1);
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92 | }
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93 | }
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94 |
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95 | FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
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96 | string name)
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97 | : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
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98 | this->self = self;
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99 | is_logging = false;
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100 | logger_defined = false;
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101 | disable_errors = false;
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102 | ui_defined = false;
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103 | rcv_buf = NULL;
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104 | gcs_watchdog = NULL;
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105 | _this = this;
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106 | tabwidget=NULL;
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107 |
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108 | // Avoids memory swapping for this program
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109 | mlockall(MCL_CURRENT | MCL_FUTURE);
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110 |
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111 | // catch segfault
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112 | signal(SIGSEGV, seg_fault);
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113 |
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114 | // catch primary->secondary switch
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115 | #ifdef __XENO__
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116 | #ifdef SIGDEBUG
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117 | struct sigaction sa;
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118 | sigemptyset(&sa.sa_mask);
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119 | sa.sa_sigaction = warn_upon_switch;
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120 | sa.sa_flags = SA_SIGINFO;
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121 | sigaction(SIGDEBUG, &sa, NULL);
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122 | #else //SIGDEBUG
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123 | signal(SIGXCPU, warn_upon_switch);
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124 | #endif //SIGDEBUG
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125 | string task_name = "Framework_" + name;
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126 |
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127 | // Perform auto-init of rt_print buffers if the task doesn't do so
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128 | rt_print_auto_init(1);
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129 | // Initialise the rt_print buffer for this task explicitly
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130 | rt_print_init(512, task_name.c_str());
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131 |
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132 | int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
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133 | if (status != 0) {
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134 | self->Err("rt_task_shadow error (%s)\n", strerror(-status));
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135 | }
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136 |
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137 | #endif //__XENO__
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138 | }
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139 |
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140 | void FrameworkManager_impl::ConnectionLost(void) {
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141 | Err("connection lost\n");
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142 | gcs_watchdog->SafeStop();
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143 | connection_lost = true;
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144 | }
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145 |
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146 | FrameworkManager_impl::~FrameworkManager_impl() {
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147 | // Printf("destruction FrameworkManager_impl\n");
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148 | int status;
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149 |
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150 | SafeStop();
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151 | Join();
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152 |
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153 | if (rcv_buf != NULL)
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154 | free(rcv_buf);
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155 |
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156 | if (logger_defined == true) {
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157 | continuer = false;
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158 | (void)pthread_join(log_th, NULL);
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159 |
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160 | status = DeletePipe(&cmd_pipe);
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161 | if (status != 0) {
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162 | Err("Error deleting pipe (%s)\n", strerror(-status));
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163 | }
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164 | status = DeletePipe(&data_pipe);
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165 | if (status != 0) {
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166 | Err("Error deleting pipe (%s)\n", strerror(-status));
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167 | }
