source: flair-src/trunk/lib/FlairCore/src/FrameworkManager_impl.cpp@ 420

Last change on this file since 420 was 414, checked in by Sanahuja Guillaume, 3 years ago

added possibility to autodetect gcs ip when using autodetect as address parameter, see demos. This only works when ssh connected to a target (not in simulation)
File size: 28.0 KB
Line 
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#include <rtdk.h>
40#endif
41
42using namespace std;
43using namespace flair::core;
44using namespace flair::gui;
45
46ui_com *FrameworkManager_impl::com = NULL;
47FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
48
49namespace {
50#ifdef __XENO__
51
52#ifdef SIGDEBUG
53static const char *reason_str[] = {
54 "undefined", "received signal", "invoked syscall", "triggered fault",
55 "affected by priority inversion", "missing mlockall", "runaway thread",
56};
57
58void warn_upon_switch(int sig, siginfo_t *si, void *context) {
59 unsigned int reason = si->si_value.sival_int;
60 void *bt[32];
61 int nentries;
62#ifdef SIGDEBUG_WATCHDOG
63 printf("\nSIGDEBUG received, reason %d: %s\n", reason,
64 reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
65 printf("entering secondary mode\n");
66#endif
67 // Dump a backtrace of the frame which caused the switch to secondary mode:
68 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
69 backtrace_symbols_fd(bt, nentries, fileno(stdout));
70}
71#else // SIGDEBUG
72void warn_upon_switch(int sig __attribute__((unused))) {
73 void *bt[32];
74 int nentries;
75
76 /* Dump a backtrace of the frame which caused the switch to
77 secondary mode: */
78 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
79 backtrace_symbols_fd(bt, nentries, fileno(stdout));
80}
81#endif // SIGDEBUG
82#endif //__XENO__
83void seg_fault(int sig __attribute__((unused))) {
84 void *bt[32];
85 int nentries;
86
87 printf("Segmentation fault:\n");
88 /* Dump a backtrace of the frame which caused the segfault: */
89 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
90 backtrace_symbols_fd(bt, nentries, fileno(stdout));
91
92 exit(1);
93}
94}
95
96FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
97 string name)
98 : Thread(self, "FrameworkManager", FRAMEWORK_TASK_PRIORITY) {
99 this->self = self;
100 is_logging = false;
101 logger_defined = false;
102 disable_errors = false;
103 ui_defined = false;
104 rcv_buf = NULL;
105 gcs_watchdog = NULL;
106 _this = this;
107 tabwidget=NULL;
108
109 // Avoids memory swapping for this program
110 mlockall(MCL_CURRENT | MCL_FUTURE);
111
112 // catch segfault
113 signal(SIGSEGV, seg_fault);
114
115// catch primary->secondary switch
116#ifdef __XENO__
117#ifdef SIGDEBUG
118 struct sigaction sa;
119 sigemptyset(&sa.sa_mask);
120 sa.sa_sigaction = warn_upon_switch;
121 sa.sa_flags = SA_SIGINFO;
122 sigaction(SIGDEBUG, &sa, NULL);
123#else //SIGDEBUG
124 signal(SIGXCPU, warn_upon_switch);
125#endif //SIGDEBUG
126 string task_name = "Framework_" + name;
127
128 // Perform auto-init of rt_print buffers if the task doesn't do so
129 rt_print_auto_init(1);
130 // Initialise the rt_print buffer for this task explicitly
131 rt_print_init(512, task_name.c_str());
132
133 int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
134 if (status != 0) {
135 char errorMsg[256];
136 self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
137 }
138
139#endif //__XENO__
140}
141
142void FrameworkManager_impl::SetConnectionLost(void) {
143 Err("connection lost\n");
144 if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
145 connection_lost = true;
146}
147
148FrameworkManager_impl::~FrameworkManager_impl() {
149 // Printf("destruction FrameworkManager_impl\n");
150 int status;
151
152 SafeStop();
153 Join();
154
155 if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
156
157 if (rcv_buf != NULL)
158 free(rcv_buf);
159
160 if (logger_defined == true) {
161 continuer = false;
162 (void)pthread_join(log_th, NULL);
