source: flair-src/trunk/lib/FlairCore/src/FrameworkManager_impl.cpp@ 4

Last change on this file since 4 was 2, checked in by Sanahuja Guillaume, 8 years ago

flaircore
File size: 26.0 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2011/08/31
6// filename: FrameworkManager.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Classe de base de la librairie
14//
15//
16/*********************************************************************/
17
18#include "FrameworkManager_impl.h"
19#include "FrameworkManager.h"
20#include "Widget_impl.h"
21#include <unistd.h>
22#include "IODevice.h"
23#include "IODevice_impl.h"
24#include "TabWidget.h"
25#include "Layout.h"
26#include "PushButton.h"
27#include "communication.h"
28#include "config.h"
29#include "Watchdog.h"
30#include <errno.h>
31#include <string.h>
32#include <arpa/inet.h>
33#include <sys/mman.h>
34#include <execinfo.h>
35#include <signal.h>
36#include <fcntl.h>
37#ifdef __XENO__
38#include <native/task.h>
39#endif
40
41using namespace std;
42using namespace flair::core;
43using namespace flair::gui;
44
45ui_com* FrameworkManager_impl::com=NULL;
46FrameworkManager_impl* FrameworkManager_impl::_this=NULL;
47
48namespace {
49#ifdef __XENO__
50
51#ifdef SIGDEBUG
52 static const char *reason_str[] = {
53 "undefined",
54 "received signal",
55 "invoked syscall",
56 "triggered fault",
57 "affected by priority inversion",
58 "missing mlockall",
59 "runaway thread",
60 };
61
62 void warn_upon_switch(int sig, siginfo_t *si, void *context) {
63 unsigned int reason = si->si_value.sival_int;
64 void *bt[32];
65 int nentries;
66#ifdef SIGDEBUG_WATCHDOG
67 printf("\nSIGDEBUG received, reason %d: %s\n", reason,
68 reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
69#endif
70 // Dump a backtrace of the frame which caused the switch to secondary mode:
71 nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
72 backtrace_symbols_fd(bt,nentries,fileno(stdout));
73 }
74#else //SIGDEBUG
75 void warn_upon_switch(int sig __attribute__((unused))) {
76 void *bt[32];
77 int nentries;
78
79 /* Dump a backtrace of the frame which caused the switch to
80 secondary mode: */
81 nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
82 backtrace_symbols_fd(bt,nentries,fileno(stdout));
83 }
84#endif //SIGDEBUG
85#endif //__XENO__
86 void seg_fault(int sig __attribute__((unused))) {
87 void *bt[32];
88 int nentries;
89
90 printf("Segmentation fault:\n");
91 /* Dump a backtrace of the frame which caused the segfault: */
92 nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
93 backtrace_symbols_fd(bt,nentries,fileno(stdout));
94
95 exit(1);
96 }
97}
98
99FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,string name): Thread(self,"FrameworkManager",FRAMEWORK_TASK_PRIORITY) {
100 this->self=self;
101 is_logging=false;
102 logger_defined=false;
103 disable_errors=false;
104 ui_defined=false;
105 rcv_buf=NULL;
106 _this=this;
107
108 // Avoids memory swapping for this program
109 mlockall(MCL_CURRENT|MCL_FUTURE);
110 struct sigaction sa;
111
112 //catch segfault
113 signal(SIGSEGV, seg_fault);
114
115 //catch primary->secondary switch
116#ifdef __XENO__
117#ifdef SIGDEBUG
118 sigemptyset(&sa.sa_mask);
119 sa.sa_sigaction = warn_upon_switch;
120 sa.sa_flags = SA_SIGINFO;
121 sigaction(SIGDEBUG, &sa, NULL);
122#else
123 signal(SIGXCPU, warn_upon_switch);
124#endif
125
126 string task_name="Framework_"+name;
127 int status=rt_task_shadow(NULL,task_name.c_str(),10,0);