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168 |
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169 | #ifdef __XENO__
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170 | status = rt_heap_delete(&log_heap);
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171 | if (status != 0) {
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172 | Err("rt_heap_delete error (%s)\n", strerror(-status));
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173 | }
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174 | #endif
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175 |
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176 | logs.clear();
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177 | }
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178 |
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179 | if (file_doc != NULL)
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180 | xmlFreeDoc(file_doc);
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181 |
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182 | if (ui_defined)
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183 | delete top_layout;
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184 |
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185 | if (com != NULL) {
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186 | delete com;
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187 | status = UDT::close(com_sock);
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188 | if (status != 0)
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189 | Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
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190 |
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191 | status = UDT::close(file_sock);
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192 | if (status != 0)
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193 | Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
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194 |
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195 | SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
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196 | UDT::cleanup();
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197 | }
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198 |
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199 | // Printf("destruction FrameworkManager_impl ok\n");
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200 | }
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201 |
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202 | void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
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203 | size_t rcv_buf_size) {
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204 | UDT::startup();
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205 | this->rcv_buf_size = rcv_buf_size;
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206 |
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207 | // socket file_socket, doit être créé en premier, cf station sol
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208 | Printf("Connecting to %s:%i\n", address.c_str(), port);
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209 | file_sock = GetSocket(address, port);
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210 | com_sock = GetSocket(address, port);
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211 |
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212 | // receive buffer allocation
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213 | rcv_buf = (char *)malloc(rcv_buf_size);
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214 | if (rcv_buf == NULL) {
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215 | Err("receive buffer malloc error\n");
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216 | }
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217 |
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218 | com = new ui_com(this, com_sock);
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219 |
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220 | // file managment
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221 | bool blocking = true;
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222 | UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
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223 | UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));
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224 |
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225 | int timeout = 100; // ms
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226 | UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
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227 |
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228 | Start();
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229 |
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230 | // watchdog for connection with ground station
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231 | connection_lost = false;
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232 | gcs_watchdog = new Watchdog(
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233 | this, std::bind(&FrameworkManager_impl::ConnectionLost, this),
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234 | (Time)1000000000);
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235 | gcs_watchdog->Start();
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236 | }
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237 |
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238 | void FrameworkManager_impl::SetupUserInterface(string xml_file) {
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239 | ui_defined = true;
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240 | this->xml_file = xml_file;
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241 |
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242 | // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