163
164 status = DeletePipe(&cmd_pipe);
165 if (status != 0) {
166 char errorMsg[256];
167 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
168 }
169 status = DeletePipe(&data_pipe);
170 if (status != 0) {
171 char errorMsg[256];
172 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
173 }
174
175#ifdef __XENO__
176 status = rt_heap_delete(&log_heap);
177 if (status != 0) {
178 char errorMsg[256];
179 Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
180 }
181#endif
182
183 logs.clear();
184 }
185
186 if (file_doc != NULL)
187 xmlFreeDoc(file_doc);
188
189 if (ui_defined)
190 delete top_layout;
191
192 if (com != NULL) {
193 delete com;
194 //avoid waiting on closing if connection is lost
195 if(connection_lost) {
196 bool blocking = false;
197 if (UDT::setsockopt(com_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
198 Err("UDT::setsockopt error (UDT_SNDSYN)\n");
199 }
200 status = UDT::close(com_sock);
201 if (status != 0)
202 Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
203
204 SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
205
206 if(connection_lost) {
207 //don't know why?
208 Warn("Cleaning up UDT socket, this can take some time\n");
209 }
210 if (UDT::cleanup() != 0)
211 Err("UDT::cleanup error\n");
212 }
213
214 // Printf("destruction FrameworkManager_impl ok\n");
215}
216
217void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
218 size_t rcv_buf_size) {
219 if (com != NULL) {
220 Err("SetupConnection should be called only one time\n");
221 return;
222 }
223 if(address=="autodetect") {
224 Printf("autodetecting gcs ip address based on ssh connection\n");
225 address=AutoDetectGCS();
226 }
227 this->address=address;
228 this->port=port;
229
230 UDT::startup2(1024*256,1024*256,1024*256);
231 this->rcv_buf_size = rcv_buf_size;
232
233 // socket file_socket, doit être créé en premier, cf station sol
234 Printf("Connecting to FlairGCS on %s:%i\n", address.c_str(), port);
235 //file_sock = GetSocket(address, port);
236 com_sock = GetSocket();
237
238 // receive buffer allocation
239 rcv_buf = (char *)malloc(rcv_buf_size);
240 if (rcv_buf == NULL) {
241 Err("receive buffer malloc error\n");
242 }
243
244 com = new ui_com(this, com_sock);
245
246 Start();
247
248 // watchdog for connection with ground station
249 connection_lost = false;
250 gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::SetConnectionLost, this),watchdogTimeout);
251 gcs_watchdog->Start();
252}
253
254string FrameworkManager_impl::AutoDetectGCS(void) {
255 FILE *fp;
256 char result[15];
257
258 //get only first result and remove line feed
259 fp = popen("who | awk '{ print $7; }' | head -n 1 | tr -d '\n'", "r");
260 if (fp == NULL) {
261 Err("Failed to run autodetect command\n" );
262 }
263
264 fgets(result, sizeof(result), fp);
265 pclose(fp);
266
267 return result;
268}
269
270void FrameworkManager_impl::SetupUserInterface(string xml_file) {
271 ui_defined = true;
272 this->xml_file = xml_file;
273
274 // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
275 top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
276
277 // xml setup of the main widget
278 if (xml_file != "") {
279 xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
280 file_doc = xmlParseFile(xml_file.c_str());
281 if (file_doc == NULL) {
282 self->Warn("XML document not parsed successfully. Creating a new one.\n");
283 file_doc = xmlNewDoc((xmlChar *)"1.0");
284 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
285 xmlSetProp(*file_node, (xmlChar *)"name",
286 (xmlChar *)ObjectName().c_str());
287 xmlDocSetRootElement(file_doc, *file_node);
288 // PrintXml();
289 } else {
290 *file_node = xmlDocGetRootElement(file_doc);
291 if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
292 self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
293 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
294 xmlSetProp(*file_node, (xmlChar *)"name",