128 if(status!=0) {
129 self->Err("rt_task_shadow error (%s)\n",strerror(-status));
130 }
131
132#endif //__XENO__
133}
134
135void FrameworkManager_impl::ConnectionLost(void) {
136 Err("connection lost\n");
137 gcs_watchdog->SafeStop();
138 connection_lost=true;
139}
140
141FrameworkManager_impl::~FrameworkManager_impl() {
142 //Printf("destruction FrameworkManager_impl\n");
143 int status;
144
145 SafeStop();
146 Join();
147
148 if(rcv_buf!=NULL) free(rcv_buf);
149
150 if(logger_defined==true) {
151 continuer=false;
152 (void)pthread_join(log_th,NULL);
153
154 status=DeletePipe(&cmd_pipe);
155 if(status!=0) {
156 Err("Error deleting pipe (%s)\n",strerror(-status));
157 }
158 status=DeletePipe(&data_pipe);
159 if(status!=0) {
160 Err("Error deleting pipe (%s)\n",strerror(-status));
161 }
162
163#ifdef __XENO__
164 status=rt_heap_delete(&log_heap);
165 if(status!=0) {
166 Err("rt_heap_delete error (%s)\n",strerror(-status));
167 }
168#endif
169
170 logs.clear();
171 }
172
173 if(file_doc!=NULL) xmlFreeDoc(file_doc);
174
175 if(ui_defined) delete top_layout;
176
177 if(com!=NULL) {
178 delete com;
179 status=UDT::close(com_sock);
180 if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());
181
182 status=UDT::close(file_sock);
183 if(status!=0) printf("Error udt::close %s",UDT::getlasterror().getErrorMessage());
184
185 SleepMS(200);//a revoir, sinon UDT::cleanup bloque en RT
186 UDT::cleanup();
187 }
188
189 //Printf("destruction FrameworkManager_impl ok\n");
190}
191
192
193void FrameworkManager_impl::SetupConnection(string address,uint16_t port,size_t rcv_buf_size) {
194 UDT::startup();
195 this->rcv_buf_size=rcv_buf_size;
196
197 //socket file_socket, doit être créé en premier, cf station sol
198 Printf("Connecting to %s:%i\n",address.c_str(),port);
199 file_sock=GetSocket(address,port);
200 com_sock=GetSocket(address,port);
201
202 //receive buffer allocation
203 rcv_buf=(char*)malloc(rcv_buf_size);
204 if(rcv_buf==NULL) {
205 Err("receive buffer malloc error\n");
206 }
207
208 com=new ui_com(this,com_sock);
209
210 //file managment
211 bool blocking = true;
212 UDT::setsockopt(file_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool));
213 UDT::setsockopt(file_sock, 0, UDT_RCVSYN, &blocking, sizeof(bool));
214
215 //configure timeout of blocking receive, short timeout to have priority on the other socket (see run method)
216 int timeout=1;//ms
217 UDT::setsockopt(file_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
218
219 timeout=100;//ms
220 UDT::setsockopt(com_sock, 0, UDT_RCVTIMEO, &timeout, sizeof(int));
221
222 Start();
223
224 //watchdog for connection with ground station
225 connection_lost=false;
226 gcs_watchdog=new Watchdog(this,std::bind(&FrameworkManager_impl::ConnectionLost,this),(Time)1000000000);
227 gcs_watchdog->Start();
228}
229
230void FrameworkManager_impl::SetupUserInterface(string xml_file) {
231 ui_defined=true;
232 this->xml_file=xml_file;
233
234 //top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
235 top_layout=new Layout(NULL,self->ObjectName(),XML_ROOT_TYPE);
236
237 //xml setup of the main widget
238 if(xml_file!="") {
239 xmlNodePtr* file_node=&(((Widget*)(top_layout))->pimpl_->file_node);
240 file_doc = xmlParseFile(xml_file.c_str());
241 if (file_doc == NULL ) {
242 self->Warn("XML document not parsed successfully. Creating a new one.\n");
243 file_doc = xmlNewDoc((xmlChar*)"1.0");
244 *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