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243 | top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
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244 |
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245 | // xml setup of the main widget
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246 | if (xml_file != "") {
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247 | xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
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248 | file_doc = xmlParseFile(xml_file.c_str());
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249 | if (file_doc == NULL) {
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250 | self->Warn("XML document not parsed successfully. Creating a new one.\n");
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251 | file_doc = xmlNewDoc((xmlChar *)"1.0");
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252 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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253 | xmlSetProp(*file_node, (xmlChar *)"name",
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254 | (xmlChar *)ObjectName().c_str());
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255 | xmlDocSetRootElement(file_doc, *file_node);
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256 | // PrintXml();
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257 | } else {
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258 | *file_node = xmlDocGetRootElement(file_doc);
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259 | if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
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260 | self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
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261 | *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
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262 | xmlSetProp(*file_node, (xmlChar *)"name",
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263 | (xmlChar *)ObjectName().c_str());
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264 | xmlDocSetRootElement(file_doc, *file_node);
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265 | }
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266 | }
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267 | } else {
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268 | self->Err("xml file not defined\n");
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269 | }
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270 |
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271 | // gui
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272 | tabwidget =
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273 | new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
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274 | save_button =
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275 | new PushButton(top_layout->At(1, 0),
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276 | "save config on target (" + self->ObjectName() + ")");
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277 | // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
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278 | // self->ObjectName() + ")");
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279 | }
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280 |
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281 | // in case of RT, this thread switches to secondary mode when calling
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282 | // com->Receive
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283 | // it switches back to RT in ProcessXML when mutex are locked
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284 | void FrameworkManager_impl::Run(void) {
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285 | while (!ToBeStopped()) {
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286 | ssize_t bytesRead;
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287 |
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288 | bytesRead = com->Receive(rcv_buf, rcv_buf_size);
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289 |
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290 | if (bytesRead == (ssize_t)rcv_buf_size)
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291 | Err("FrameworkManager max receive size, augmenter le buffer size!\n");
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292 |
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293 | if (bytesRead > 0) {
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294 | // printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
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295 | // rcv_buf[bytesRead-1]=0;//pour affichage
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296 | // printf("%s\n",rcv_buf);
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297 |
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298 | switch ((uint8_t)rcv_buf[0]) {
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299 | case XML_HEADER: {
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300 | xmlDoc *doc;
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301 | rcv_buf[bytesRead] = 0;
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302 | //Printf("%s\n",rcv_buf);
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303 | doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
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304 | "ISO-8859-1", 0);
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305 | xmlNode *cur_node = NULL;
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306 |
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307 | for (cur_node = xmlDocGetRootElement(doc); cur_node;
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308 | cur_node = cur_node->next) {
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309 | if (cur_node->type == XML_ELEMENT_NODE) {
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310 | if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
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311 | #ifdef __XENO__