295 (xmlChar *)ObjectName().c_str());
296 xmlDocSetRootElement(file_doc, *file_node);
297 }
298 }
299 } else {
300 self->Err("xml file not defined\n");
301 }
302
303 // gui
304 tabwidget =
305 new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
306 save_button =
307 new PushButton(top_layout->At(1, 0),
308 "save config on target (" + self->ObjectName() + ")");
309 // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
310 // self->ObjectName() + ")");
311}
312
313// in case of RT, this thread switches to secondary mode when calling
314// com->Receive
315// it switches back to RT in ProcessXML when mutex are locked
316void FrameworkManager_impl::Run(void) {
317
318 if (self->ErrorOccured() == true) {
319 return ;
320 }
321
322
323 while (!ToBeStopped()) {
324 ssize_t bytesRead;
325 bytesRead = com->Receive(rcv_buf, rcv_buf_size);
326 com->CheckConnection();
327//printf("%i\n",bytesRead);
328 if (bytesRead == (ssize_t)rcv_buf_size)
329 Err("FrameworkManager max receive size, augmenter le buffer size!\n");
330
331 if (bytesRead > 0) {
332 //printf("recu %ld, trame %x %lld\n",bytesRead,(uint8_t)rcv_buf[0],GetTime()/(1000000));
333 //rcv_buf[bytesRead-1]=0;//pour affichage
334 //printf("%s\n",rcv_buf);
335
336 switch ((uint8_t)rcv_buf[0]) {
337 case XML_HEADER: {
338 xmlDoc *doc;
339 rcv_buf[bytesRead] = 0;
340 //Printf("%s\n",rcv_buf);
341 doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
342 "ISO-8859-1", 0);
343 xmlNode *cur_node = NULL;
344
345 for (cur_node = xmlDocGetRootElement(doc); cur_node;
346 cur_node = cur_node->next) {
347 if (cur_node->type == XML_ELEMENT_NODE) {
348 if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
349#ifdef __XENO__
350 WarnUponSwitches(
351 true); // ProcessXML should not switch to secondary mode
352#endif
353 top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
354#ifdef __XENO__
355 WarnUponSwitches(false); // other parts of this thread can switch
356 // to secondary mode
357#endif
358 break;
359 }
360 }
361 }
362
363 xmlFreeDoc(doc);
364
365 if (save_button->Clicked())
366 SaveXml();
367
368 SaveXmlChange(rcv_buf);
369
370 break;
371 }
372 case WATCHDOG_HEADER: {
373 if(gcs_watchdog!=NULL) gcs_watchdog->Touch();
374 break;
375 }
376 default:
377 Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
378 break;
379 }
380 } else {
381 if (com->ConnectionLost())
382 SleepMS(10); // avoid infinite loop in this case
383 }
384 }
385}
386
387void FrameworkManager_impl::SaveXml(void) {
388 if (ui_defined)
389 xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
390}
391
392void FrameworkManager_impl::SaveXmlChange(char *buf) {
393 if (is_logging == true) {
394 FILE *xml_change;
395 char filename[256];
396 Time time = GetTime();
397
398 sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
399
400 xml_change = fopen(filename, "a");
401 fprintf(xml_change, "%s", buf);
402 fclose(xml_change);
403
404 sprintf(filename, "changes_at_%lld.xml", time);
405 xml_changes.push_back(filename);
406 }
407}
408
409void FrameworkManager_impl::SendFile(UDTSOCKET socket,string path, string name) {
410 char *buf, *more_buf;
411 int size;
412 filebuf *pbuf;
413 ssize_t nb_write;
414 string filename = path + "/" + name;
415
416 // open the file
417 fstream ifs(filename.c_str(), ios::in | ios::binary);
418 ifs.seekg(0, ios::end);
419 size = ifs.tellg();
420 ifs.seekg(0, ios::beg);
421 pbuf = ifs.rdbuf();
422
423 if (size <= 0) {
424 Err("error opening file %s\n", filename.c_str());
425 return;
426 }
427
428 buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
429 if (buf == NULL) {
430 Err("malloc error, not sending file\n");
431 return;
432 }
433
434 if (IsBigEndian()) {
435 buf[0] = FILE_INFO_BIG_ENDIAN;
436 } else {
437 buf[0] = FILE_INFO_LITTLE_ENDIAN;
438 }
439
440 memcpy(buf + 1, &size, sizeof(int));
441 memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
442 Printf("sending %s, size: %i\n", filename.c_str(), size);