245 xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
246 xmlDocSetRootElement(file_doc, *file_node);
247 //PrintXml();
248 } else {
249 *file_node=xmlDocGetRootElement(file_doc);
250 if(xmlStrcmp((*file_node)->name,(xmlChar*)XML_ROOT_TYPE)) {
251 self->Warn("%s, no match found in xml file\n",XML_ROOT_TYPE);
252 *file_node=xmlNewNode(NULL, (xmlChar*)XML_ROOT_TYPE);
253 xmlSetProp(*file_node,(xmlChar*)"name",(xmlChar*)ObjectName().c_str());
254 xmlDocSetRootElement(file_doc, *file_node);
255 }
256 }
257 } else {
258 self->Err("xml file not defined\n");
259 }
260
261 //gui
262 tabwidget=new TabWidget(top_layout->At(0,0),XML_MAIN_TABWIDGET,TabWidget::North);
263 save_button=new PushButton(top_layout->At(1,0),"save config on target (" + self->ObjectName() + ")");
264 //load_button=new PushButton(top_layout->At(1,1),"load config on target (" + self->ObjectName() + ")");
265}
266
267//in case of RT, this thread switches to secondary mode when calling com->Receive
268//it switches back to RT in ProcessXML when mutex are locked
269void FrameworkManager_impl::Run(void)
270{
271 while(!ToBeStopped())
272 {
273 ssize_t bytesRead;
274
275 bytesRead=com->Receive(rcv_buf,rcv_buf_size);
276
277 if(bytesRead==(ssize_t)rcv_buf_size) Err("FrameworkManager max receive size, augmenter le buffer size!\n");
278
279 if(bytesRead>0)
280 {
281 //printf("recu %ld, trame %x\n",bytesRead,(uint8_t)rcv_buf[0]);
282 //rcv_buf[bytesRead-1]=0;//pour affichage
283 //printf("%s\n",rcv_buf);
284
285 switch((uint8_t)rcv_buf[0])
286 {
287 case XML_HEADER:
288 {
289 xmlDoc *doc;
290 rcv_buf[bytesRead]=0;
291
292 doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml", "ISO-8859-1", 0);
293 xmlNode *cur_node = NULL;
294
295 for (cur_node = xmlDocGetRootElement(doc); cur_node; cur_node = cur_node->next)
296 {
297 if (cur_node->type == XML_ELEMENT_NODE)
298 {
299 if(!xmlStrcmp(cur_node->name,(xmlChar*)XML_ROOT_TYPE) )
300 {
301#ifdef __XENO__
302 WarnUponSwitches(true);//ProcessXML should not switch to secondary mode
303#endif
304 top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
305#ifdef __XENO__
306 WarnUponSwitches(false);//other parts of this thread can switch to secondary mode
307#endif
308 break;
309 }
310 }
311 }
312
313 xmlFreeDoc(doc);
314
315 if(save_button->Clicked()) SaveXml();
316
317 SaveXmlChange(rcv_buf);
318
319 break;
320 }
321 case WATCHDOG_HEADER: {
322 gcs_watchdog->Touch();
323 break;
324 }
325 default:
326 Err("unknown id: %x\n",(uint8_t)rcv_buf[0]);
327 break;
328 }
329 } else {
330 if(com->ConnectionLost()) SleepMS(10);//avoid infinite loop in this case
331 }
332 }
333}
334
335void FrameworkManager_impl::SaveXml(void)
336{
337 if(ui_defined) xmlSaveFormatFile(xml_file.c_str(),file_doc,1);
338}
339
340void FrameworkManager_impl::SaveXmlChange(char* buf)
341{
342 if(is_logging==true)
343 {
344 FILE *xml_change;
345 char filename[256];
346 Time time=GetTime();
347
348 sprintf(filename,"%s/changes_at_%lld.xml",log_path.c_str(),time);
349
350 xml_change=fopen(filename,"a");
351 fprintf(xml_change,"%s",buf);
352 fclose(xml_change);
353
354 sprintf(filename,"changes_at_%lld.xml",time);
355 xml_changes.push_back(filename);
356 }
357}
358
359void FrameworkManager_impl::SendFile(string path,string name)
360{
361 char *buf,*more_buf;
362 int size;
363 filebuf *pbuf;
364 ssize_t nb_write;
365 string filename=path+ "/" +name;
366
367 // open the file