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312 | WarnUponSwitches(
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313 | true); // ProcessXML should not switch to secondary mode
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314 | #endif
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315 | top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
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316 | #ifdef __XENO__
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317 | WarnUponSwitches(false); // other parts of this thread can switch
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318 | // to secondary mode
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319 | #endif
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320 | break;
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321 | }
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322 | }
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323 | }
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324 |
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325 | xmlFreeDoc(doc);
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326 |
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327 | if (save_button->Clicked())
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328 | SaveXml();
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329 |
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330 | SaveXmlChange(rcv_buf);
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331 |
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332 | break;
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333 | }
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334 | case WATCHDOG_HEADER: {
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335 | gcs_watchdog->Touch();
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336 | break;
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337 | }
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338 | default:
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339 | Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
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340 | break;
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341 | }
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342 | } else {
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343 | if (com->ConnectionLost())
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344 | SleepMS(10); // avoid infinite loop in this case
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345 | }
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346 | }
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347 | }
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348 |
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349 | void FrameworkManager_impl::SaveXml(void) {
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350 | if (ui_defined)
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351 | xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
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352 | }
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353 |
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354 | void FrameworkManager_impl::SaveXmlChange(char *buf) {
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355 | if (is_logging == true) {
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356 | FILE *xml_change;
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357 | char filename[256];
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358 | Time time = GetTime();
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359 |
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360 | sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
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361 |
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362 | xml_change = fopen(filename, "a");
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363 | fprintf(xml_change, "%s", buf);
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364 | fclose(xml_change);
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365 |
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366 | sprintf(filename, "changes_at_%lld.xml", time);
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367 | xml_changes.push_back(filename);
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368 | }
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369 | }
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370 |
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371 | void FrameworkManager_impl::SendFile(string path, string name) {
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372 | char *buf, *more_buf;
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373 | int size;
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374 | filebuf *pbuf;
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375 | ssize_t nb_write;
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376 | string filename = path + "/" + name;
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377 |
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378 | // open the file
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379 | fstream ifs(filename.c_str(), ios::in | ios::binary);
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380 | ifs.seekg(0, ios::end);
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381 | size = ifs.tellg();
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382 | ifs.seekg(0, ios::beg);
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383 | pbuf = ifs.rdbuf();
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384 |
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385 | if (size <= 0) {
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386 | Err("error opening file %s\n", filename.c_str());
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387 | return;
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388 | }
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389 |
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390 | buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