443 // send file information
444 UDT::sendmsg(socket, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,true);
445
446 more_buf = (char *)realloc((void *)buf, size);
447 if (more_buf == NULL) {
448 Err("realloc error, not sending file\n");
449 free(buf);
450 return;
451 } else {
452 buf = more_buf;
453 }
454
455 pbuf->sgetn(buf, size);
456 // send the file
457 nb_write = UDT::sendmsg(socket, buf, size, -1, true);
458
459 if (nb_write < 0) {
460 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
461 } else if (nb_write != size) {
462 Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
463 }
464
465 ifs.close();
466 free(buf);
467}
468
469void FrameworkManager_impl::FinishSending(UDTSOCKET socket) {
470 char rm_cmd[256];
471
472 // send orignal xml
473 SendFile(socket,log_path, "setup.xml");
474 sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
475 system(rm_cmd);
476
477 // send xml changes
478 for (size_t i = 0; i < xml_changes.size(); i++) {
479 // Printf("%s\n",xml_changes.at(i).c_str());
480 SendFile(socket,log_path, xml_changes.at(i).c_str());
481 sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
482 system(rm_cmd);
483 }
484 xml_changes.clear();
485
486 // end notify
487 char buf = END_SENDING_FILES;
488 int nb_write = UDT::sendmsg(socket, &buf, 1, -1, true);
489
490 if (nb_write < 0) {
491 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
492 } else if (nb_write != 1) {
493 Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
494 }
495
496 //wait end ACK
497 int nb_read = UDT::recvmsg(socket,&buf,1);
498 if(nb_read<0) {
499 Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
500 } else if (nb_read != 1) {
501 Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
502 }
503}
504
505UDTSOCKET FrameworkManager_impl::GetSocket(void) {
506 while (1) {
507 UDTSOCKET new_fd;
508 new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
509 if (new_fd == UDT::INVALID_SOCK) {
510 Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
511 return 0;
512 }
513
514 sockaddr_in serv_addr;
515 serv_addr.sin_family = AF_INET;
516 serv_addr.sin_port = htons(short(port));
517
518 if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
519 Err("incorrect network address\n");
520 return 0;
521 }
522
523 memset(&(serv_addr.sin_zero), '\0', 8);
524
525 if (UDT::ERROR ==
526 UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
527 // Printf("connect error: %s
528 // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
529 UDT::close(new_fd);
530 if (UDT::getlasterror().getErrorCode() != 1001 &&
531 UDT::getlasterror().getErrorCode() != 1002) {
532 Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
533 return 0;
534 }
535 } else {
536 // printf("connected to
537 // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
538 return new_fd;
539 }
540 }
541}
542
543#ifdef __XENO__
544int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
545 name = self->ObjectName() + "-" + name;
546 // xenomai limitation
547 if (name.size() > 31)
548 self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
549// start log writter
550#ifdef RT_PIPE_SIZE
551 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
552#else
553 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
554#endif
555}
556#else
557int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
558 // if(pipe2(fd[0],O_NONBLOCK) == -1)
559 if (pipe(fd[0]) == -1) {
560 return errno;
561 } else {
562 int attr = fcntl((*fd)[0], F_GETFL, 0);
563 if (attr == -1) {
564 return errno;
565 }
566 if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
567 return errno;
568 }
569 attr = fcntl((*fd)[1], F_GETFL, 0);
570 if (attr == -1) {
571 return errno;
572 }
573 if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
574 return errno;
575 }
576
577 return 0;
578 }
579}
580#endif
581
582#ifdef __XENO__
583int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
584 return rt_pipe_delete(fd);
585}
586#else
