source: flair-src/trunk/lib/FlairCore/src/FrameworkManager_impl.cpp@ 466

Last change on this file since 466 was 466, checked in by Sanahuja Guillaume, 3 years ago

unlock memory in simulator to avoid mmap problems when running simulator as non root
File size: 28.5 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#include <utmp.h>
38#ifdef __XENO__
39#include <native/task.h>
40#include <rtdk.h>
41#endif
42
43using namespace std;
44using namespace flair::core;
45using namespace flair::gui;
46
47ui_com *FrameworkManager_impl::com = NULL;
48FrameworkManager_impl *FrameworkManager_impl::_this = NULL;
49
50namespace {
51#ifdef __XENO__
52
53#ifdef SIGDEBUG
54static const char *reason_str[] = {
55 "undefined", "received signal", "invoked syscall", "triggered fault",
56 "affected by priority inversion", "missing mlockall", "runaway thread",
57};
58
59void warn_upon_switch(int sig, siginfo_t *si, void *context) {
60 unsigned int reason = si->si_value.sival_int;
61 void *bt[32];
62 int nentries;
63#ifdef SIGDEBUG_WATCHDOG
64 printf("\nSIGDEBUG received, reason %d: %s\n", reason,
65 reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
66 printf("entering secondary mode\n");
67#endif
68 // Dump a backtrace of the frame which caused the switch to secondary mode:
69 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
70 backtrace_symbols_fd(bt, nentries, fileno(stdout));
71}
72#else // SIGDEBUG
73void warn_upon_switch(int sig __attribute__((unused))) {
74 void *bt[32];
75 int nentries;
76
77 /* Dump a backtrace of the frame which caused the switch to
78 secondary mode: */
79 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
80 backtrace_symbols_fd(bt, nentries, fileno(stdout));
81}
82#endif // SIGDEBUG
83#endif //__XENO__
84void seg_fault(int sig __attribute__((unused))) {
85 void *bt[32];
86 int nentries;
87
88 printf("Segmentation fault:\n");
89 /* Dump a backtrace of the frame which caused the segfault: */
90 nentries = backtrace(bt, sizeof(bt) / sizeof(bt[0]));
91 backtrace_symbols_fd(bt, nentries, fileno(stdout));
92
93 exit(1);
94}
95}
96
97FrameworkManager_impl::FrameworkManager_impl(FrameworkManager *self,
98 string name)
99 : 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 gcs_watchdog = NULL;
107 _this = this;
108 tabwidget=NULL;
109
110 // Avoids memory swapping for this program
111 // GL simulator will unlock memory, otherwise it can cause problems when running simlator as non root
112 mlockall(MCL_CURRENT | MCL_FUTURE);
113
114 // catch segfault
115 signal(SIGSEGV, seg_fault);
116
117// catch primary->secondary switch
118#ifdef __XENO__
119#ifdef SIGDEBUG
120 struct sigaction sa;
121 sigemptyset(&sa.sa_mask);
122 sa.sa_sigaction = warn_upon_switch;
123 sa.sa_flags = SA_SIGINFO;
124 sigaction(SIGDEBUG, &sa, NULL);
125#else //SIGDEBUG
126 signal(SIGXCPU, warn_upon_switch);
127#endif //SIGDEBUG
128 string task_name = "Framework_" + name;
129
130 // Perform auto-init of rt_print buffers if the task doesn't do so
131 rt_print_auto_init(1);
132 // Initialise the rt_print buffer for this task explicitly
133 rt_print_init(512, task_name.c_str());
134
135 int status = rt_task_shadow(NULL, task_name.c_str(), 10, 0);
136 if (status != 0) {
137 char errorMsg[256];
138 self->Err("rt_task_shadow error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
139 }
140
141#endif //__XENO__
142}
143
144void FrameworkManager_impl::SetConnectionLost(void) {
145 Err("connection lost\n");
146 if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
147 connection_lost = true;
148}
149
150FrameworkManager_impl::~FrameworkManager_impl() {
151 // Printf("destruction FrameworkManager_impl\n");
152 int status;
153
154 SafeStop();
155 Join();
156
157 if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
158
159 if (rcv_buf != NULL)
160 free(rcv_buf);
161
162 if (logger_defined == true) {
163 continuer = false;
164 (void)pthread_join(log_th, NULL);
165
166 status = DeletePipe(&cmd_pipe);
167 if (status != 0) {
168 char errorMsg[256];
169 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
170 }
171 status = DeletePipe(&data_pipe);
172 if (status != 0) {
173 char errorMsg[256];
174 Err("Error deleting pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
175 }
176
177#ifdef __XENO__
178 status = rt_heap_delete(&log_heap);
179 if (status != 0) {
180 char errorMsg[256];
181 Err("rt_heap_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
182 }
183#endif
184
185 logs.clear();
186 }
187
188 if (file_doc != NULL)
189 xmlFreeDoc(file_doc);
190
191 if (ui_defined)
192 delete top_layout;
193
194 if (com != NULL) {
195 delete com;
196 //avoid waiting on closing if connection is lost
197 if(connection_lost) {
198 bool blocking = false;
199 if (UDT::setsockopt(com_sock, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
200 Err("UDT::setsockopt error (UDT_SNDSYN)\n");
201 }
202 status = UDT::close(com_sock);
203 if (status != 0)
204 Printf("Error udt::close %s", UDT::getlasterror().getErrorMessage());
205
206 SleepMS(200); // a revoir, sinon UDT::cleanup bloque en RT
207
208 if(connection_lost) {
209 //don't know why?