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391 | if (buf == NULL) {
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392 | Err("malloc error, not sending file\n");
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393 | return;
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394 | }
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395 |
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396 | if (IsBigEndian()) {
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397 | buf[0] = FILE_INFO_BIG_ENDIAN;
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398 | } else {
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399 | buf[0] = FILE_INFO_LITTLE_ENDIAN;
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400 | }
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401 |
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402 | memcpy(buf + 1, &size, sizeof(int));
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403 | memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
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404 | Printf("sending %s, size: %i\n", filename.c_str(), size);
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405 | // send file information
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406 | UDT::sendmsg(file_sock, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,
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407 | true);
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408 |
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409 | more_buf = (char *)realloc((void *)buf, size);
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410 | if (more_buf == NULL) {
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411 | Err("realloc error, not sending file\n");
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412 | free(buf);
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413 | return;
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414 | } else {
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415 | buf = more_buf;
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416 | }
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417 |
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418 | pbuf->sgetn(buf, size);
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419 | // send the file
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420 | nb_write = UDT::sendmsg(file_sock, buf, size, -1, true);
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421 |
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422 | if (nb_write < 0) {
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423 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
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424 | } else if (nb_write != size) {
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425 | Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
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426 | }
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427 |
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428 | ifs.close();
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429 | free(buf);
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430 | }
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431 |
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432 | void FrameworkManager_impl::FinishSending() {
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433 | char rm_cmd[256];
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434 |
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435 | // send orignal xml
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436 | SendFile(log_path, "setup.xml");
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437 | sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
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438 | system(rm_cmd);
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439 |
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440 | // send xml changes
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441 | for (size_t i = 0; i < xml_changes.size(); i++) {
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442 | // Printf("%s\n",xml_changes.at(i).c_str());
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443 | SendFile(log_path, xml_changes.at(i).c_str());
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444 | sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
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445 | system(rm_cmd);
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446 | }
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447 | xml_changes.clear();
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448 |
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449 | // end notify
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450 | char buf = END;
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---|
451 | int nb_write = UDT::sendmsg(file_sock, &buf, 1, -1, true);
|
---|
452 |
|
---|
453 | if (nb_write < 0) {
|
---|
454 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
|
---|
455 | } else if (nb_write != 1) {
|
---|
456 | Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
|
---|
457 | }
|
---|
458 |
|
---|
459 | //wait end ACK
|
---|
460 | int nb_read = UDT::recvmsg(file_sock,&buf,1);
|
---|
461 | if(nb_read<0) {
|
---|
462 | Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
|
---|
463 | } else if (nb_read != 1) {
|
---|
464 | Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
|
---|
465 | }
|
---|
466 | }
|
---|
467 |
|
---|
468 | UDTSOCKET FrameworkManager_impl::GetSocket(string address, uint16_t port) {
|
---|
469 | while (1) {
|
---|
470 | UDTSOCKET new_fd;
|
---|
471 | new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
|
---|
472 | if (new_fd == UDT::INVALID_SOCK) {
|
---|
473 | Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
474 | return 0;
|
---|
475 | }
|
---|
476 |
|
---|
477 | sockaddr_in serv_addr;
|
---|
478 | serv_addr.sin_family = AF_INET;
|
---|
479 | serv_addr.sin_port = htons(short(port));
|
---|
480 |
|
---|
481 | if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
|