587int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
588 int status1 = close((*fd)[0]);
589 int status2 = close((*fd)[1]);
590 if (status1 == 0 && status2 == 0)
591 return 0;
592 if (status1 != 0)
593 return status1;
594 if (status2 != 0)
595 return status2;
596}
597#endif
598
599void FrameworkManager_impl::SetupLogger(string log_path,uint32_t stackSize) {
600
601 if (logger_defined == true) {
602 Warn("SetupLogger() was already called.\n");
603 return;
604 }
605
606 this->log_path = log_path;
607
608 int status = CreatePipe(&cmd_pipe, "log_cmd");
609 if (status != 0) {
610 char errorMsg[256];
611 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
612 return;
613 }
614
615 status = CreatePipe(&data_pipe, "log_data");
616 if (status != 0) {
617 char errorMsg[256];
618 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
619 return;
620 }
621
622#ifdef __XENO__
623 string tmp_name;
624 tmp_name = self->ObjectName() + "-log_heap";
625 status = rt_heap_create(&log_heap, tmp_name.c_str(), RT_LOG_HEAP, H_FIFO);
626 if (status != 0) {
627 char errorMsg[256];
628 Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
629 return;
630 }
631#endif //__XENO__
632
633 continuer = true;
634
635 // Initialize thread creation attributes
636 pthread_attr_t attr;
637 status=pthread_attr_init(&attr);
638 if (status != 0) {
639 char errorMsg[256];
640 Err("pthread_attr_init error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
641 return;
642 }
643
644 status=pthread_attr_setstacksize(&attr, stackSize);
645 if (status != 0) {
646 char errorMsg[256];
647 Err("pthread_attr_setstacksize error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
648 return;
649 }
650
651 status=pthread_create(&log_th, &attr, write_log_user, (void *)this);
652 if (status < 0) {
653 char errorMsg[256];
654 Err("pthread_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
655 return;
656 }
657
658 status=pthread_attr_destroy(&attr);
659 if (status != 0) {
660 char errorMsg[256];
661 Err("pthread_attr_destroy error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
662 return;
663 }
664
665 logger_defined = true;
666}
667
668void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
669 if (logger_defined == false) {
670 Warn("SetupLogger() was not called, not adding to log\n");
671 return;
672 }
673
674 if (is_logging == false) {
675 if (!device->pimpl_->IsSetToBeLogged()) {
676 device->pimpl_->SetToBeLogged();
677 log_desc_t tmp;
678 tmp.device = device;
679 logs.push_back(tmp);
680 } else {
681 Warn("not adding it twice\n");
682 }
683 } else {
684 Err("impossible while logging\n");
685 }
686}
687
688bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
689 return device->pimpl_->IsSetToBeLogged();
690}
691
692void FrameworkManager_impl::StartLog(void) {
693 if (logger_defined == false) {
694 Err("SetupLogger() was not called, not starting log\n");
695 return;
696 }
697
698 ssize_t written;
699 size_t nb_err = 0;
700
701 if (logs.size() == 0) {
702 Warn("Not starting log: nothing to log!\n");
703 return;
704 }
705
706 if (is_logging == false) {
707 for (size_t i = 0; i < logs.size(); i++) {
708
709 logs.at(i).running = true;
710 logs.at(i).dbtFile = NULL;
711 logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
712#ifdef __XENO__
713 written =
714 rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
715#else
716 written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
717#endif
718
719 if (written < 0) {
720 char errorMsg[256];
721 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
722 nb_err++;
723 logs.at(i).running = false;
724 } else if (written != sizeof(log_desc_t)) {
725 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
726 nb_err++;
727 logs.at(i).running = false;
728 }
729 }
730
731 if (nb_err != logs.size())
732 is_logging = true;
733 } else {
734 Warn("Already logging\n");
735 }
736}
737
738void FrameworkManager_impl::StopLog(void) {
739 ssize_t written;