210 Warn("Cleaning up UDT socket, this can take some time\n");
211 }
212 if (UDT::cleanup() != 0)
213 Err("UDT::cleanup error\n");
214 }
215
216 // Printf("destruction FrameworkManager_impl ok\n");
217}
218
219void FrameworkManager_impl::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
220 size_t rcv_buf_size) {
221 if (com != NULL) {
222 Err("SetupConnection should be called only one time\n");
223 return;
224 }
225 if(address=="autodetect") {
226 Printf("Autodetecting gcs ip address based on ssh connection\n");
227 address=AutoDetectGCS();
228 }
229 this->address=address;
230 this->port=port;
231
232 UDT::startup2(1024*256,1024*256,1024*256);
233 this->rcv_buf_size = rcv_buf_size;
234
235 // socket file_socket, doit être créé en premier, cf station sol
236 Printf("Connecting to FlairGCS on %s:%i\n", address.c_str(), port);
237 //file_sock = GetSocket(address, port);
238 com_sock = GetSocket();
239
240 // receive buffer allocation
241 rcv_buf = (char *)malloc(rcv_buf_size);
242 if (rcv_buf == NULL) {
243 Err("receive buffer malloc error\n");
244 }
245
246 com = new ui_com(this, com_sock);
247
248 Start();
249
250 // watchdog for connection with ground station
251 connection_lost = false;
252 gcs_watchdog = new Watchdog(this, std::bind(&FrameworkManager_impl::SetConnectionLost, this),watchdogTimeout);
253 gcs_watchdog->Start();
254}
255
256string FrameworkManager_impl::AutoDetectGCS(void) {
257 int logsize = 10;//should be sufficient
258 int file;
259 struct utmp log[logsize];
260
261 file = open("/var/run/utmp", O_RDONLY);
262
263//return only first matching occurence
264//TODO: check also log->ut_addr_v6[0]
265 if (file) {
266 int read_size=read(file, &log, sizeof(log));
267 int nb=read_size/sizeof(struct utmp);
268
269 for(int i = 0; i < nb; i++) {
270 //printf("\n ut_user: %s host: %s %x\n ut_type: %ld line %s\n", log[i].ut_user,log[i].ut_host,log[i].ut_addr_v6[0], log[i].ut_type,log[i].ut_line);
271 if(log[i].ut_type==USER_PROCESS) {
272 close(file);
273 return log[i].ut_host;
274 }
275
276 }
277
278 close(file);
279 }
280
281 Err("Failed to run autodetect command\n" );
282 return "";
283}
284
285void FrameworkManager_impl::SetupUserInterface(string xml_file) {
286 ui_defined = true;
287 this->xml_file = xml_file;
288
289 // top_layout=new Layout(NULL,XML_ROOT_ELEMENT,XML_ROOT_TYPE);
290 top_layout = new Layout(NULL, self->ObjectName(), XML_ROOT_TYPE);
291
292 // xml setup of the main widget
293 if (xml_file != "") {
294 xmlNodePtr *file_node = &(((Widget *)(top_layout))->pimpl_->file_node);
295 file_doc = xmlParseFile(xml_file.c_str());
296 if (file_doc == NULL) {
297 self->Warn("XML document not parsed successfully. Creating a new one.\n");
298 file_doc = xmlNewDoc((xmlChar *)"1.0");
299 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
300 xmlSetProp(*file_node, (xmlChar *)"name",
301 (xmlChar *)ObjectName().c_str());
302 xmlDocSetRootElement(file_doc, *file_node);
303 // PrintXml();
304 } else {
305 *file_node = xmlDocGetRootElement(file_doc);