---|
482 | Err("incorrect network address\n");
|
---|
483 | return 0;
|
---|
484 | }
|
---|
485 |
|
---|
486 | memset(&(serv_addr.sin_zero), '\0', 8);
|
---|
487 |
|
---|
488 | if (UDT::ERROR ==
|
---|
489 | UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
|
---|
490 | // Printf("connect error: %s
|
---|
491 | // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
|
---|
492 | UDT::close(new_fd);
|
---|
493 | if (UDT::getlasterror().getErrorCode() != 1001 &&
|
---|
494 | UDT::getlasterror().getErrorCode() != 1002) {
|
---|
495 | Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
|
---|
496 | return 0;
|
---|
497 | }
|
---|
498 | } else {
|
---|
499 | // printf("connected to
|
---|
500 | // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
|
---|
501 | return new_fd;
|
---|
502 | }
|
---|
503 | }
|
---|
504 | }
|
---|
505 |
|
---|
506 | #ifdef __XENO__
|
---|
507 | int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
|
---|
508 | name = self->ObjectName() + "-" + name;
|
---|
509 | // xenomai limitation
|
---|
510 | if (name.size() > 31)
|
---|
511 | self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
|
---|
512 | // start log writter
|
---|
513 | #ifdef RT_PIPE_SIZE
|
---|
514 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
|
---|
515 | #else
|
---|
516 | return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
|
---|
517 | #endif
|
---|
518 | }
|
---|
519 | #else
|
---|
520 | int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
|
---|
521 | // if(pipe2(fd[0],O_NONBLOCK) == -1)
|
---|
522 | if (pipe(fd[0]) == -1) {
|
---|
523 | return errno;
|
---|
524 | } else {
|
---|
525 | int attr = fcntl((*fd)[0], F_GETFL, 0);
|
---|
526 | if (attr == -1) {
|
---|
527 | return errno;
|
---|
528 | }
|
---|
529 | if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
530 | return errno;
|
---|
531 | }
|
---|
532 | attr = fcntl((*fd)[1], F_GETFL, 0);
|
---|
533 | if (attr == -1) {
|
---|
534 | return errno;
|
---|
535 | }
|
---|
536 | if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
|
---|
537 | return errno;
|
---|
538 | }
|
---|
539 |
|
---|
540 | return 0;
|
---|
541 | }
|
---|
542 | }
|
---|
543 | #endif
|
---|
544 |
|
---|
545 | #ifdef __XENO__
|
---|
546 | int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
|
---|
547 | return rt_pipe_delete(fd);
|
---|
548 | }
|
---|
549 | #else
|
---|
550 | int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
|
---|
551 | int status1 = close((*fd)[0]);
|
---|
552 | int status2 = close((*fd)[1]);
|
---|
553 | if (status1 == 0 && status2 == 0)
|
---|
554 | return 0;
|
---|
555 | if (status1 != 0)
|
---|
556 | return status1;
|
---|
557 | if (status2 != 0)
|
---|
558 | return status2;
|
---|
559 | }
|
---|
560 | #endif
|
---|
561 |
|
---|
562 | void FrameworkManager_impl::SetupLogger(string log_path) {
|
---|
563 | if (logger_defined == true) {
|
---|
564 | Warn("SetupLogger() was already called.\n");
|
---|
565 | return;
|
---|
566 | }
|
---|
567 |
|
---|
568 | this->log_path = log_path;
|
---|
569 |
|
---|
570 | int status = CreatePipe(&cmd_pipe, "log_cmd");
|
---|
571 | if (status != 0) {
|
---|
572 | Err("Error creating pipe (%s)\n", strerror(-status));
|
---|
573 | return;
|
---|
574 | }
|
---|
575 |
|
---|
576 | status = CreatePipe(&data_pipe, "log_data");
|
---|
577 | if (status != 0) {
|
---|
578 | Err("Error creating pipe (%s)\n", strerror(-status));
|
---|
579 | return;
|
---|
580 | }
|
---|
581 |
|
---|
582 | #ifdef __XENO__
|
---|
583 | string tmp_name;
|
---|
584 | tmp_name = self->ObjectName() + "-log_heap";
|
---|
585 | status = rt_heap_create(&log_heap, tmp_name.c_str(), LOG_HEAP, H_FIFO);
|
---|
586 | if (status != 0) {
|
---|
587 | Err("rt_heap_create error (%s)\n", strerror(-status));
|
---|
588 | return;
|
---|
589 | }
|
---|
590 | #endif //__XENO__
|
---|
591 |
|
---|
592 | continuer = true;
|
---|
593 |
|
---|
594 | #ifdef NRT_STACK_SIZE
|
---|
595 | // Initialize thread creation attributes
|
---|
596 | pthread_attr_t attr;
|
---|
597 | if (pthread_attr_init(&attr) != 0) {
|
---|
598 | Err("pthread_attr_init error\n");
|
---|
599 | return;
|
---|
600 | }
|
---|
601 |
|
---|
602 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
|
---|
603 | Err("pthread_attr_setstacksize error\n");
|
---|
604 | return;
|
---|
605 | }
|
---|
606 |
|
---|
607 | if (pthread_create(&log_th, &attr, write_log_user, (void *)this) < 0)
|
---|
608 | #else
|
---|
609 | if (pthread_create(&log_th, NULL, write_log_user, (void *)this) < 0)
|
---|
610 | #endif
|
---|
611 | {
|
---|
612 | Err("pthread_create error\n");
|
---|
613 | return;
|
---|
614 | }
|
---|
615 | #ifdef NRT_STACK_SIZE
|
---|
616 | if (pthread_attr_destroy(&attr) != 0) {
|
---|
617 | Err("pthread_attr_destroy error\n");
|
---|
618 | return;
|
---|
619 | }
|
---|
620 | #endif
|
---|
621 |
|
---|
622 | logger_defined = true;
|
---|
623 | }
|
---|
624 |
|
---|
625 | void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
|
---|
626 | if (logger_defined == false) {
|
---|
627 | Warn("SetupLogger() was not called, not adding to log\n");
|
---|
628 | return;
|
---|
629 | }
|
---|
630 |
|
---|
631 | if (is_logging == false) {
|
---|
632 | if (!device->pimpl_->IsSetToBeLogged()) {
|
---|
633 | device->pimpl_->SetToBeLogged();
|
---|
634 | log_desc_t tmp;
|
---|
635 | tmp.device = device;
|
---|
636 | logs.push_back(tmp);
|
---|
637 | } else {
|
---|
638 | Warn("not adding it twice\n");
|
---|
639 | }
|
---|
640 | } else {
|
---|
641 | Err("impossible while logging\n");
|
---|
642 | }
|
---|
643 | }
|
---|
644 |
|
---|
645 | bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
|
---|
646 | return device->pimpl_->IsSetToBeLogged();
|
---|
647 | }
|
---|
648 |
|
---|
649 | void FrameworkManager_impl::StartLog(void) {
|
---|
650 | if (logger_defined == false) {
|
---|
651 | Err("SetupLogger() was not called, not starting log\n");
|
---|
652 | return;
|
---|
653 | }
|
---|
654 |
|
---|
655 | ssize_t written;
|
---|
656 | size_t nb_err = 0;
|
---|
657 |
|
---|
658 | if (logs.size() == 0) {
|
---|
659 | Warn("Not starting log: nothing to log!\n");
|
---|
660 | return;
|
---|
661 | }
|
---|
662 |
|
---|
663 | if (is_logging == false) {