740
741 if (is_logging == true) {
742 for (size_t i = 0; i < logs.size(); i++) {
743 logs.at(i).running = false;
744 }
745// send only one running false condition, user thread will stop and send all
746#ifdef __XENO__
747 written =
748 rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
749#else
750 written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
751#endif
752
753 if (written < 0) {
754 char errorMsg[256];
755 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
756 return;
757 } else if (written != sizeof(log_desc_t)) {
758 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
759 return;
760 }
761
762 is_logging = false;
763 } else {
764 Warn("Not logging\n");
765 }
766}
767
768char *FrameworkManager_impl::GetBuffer(size_t sz) {
769// Printf("alloc %i\n",sz);
770#ifdef __XENO__
771 void *ptr;
772 int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
773 if (status != 0) {
774 char errorMsg[256];
775 Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
776 ptr = NULL;
777 }
778 return (char *)ptr;
779#else
780 return (char *)malloc(sz);
781#endif
782}
783
784void FrameworkManager_impl::ReleaseBuffer(char *buf) {
785#ifdef __XENO__
786 int status = rt_heap_free(&log_heap, buf);
787
788 if (status != 0) {
789 char errorMsg[256];
790 Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
791 }
792#else
793 free(buf);
794#endif
795}
796
797void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
798 ssize_t written;
799
800#ifdef __XENO__
801 written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
802#else
803 written = write(data_pipe[1], buf, size);
804#endif
805
806 if (written < 0) {
807 char errorMsg[256];
808 Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
809 } else if (written != (ssize_t)size) {
810 Err("error write pipe %ld/%ld\n", written, size);
811 }
812}
813
814void *FrameworkManager_impl::write_log_user(void *arg) {
815 int cmd_pipe = -1;
816 int data_pipe = -1;
817 fd_set set;
818 struct timeval timeout;
819 FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
820 int rv;
821
822 vector<log_desc_t> logs;
823
824#ifdef __XENO__
825 while (cmd_pipe < 0) {
826 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
827 cmd_pipe = open(filename.c_str(), O_RDWR);
828 if (cmd_pipe < 0 && errno != ENOENT) {
829 char errorMsg[256];
830 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
831 }
832 usleep(1000);
833 }
834 while (data_pipe < 0) {
835 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
836 data_pipe = open(filename.c_str(), O_RDWR);
837 if (data_pipe < 0 && errno != ENOENT) {
838 char errorMsg[256];
839 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
840 }
841 usleep(1000);
842 }
843#else
844 cmd_pipe = caller->cmd_pipe[0];
845 data_pipe = caller->data_pipe[0];
846#endif
847
848 while (caller->continuer == true) {
849 FD_ZERO(&set);
850 FD_SET(cmd_pipe, &set);
851 FD_SET(data_pipe, &set);
852
853 timeout.tv_sec = 0;
854 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
855 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
856
857 if (rv == -1) {
858 caller->Err("select error\n"); // an error accured
859 } else if (rv == 0) {
860 // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
861 // a timeout occured
862 } else {
863 if (FD_ISSET(cmd_pipe, &set)) {
864 log_desc_t tmp;
865 read(cmd_pipe, &tmp, sizeof(log_desc_t));
866
867 if (tmp.running == true) {// start logging
868 string filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
869 printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
870 tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
871 logs.push_back(tmp);
872
873 if (logs.size() == 1) {
874 filename = caller->log_path + "/setup.xml";
875 xmlSaveFile(filename.c_str(), caller->file_doc);
876 }
877 } else {// stop logging
878 //disable watchdog temporarly
879 //this is necessary because GCS is no longer sending the heartbeat when receiving files...