368 fstream ifs(filename.c_str(), ios::in | ios::binary);
369 ifs.seekg(0, ios::end);
370 size = ifs.tellg();
371 ifs.seekg(0, ios::beg);
372 pbuf=ifs.rdbuf();
373
374 if(size<=0)
375 {
376 Err("error opening file %s\n",filename.c_str());
377 return;
378 }
379
380 buf=(char*)malloc(sizeof(uint8_t)+sizeof(int)+name.size());
381 if(buf==NULL)
382 {
383 Err("malloc error, not sending file\n");
384 return;
385 }
386
387 if(IsBigEndian())
388 {
389 buf[0]=FILE_INFO_BIG_ENDIAN;
390 }
391 else
392 {
393 buf[0]=FILE_INFO_LITTLE_ENDIAN;
394 }
395
396 memcpy(buf+1,&size,sizeof(int));
397 memcpy(buf+1+sizeof(int),name.c_str(),name.size());
398 Printf("sending %s, size: %i\n",filename.c_str(),size);
399 // send file information
400 UDT::sendmsg(file_sock, buf, sizeof(uint8_t)+sizeof(int)+name.size(), -1,true);
401
402 more_buf=(char*)realloc((void*)buf,size);
403 if(more_buf==NULL)
404 {
405 Err("realloc error, not sending file\n");
406 free(buf);
407 return;
408 }
409 else
410 {
411 buf=more_buf;
412 }
413
414 pbuf->sgetn (buf,size);
415 // send the file
416 nb_write=UDT::sendmsg(file_sock, buf, size,-1,true);
417
418 if(nb_write<0)
419 {
420 Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
421 }
422 else if (nb_write != size)
423 {
424 Err("UDT::sendmsg error, sent %ld/%i\n",nb_write,size);
425 }
426
427 ifs.close();
428 free(buf);
429}
430
431void FrameworkManager_impl::FinishSending()
432{
433 char rm_cmd[256];
434
435 //send orignal xml
436 SendFile(log_path,"setup.xml");
437 sprintf(rm_cmd,"rm %s/setup.xml",log_path.c_str());
438 system(rm_cmd);
439
440 //send xml changes
441 for(size_t i=0;i<xml_changes.size();i++)
442 {
443 //Printf("%s\n",xml_changes.at(i).c_str());
444 SendFile(log_path,xml_changes.at(i).c_str());
445 sprintf(rm_cmd,"rm %s/%s",log_path.c_str(),xml_changes.at(i).c_str());
446 system(rm_cmd);
447 }
448 xml_changes.clear();
449
450 //end notify
451 char buf=END;
452 int nb_write=UDT::sendmsg(file_sock, &buf, 1,-1,true);
453
454 if(nb_write<0)
455 {
456 Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
457 }
458 else if (nb_write != 1)
459 {
460 Err("UDT::sendmsg error, sent %i/%i\n",nb_write,1);
461 }
462}
463
464UDTSOCKET FrameworkManager_impl::GetSocket(string address,uint16_t port) {
465 while(1) {
466 UDTSOCKET new_fd;
467 new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
468 if(new_fd==UDT::INVALID_SOCK) {
469 Err("socket error: %s\n",UDT::getlasterror().getErrorMessage());
470 return 0;
471 }
472
473 sockaddr_in serv_addr;
474 serv_addr.sin_family = AF_INET;
475 serv_addr.sin_port = htons(short(port));
476
477 if (inet_pton(AF_INET,address.c_str(), &serv_addr.sin_addr) <= 0) {
478 Err("incorrect network address\n");
479 return 0;
480 }
481
482 memset(&(serv_addr.sin_zero), '\0', 8);
483
484 if (UDT::ERROR == UDT::connect(new_fd, (sockaddr*)&serv_addr, sizeof(serv_addr))) {
485 //Printf("connect error: %s %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
486 UDT::close(new_fd);
487 if(UDT::getlasterror().getErrorCode()!=1001 && UDT::getlasterror().getErrorCode()!=1002) {
488 Err("connect error: %s\n",UDT::getlasterror().getErrorMessage());
489 return 0;
490 }
491 } else {
492 //printf("connected to %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
493 return new_fd;
494 }
495 }
496}
497
498#ifdef __XENO__
499int FrameworkManager_impl::CreatePipe(RT_PIPE* fd,string name)
500{
501 name=self->ObjectName()+ "-" + name;
502 //xenomai limitation