|
---|
664 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
665 |
|
---|
666 | logs.at(i).running = true;
|
---|
667 | logs.at(i).dbtFile = NULL;
|
---|
668 | logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
|
---|
669 | #ifdef __XENO__
|
---|
670 | written =
|
---|
671 | rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
|
---|
672 | #else
|
---|
673 | written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
|
---|
674 | #endif
|
---|
675 |
|
---|
676 | if (written < 0) {
|
---|
677 | Err("write pipe error (%s)\n", strerror(-written));
|
---|
678 | nb_err++;
|
---|
679 | logs.at(i).running = false;
|
---|
680 | } else if (written != sizeof(log_desc_t)) {
|
---|
681 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
682 | nb_err++;
|
---|
683 | logs.at(i).running = false;
|
---|
684 | }
|
---|
685 | }
|
---|
686 |
|
---|
687 | if (nb_err != logs.size())
|
---|
688 | is_logging = true;
|
---|
689 | } else {
|
---|
690 | Warn("Already logging\n");
|
---|
691 | }
|
---|
692 | }
|
---|
693 |
|
---|
694 | void FrameworkManager_impl::StopLog(void) {
|
---|
695 | ssize_t written;
|
---|
696 |
|
---|
697 | if (is_logging == true) {
|
---|
698 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
699 | logs.at(i).running = false;
|
---|
700 | }
|
---|
701 | // send only one running false condition, user thread will stop and send all
|
---|
702 | #ifdef __XENO__
|
---|
703 | written =
|
---|
704 | rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
|
---|
705 | #else
|
---|
706 | written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
|
---|
707 | #endif
|
---|
708 |
|
---|
709 | if (written < 0) {
|
---|
710 | Err("write pipe error (%s)\n", strerror(-written));
|
---|
711 | return;
|
---|
712 | } else if (written != sizeof(log_desc_t)) {
|
---|
713 | Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
|
---|
714 | return;
|
---|
715 | }
|
---|
716 |
|
---|
717 | is_logging = false;
|
---|
718 | } else {
|
---|
719 | Warn("Not logging\n");
|
---|
720 | }
|
---|
721 | }
|
---|
722 |
|
---|
723 | char *FrameworkManager_impl::GetBuffer(size_t sz) {
|
---|
724 | // Printf("alloc %i\n",sz);
|
---|
725 | #ifdef __XENO__
|
---|
726 | void *ptr;
|
---|
727 | int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
|
---|
728 | if (status != 0) {
|
---|
729 | Err("rt_heap_alloc error (%s)\n", strerror(-status));
|
---|
730 | ptr = NULL;
|
---|
731 | }
|
---|
732 | return (char *)ptr;
|
---|
733 | #else
|
---|
734 | return (char *)malloc(sz);
|
---|
735 | #endif
|
---|
736 | }
|
---|
737 |
|
---|
738 | void FrameworkManager_impl::ReleaseBuffer(char *buf) {
|
---|
739 | #ifdef __XENO__
|
---|
740 | int status = rt_heap_free(&log_heap, buf);
|
---|
741 |
|
---|
742 | if (status != 0) {
|
---|
743 | Err("rt_heap_free error (%s)\n", strerror(-status));
|
---|
744 | }
|
---|
745 | #else
|
---|
746 | free(buf);
|
---|
747 | #endif
|
---|
748 | }
|
---|
749 |
|
---|
750 | void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
|
---|
751 | ssize_t written;
|
---|
752 |
|
---|
753 | #ifdef __XENO__
|
---|
754 | written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
|
---|
755 | #else
|
---|
756 | written = write(data_pipe[1], buf, size);
|
---|
757 | #endif
|
---|
758 |
|
---|
759 | if (written < 0) {
|
---|
760 | Err("erreur write pipe (%s)\n", strerror(-written));
|
---|
761 | } else if (written != (ssize_t)size) {
|
---|
762 | Err("erreur write pipe %ld/%ld\n", written, size);
|
---|
763 | }
|
---|
764 | }
|
---|
765 |
|
---|
766 | void *FrameworkManager_impl::write_log_user(void *arg) {
|
---|
767 | int cmd_pipe = -1;
|
---|
768 | int data_pipe = -1;
|
---|
769 | string filename;
|
---|
770 | fd_set set;
|
---|
771 | struct timeval timeout;
|
---|
772 | FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
|
---|
773 | int rv;
|
---|
774 |
|
---|
775 | vector<log_desc_t> logs;
|
---|
776 |
|
---|
777 | #ifdef __XENO__
|
---|
778 | filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
|
---|
779 | while (cmd_pipe < 0) {
|
---|
780 | cmd_pipe = open(filename.c_str(), O_RDWR);
|
---|
781 | if (cmd_pipe < 0 && errno != ENOENT)
|
---|
782 | caller->self->Err("open rt_pipe error: %s %i\n", filename.c_str(), errno);
|
---|
783 | usleep(1000);
|
---|
784 | }
|
---|
785 | filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
|
---|
786 | while (data_pipe < 0) {
|
---|
787 | data_pipe = open(filename.c_str(), O_RDWR);
|
---|
788 | if (data_pipe < 0 && errno != ENOENT)
|
---|
789 | caller->self->Err("open rt_pipe error: %s %i\n", filename.c_str(), errno);
|
---|
790 | usleep(1000);
|
---|
791 | }
|
---|
792 | #else
|
---|
793 | cmd_pipe = caller->cmd_pipe[0];
|
---|
794 | data_pipe = caller->data_pipe[0];
|
---|
795 | #endif
|
---|
796 |
|
---|
797 | while (caller->continuer == true) {
|
---|
798 | FD_ZERO(&set);
|
---|
799 | FD_SET(cmd_pipe, &set);
|
---|
800 | FD_SET(data_pipe, &set);
|
---|
801 |
|
---|
802 | timeout.tv_sec = 0;
|
---|
803 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
|
---|
804 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
|
---|
805 |
|
---|
806 | if (rv == -1) {
|
---|
807 | caller->Err("select error\n"); // an error accured
|
---|
808 | } else if (rv == 0) {
|
---|
809 | // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
|
---|
810 | // a timeout occured
|
---|
811 | } else {
|
---|
812 | if (FD_ISSET(cmd_pipe, &set)) {
|
---|
813 | log_desc_t tmp;
|
---|
814 | read(cmd_pipe, &tmp, sizeof(log_desc_t));
|
---|
815 |
|
---|
816 | if (tmp.running == true) // start logging
|
---|
817 | {
|
---|
818 | filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
|
---|
819 | printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
|
---|
820 | tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
|
---|
821 | logs.push_back(tmp);
|
---|
822 |
|
---|
823 | if (logs.size() == 1) {
|
---|
824 | filename = caller->log_path + "/setup.xml";
|
---|
825 | xmlSaveFile(filename.c_str(), caller->file_doc);
|
---|
826 | }
|
---|
827 | } else // stop logging
|
---|
828 | {
|
---|
829 | //disable watchdog temporarly
|
---|
830 | //this is necessary because GCS is no longer sending the heartbeat when receiving files...