880 //TODO: add a thread in GCS for receiving file
881 //but be careful that with a xbee modem for exemple, sending files can saturate communication and
882 //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
883 if(caller->gcs_watchdog!=NULL) {
884 caller->gcs_watchdog->SafeStop();
885 caller->gcs_watchdog->Join();
886 }
887 //create a socket for files
888 UDTSOCKET file_sock = caller->GetSocket();
889 char data=START_SENDING_FILES;
890 ssize_t nb_write = UDT::sendmsg(file_sock, &data, 1, -1, true);
891 if (nb_write < 0) {
892 caller->Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
893 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
894 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
895 }
896 } else if (nb_write != 1) {
897 caller->Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
898 UDT::getlasterror().getErrorCode(), nb_write, 1);
899 }
900 for (size_t i = 0; i < logs.size(); i++) {
901 if (logs.at(i).dbtFile != NULL) {
902 close_hdfile(logs.at(i).dbtFile);
903
904 string filename = caller->FileName(logs.at(i).device) + ".dbt";
905 caller->SendFile(file_sock,caller->log_path, filename);
906
907 fstream txt_file;
908 filename = caller->FileName(logs.at(i).device) + ".txt";
909 txt_file.open((caller->log_path + "/" + filename).c_str(),
910 fstream::out);
911 txt_file << "1: time (us)\n2: time (ns)\n";
912 int index = 3;
913 logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
914 txt_file.close();
915
916 caller->SendFile(file_sock,caller->log_path, filename);
917 }
918 }
919 // a revoir celui ci est le xml enregistré et pas forcement l'actuel
920 // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
921 caller->FinishSending(file_sock);
922
923 int status = UDT::close(file_sock);
924 if (status != 0)
925 caller->Err("Error udt::close %s", UDT::getlasterror().getErrorMessage());
926
927 logs.clear();
928 //enable watchdog again
929 if(caller->gcs_watchdog!=NULL) {
930 caller->gcs_watchdog->Start();
931 }
932 }
933 }
934
935 if (FD_ISSET(data_pipe, &set)) {
936 log_header_t header;
937 read(data_pipe, &header, sizeof(log_header_t));
938
939 for (size_t i = 0; i < logs.size(); i++) {
940 if (logs.at(i).device == header.device) {
941 char *buf = (char *)malloc(header.size);
942 read(data_pipe, buf, header.size);
943 // printf("%s \n",header.device->ObjectName().c_str());
944 // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
945 // printf("\n");
946 if (logs.at(i).size == header.size) {
947 if (logs.at(i).dbtFile != NULL) {
948 write_hdfile(
949 logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
950 (road_timerange_t)(header.time % 1000), header.size);
951 } else {
952 printf("err\n");
953 }
954 } else {
955 caller->self->Err("%s log size is not correct %i/%i\n",
956 header.device->ObjectName().c_str(),
957 header.size, logs.at(i).size);
958 }
959 free(buf);
960 }
961 }
962 }
963 }
964 }
965
966#ifdef __XENO__
967 close(cmd_pipe);
968 close(data_pipe);
969#endif
970
971 pthread_exit(0);
972}
973
974string FrameworkManager_impl::FileName(IODevice *device) {
975 return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
976}
977
978void FrameworkManager_impl::PrintXml(void) const {
979 xmlChar *xmlbuff;
980 int buffersize;
981 xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
982 Printf("xml:\n%s\n", xmlbuff);
983 xmlFree(xmlbuff);
984}
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