503 if(name.size()>31) self->Err("rt_pipe_create error (%s is too long)\n",name.c_str());
504 //start log writter
505#ifdef RT_PIPE_SIZE
506 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,RT_PIPE_SIZE);
507#else
508 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO,0);
509#endif
510}
511#else
512int FrameworkManager_impl::CreatePipe(int (*fd)[2],string name)
513{
514 //if(pipe2(fd[0],O_NONBLOCK) == -1)
515 if(pipe(fd[0]) == -1)
516 {
517 return errno;
518 }
519 else
520 {
521 int attr=fcntl((*fd)[0], F_GETFL,0);
522 if(attr == -1)
523 {
524 return errno;
525 }
526 if(fcntl((*fd)[0], F_SETFL, attr|O_NONBLOCK)== -1)
527 {
528 return errno;
529 }
530 attr=fcntl((*fd)[1], F_GETFL,0);
531 if(attr == -1)
532 {
533 return errno;
534 }
535 if(fcntl((*fd)[1], F_SETFL, attr|O_NONBLOCK)== -1)
536 {
537 return errno;
538 }
539
540 return 0;
541 }
542}
543#endif
544
545#ifdef __XENO__
546int FrameworkManager_impl::DeletePipe(RT_PIPE* fd)
547{
548 return rt_pipe_delete(fd);
549}
550#else
551int FrameworkManager_impl::DeletePipe(int (*fd)[2])
552{
553 int status1=close((*fd)[0]);
554 int status2=close((*fd)[1]);
555 if(status1==0 && status2==0) return 0;
556 if(status1!=0) return status1;
557 if(status2!=0) return status2;
558}
559#endif
560
561void FrameworkManager_impl::SetupLogger(string log_path) {
562 if(logger_defined==true) {
563 Warn("SetupLogger() was already called.\n");
564 return;
565 }
566
567 this->log_path=log_path;
568
569 int status=CreatePipe(&cmd_pipe,"log_cmd");
570 if(status!=0) {
571 Err("Error creating pipe (%s)\n",strerror(-status));
572 return;
573 }
574
575 status=CreatePipe(&data_pipe,"log_data");
576 if(status!=0) {
577 Err("Error creating pipe (%s)\n",strerror(-status));
578 return;
579 }
580
581#ifdef __XENO__
582 string tmp_name;
583 tmp_name=self->ObjectName() + "-log_heap";
584 status=rt_heap_create(&log_heap,tmp_name.c_str(),LOG_HEAP,H_FIFO);
585 if(status!=0) {
586 Err("rt_heap_create error (%s)\n",strerror(-status));
587 return;
588 }
589#endif //__XENO__
590
591 continuer=true;
592
593#ifdef NRT_STACK_SIZE
594 // Initialize thread creation attributes
595 pthread_attr_t attr;
596 if(pthread_attr_init(&attr) != 0) {
597 Err("pthread_attr_init error\n");
598 return;
599 }
600
601 if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
602 Err("pthread_attr_setstacksize error\n");
603 return;
604 }
605
606 if(pthread_create(&log_th, &attr, write_log_user, (void*)this) < 0)
607#else
608 if(pthread_create(&log_th, NULL, write_log_user, (void*)this) < 0)
609#endif
610 {
611 Err("pthread_create error\n");
612 return;
613 }
614#ifdef NRT_STACK_SIZE
615 if(pthread_attr_destroy(&attr) != 0) {
616 Err("pthread_attr_destroy error\n");
617 return;
618 }
619#endif
620
621 logger_defined=true;
622}
623
624void FrameworkManager_impl::AddDeviceToLog(IODevice *device)
625{
626 if(logger_defined==false)
627 {
628 Err("SetupLogger() was not called, not starting log\n");
629 return;
630 }
631
632 if(is_logging==false)
633 {
634 if(device->pimpl_->SetToBeLogged()) {
635 log_desc_t tmp;
636 tmp.device=device;
637 logs.push_back(tmp);
638 } else {
639 Warn("not adding it twice\n");
640 }
641 }
642 else
643 {
644 Err("impossible while logging\n");
645 }
646}
647
648void FrameworkManager_impl::StartLog(void)
649{
650 if(logger_defined==false)
651 {
652 Err("SetupLogger() was not called, not starting log\n");
653 return;
654 }
655
656 ssize_t written;
657 size_t nb_err=0;
658
659 if(logs.size()==0)
660 {