|
---|
831 | //TODO: add a thread in GCS for receiving file
|
---|
832 | //but be careful that with a xbee modem for exemple, sending files can saturate communication and
|
---|
833 | //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
|
---|
834 | if(caller->gcs_watchdog!=NULL) {
|
---|
835 | caller->gcs_watchdog->SafeStop();
|
---|
836 | caller->gcs_watchdog->Join();
|
---|
837 | }
|
---|
838 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
839 | if (logs.at(i).dbtFile != NULL) {
|
---|
840 | close_hdfile(logs.at(i).dbtFile);
|
---|
841 |
|
---|
842 | filename = caller->FileName(logs.at(i).device) + ".dbt";
|
---|
843 | caller->SendFile(caller->log_path, filename);
|
---|
844 |
|
---|
845 | fstream txt_file;
|
---|
846 | filename = caller->FileName(logs.at(i).device) + ".txt";
|
---|
847 | txt_file.open((caller->log_path + "/" + filename).c_str(),
|
---|
848 | fstream::out);
|
---|
849 | txt_file << "1: time (us)\n2: time (ns)\n";
|
---|
850 | int index = 3;
|
---|
851 | logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
|
---|
852 | txt_file.close();
|
---|
853 |
|
---|
854 | caller->SendFile(caller->log_path, filename);
|
---|
855 | }
|
---|
856 | }
|
---|
857 | // a revoir celui ci est le xml enregistré et pas forcement l'actuel
|
---|
858 | // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
|
---|
859 | caller->FinishSending();
|
---|
860 |
|
---|
861 | logs.clear();
|
---|
862 | //enable watchdog again
|
---|
863 | if(caller->gcs_watchdog!=NULL) {
|
---|
864 | caller->gcs_watchdog->Start();
|
---|
865 | }
|
---|
866 | }
|
---|
867 | }
|
---|
868 |
|
---|
869 | if (FD_ISSET(data_pipe, &set)) {
|
---|
870 | log_header_t header;
|
---|
871 | read(data_pipe, &header, sizeof(log_header_t));
|
---|
872 |
|
---|
873 | for (size_t i = 0; i < logs.size(); i++) {
|
---|
874 | if (logs.at(i).device == header.device) {
|
---|
875 | char *buf = (char *)malloc(header.size);
|
---|
876 | read(data_pipe, buf, header.size);
|
---|
877 | // printf("%s \n",header.device->ObjectName().c_str());
|
---|
878 | // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
|
---|
879 | // printf("\n");
|
---|
880 | if (logs.at(i).size == header.size) {
|
---|
881 | if (logs.at(i).dbtFile != NULL) {
|
---|
882 | write_hdfile(
|
---|
883 | logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
|
---|
884 | (road_timerange_t)(header.time % 1000), header.size);
|
---|
885 | } else {
|
---|
886 | printf("err\n");
|
---|
887 | }
|
---|
888 | } else {
|
---|
889 | caller->self->Err("%s log size is not correct %i/%i\n",
|
---|
890 | header.device->ObjectName().c_str(),
|
---|
891 | header.size, logs.at(i).size);
|
---|
892 | }
|
---|
893 | free(buf);
|
---|
894 | }
|
---|
895 | }
|
---|
896 | }
|
---|
897 | }
|
---|
898 | }
|
---|
899 |
|
---|
900 | #ifdef __XENO__
|
---|
901 | close(cmd_pipe);
|
---|
902 | close(data_pipe);
|
---|
903 | #endif
|
---|
904 |
|
---|
905 | pthread_exit(0);
|
---|
906 | }
|
---|
907 |
|
---|
908 | string FrameworkManager_impl::FileName(IODevice *device) {
|
---|
909 | return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
|
---|
910 | }
|
---|
911 |
|
---|
912 | void FrameworkManager_impl::PrintXml(void) const {
|
---|
913 | xmlChar *xmlbuff;
|
---|
914 | int buffersize;
|
---|
915 | xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
|
---|
916 | Printf("xml:\n%s\n", xmlbuff);
|
---|
917 | xmlFree(xmlbuff);
|
---|
918 | }
|
---|