661 Warn("Not starting log: nothing to log!\n");
662 return;
663 }
664
665 if(is_logging==false)
666 {
667 for(size_t i=0;i<logs.size();i++)
668 {
669
670 logs.at(i).running=true;
671 logs.at(i).dbtFile=NULL;
672 logs.at(i).size=logs.at(i).device->pimpl_->LogSize();
673#ifdef __XENO__
674 written=rt_pipe_write(&cmd_pipe,&logs.at(i),sizeof(log_desc_t),P_NORMAL);
675#else
676 written=write(cmd_pipe[1],&logs.at(i),sizeof(log_desc_t));
677#endif
678
679 if(written<0)
680 {
681 Err("write pipe error (%s)\n",strerror(-written));
682 nb_err++;
683 logs.at(i).running=false;
684 }
685 else if (written != sizeof(log_desc_t))
686 {
687 Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
688 nb_err++;
689 logs.at(i).running=false;
690 }
691 }
692
693 if(nb_err!=logs.size()) is_logging=true;
694 }
695 else
696 {
697 Warn("Already logging\n");
698 }
699}
700
701void FrameworkManager_impl::StopLog(void)
702{
703 ssize_t written;
704
705 if(is_logging==true)
706 {
707 for(size_t i=0;i<logs.size();i++)
708 {
709 logs.at(i).running=false;
710 }
711 //send only one running false condition, user thread will stop and send all
712#ifdef __XENO__
713 written=rt_pipe_write(&cmd_pipe,&logs.at(0),sizeof(log_desc_t),P_NORMAL);
714#else
715 written=write(cmd_pipe[1],&logs.at(0),sizeof(log_desc_t));
716#endif
717
718 if(written<0)
719 {
720 Err("write pipe error (%s)\n",strerror(-written));
721 return;
722 }
723 else if (written != sizeof(log_desc_t))
724 {
725 Err("write pipe error %ld/%ld\n",written,sizeof(log_desc_t));
726 return;
727 }
728
729 is_logging=false;
730 }
731 else
732 {
733 Warn("Not logging\n");
734 }
735}
736
737char* FrameworkManager_impl::GetBuffer(size_t sz)
738{
739 //Printf("alloc %i\n",sz);
740#ifdef __XENO__
741 void *ptr;
742 int status=rt_heap_alloc(&log_heap,sz,TM_NONBLOCK ,&ptr);
743 if(status!=0)
744 {
745 Err("rt_heap_alloc error (%s)\n",strerror(-status));
746 ptr=NULL;
747 }
748 return (char*)ptr;
749#else
750 return (char*)malloc(sz);
751#endif
752}
753
754void FrameworkManager_impl::ReleaseBuffer(char* buf)
755{
756#ifdef __XENO__
757 int status=rt_heap_free(&log_heap,buf);
758
759 if(status!=0)
760 {
761 Err("rt_heap_free error (%s)\n",strerror(-status));
762 }
763#else
764 free(buf);
765#endif
766}
767
768void FrameworkManager_impl::WriteLog(const char* buf,size_t size)
769{
770 ssize_t written;
771
772#ifdef __XENO__
773 written=rt_pipe_write(&data_pipe,buf,size,P_NORMAL);
774#else
775 written=write(data_pipe[1],buf,size);
776#endif
777
778 if(written<0)
779 {
780 Err("erreur write pipe (%s)\n",strerror(-written));
781 }
782 else if (written != (ssize_t)size)
783 {
784 Err("erreur write pipe %ld/%ld\n",written,size);
785 }
786}
787
788void* FrameworkManager_impl::write_log_user(void * arg)
789{
790 int cmd_pipe=-1;
791 int data_pipe=-1;
792 string filename;
793 fd_set set;
794 struct timeval timeout;
795 FrameworkManager_impl *caller = (FrameworkManager_impl*)arg;
796 int rv;
797
798 vector<log_desc_t> logs;
799
800#ifdef __XENO__
801 filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_cmd";
802 while(cmd_pipe<0)
803 {
804 cmd_pipe = open(filename.c_str(), O_RDWR);
805 if (cmd_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
806 usleep(1000);
807 }
808 filename=NRT_PIPE_PATH+ caller->self->ObjectName() + "-log_data";
809 while(data_pipe<0)
810 {
811 data_pipe = open(filename.c_str(), O_RDWR);
812 if (data_pipe < 0 && errno!=ENOENT) caller->self->Err("open rt_pipe error: %s %i\n",filename.c_str(),errno);
813 usleep(1000);
814 }
815#else
816 cmd_pipe=caller->cmd_pipe[0];
817 data_pipe=caller->data_pipe[0];
818#endif
819
820 while(caller->continuer==true)
821 {
822 FD_ZERO(&set);
823 FD_SET(cmd_pipe, &set);
824 FD_SET(data_pipe, &set);
825
826 timeout.tv_sec = 0;
827 timeout.tv_usec = SELECT_TIMEOUT_MS*1000;
828 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
829
830 if(rv == -1)
831 {
832 caller->Err("select error\n"); // an error accured
833 }
834 else if(rv == 0)
835 {
836 //printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); // a timeout occured
837 }
838 else
839 {
840 if(FD_ISSET(cmd_pipe, &set))
841 {
842 log_desc_t tmp;
843 read(cmd_pipe,&tmp,sizeof(log_desc_t));
844
845 if(tmp.running==true)//start logging
846 {
847 filename= caller->log_path + "/" +caller->FileName(tmp.device)+ ".dbt";
848 printf("Creating log file %s (log size %i)\n",filename.c_str(), (int)tmp.size);
849 tmp.dbtFile = inithdFile((char*)filename.c_str(),UAV,tmp.size);
850 logs.push_back(tmp);
851
852 if(logs.size()==1)
853 {
854 filename= caller->log_path + "/setup.xml";
855 xmlSaveFile(filename.c_str(),caller->file_doc);
856 }
857 }
858 else//stop logging
859 {
860 for(size_t i=0;i<logs.size();i++)
861 {
862 if(logs.at(i).dbtFile!=NULL)
863 {
864 close_hdfile(logs.at(i).dbtFile);
865
866 filename= caller->FileName(logs.at(i).device)+ ".dbt";
867 caller->SendFile(caller->log_path,filename);
868
869 fstream txt_file;
870 filename= caller->FileName(logs.at(i).device)+ ".txt";
871 txt_file.open((caller->log_path+"/"+filename).c_str(),fstream::out);
872 txt_file << "1: time (us)\n2: time (ns)\n";
873 int index=3;
874 logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file,&index);
875 txt_file.close();
876
877 caller->SendFile(caller->log_path,filename);
878 }
879 }
880 //a revoir celui ci est le xml enregistré et pas forcement l'actuel
881 //if(caller->xml_file!="") caller->SendFile(caller->xml_file);
882 caller->FinishSending();
883
884 logs.clear();
885 }
886 }
887
888 if(FD_ISSET(data_pipe, &set))
889 {
890 log_header_t header;
891 read(data_pipe,&header,sizeof(log_header_t));
892
893 for(size_t i=0;i<logs.size();i++)
894 {
895 if(logs.at(i).device==header.device)
896 {
897 char* buf=(char*)malloc(header.size);
898 read(data_pipe,buf,header.size);
899//printf("%s \n",header.device->ObjectName().c_str());
900//for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
901//printf("\n");
902 if(logs.at(i).size==header.size)
903 {
904 if(logs.at(i).dbtFile!=NULL)
905 {
906 write_hdfile(logs.at(i).dbtFile,buf,(road_time_t)(header.time/1000),(road_timerange_t)(header.time%1000),header.size);
907 }
908 else
909 {
910 printf("err\n");
911 }
912 }
913 else
914 {
915 caller->self->Err("%s log size is not correct %i/%i\n",header.device->ObjectName().c_str(),header.size,logs.at(i).size);
916 }
917 free(buf);
918 }
919 }
920 }
921 }
922 }
923
924#ifdef __XENO__
925 close(cmd_pipe);
926 close(data_pipe);
927#endif
928
929 pthread_exit(0);
930
931}
932
933string FrameworkManager_impl::FileName(IODevice* device)
934{
935 return getFrameworkManager()->ObjectName() + "_"+device->ObjectName();
936}
937
938void FrameworkManager_impl::PrintXml(void) const
939{
940 xmlChar *xmlbuff;
941 int buffersize;
942 xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
943 Printf("xml:\n%s\n",xmlbuff);
944 xmlFree(xmlbuff);
945}
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