306 if (xmlStrcmp((*file_node)->name, (xmlChar *)XML_ROOT_TYPE)) {
307 self->Warn("%s, no match found in xml file\n", XML_ROOT_TYPE);
308 *file_node = xmlNewNode(NULL, (xmlChar *)XML_ROOT_TYPE);
309 xmlSetProp(*file_node, (xmlChar *)"name",
310 (xmlChar *)ObjectName().c_str());
311 xmlDocSetRootElement(file_doc, *file_node);
312 }
313 }
314 } else {
315 self->Err("xml file not defined\n");
316 }
317
318 // gui
319 tabwidget =
320 new TabWidget(top_layout->At(0, 0), XML_MAIN_TABWIDGET, TabWidget::North);
321 save_button =
322 new PushButton(top_layout->At(1, 0),
323 "save config on target (" + self->ObjectName() + ")");
324 // load_button=new PushButton(top_layout->At(1,1),"load config on target (" +
325 // self->ObjectName() + ")");
326}
327
328// in case of RT, this thread switches to secondary mode when calling
329// com->Receive
330// it switches back to RT in ProcessXML when mutex are locked
331void FrameworkManager_impl::Run(void) {
332
333 if (self->ErrorOccured() == true) {
334 return ;
335 }
336
337
338 while (!ToBeStopped()) {
339 ssize_t bytesRead;
340 bytesRead = com->Receive(rcv_buf, rcv_buf_size);
341 com->CheckConnection();
342//printf("%i\n",bytesRead);
343 if (bytesRead == (ssize_t)rcv_buf_size)
344 Err("FrameworkManager max receive size, augmenter le buffer size!\n");
345
346 if (bytesRead > 0) {
347 //printf("recu %ld, trame %x %lld\n",bytesRead,(uint8_t)rcv_buf[0],GetTime()/(1000000));
348 //rcv_buf[bytesRead-1]=0;//pour affichage
349 //printf("%s\n",rcv_buf);
350
351 switch ((uint8_t)rcv_buf[0]) {
352 case XML_HEADER: {
353 xmlDoc *doc;
354 rcv_buf[bytesRead] = 0;
355 //Printf("%s\n",rcv_buf);
356 doc = xmlReadMemory(rcv_buf, (int)bytesRead, "include.xml",
357 "ISO-8859-1", 0);
358 xmlNode *cur_node = NULL;
359
360 for (cur_node = xmlDocGetRootElement(doc); cur_node;
361 cur_node = cur_node->next) {
362 if (cur_node->type == XML_ELEMENT_NODE) {
363 if (!xmlStrcmp(cur_node->name, (xmlChar *)XML_ROOT_TYPE)) {
364#ifdef __XENO__
365 WarnUponSwitches(
366 true); // ProcessXML should not switch to secondary mode
367#endif
368 top_layout->Widget::pimpl_->ProcessXML(cur_node->children);
369#ifdef __XENO__
370 WarnUponSwitches(false); // other parts of this thread can switch
371 // to secondary mode
372#endif
373 break;
374 }
375 }
376 }
377
378 xmlFreeDoc(doc);
379
380 if (save_button->Clicked())
381 SaveXml();
382
383 SaveXmlChange(rcv_buf);
384
385 break;
386 }
387 case WATCHDOG_HEADER: {
388 if(gcs_watchdog!=NULL) gcs_watchdog->Touch();
389 break;
390 }
391 default:
392 Err("unknown id: %x\n", (uint8_t)rcv_buf[0]);
393 break;
394 }
395 } else {
396 if (com->ConnectionLost())
397 SleepMS(10); // avoid infinite loop in this case
398 }
399 }
400}
401
402void FrameworkManager_impl::SaveXml(void) {
403 if (ui_defined)
404 xmlSaveFormatFile(xml_file.c_str(), file_doc, 1);
405}
406
407void FrameworkManager_impl::SaveXmlChange(char *buf) {
408 if (is_logging == true) {
409 FILE *xml_change;
410 char filename[256];
411 Time time = GetTime();
412
413 sprintf(filename, "%s/changes_at_%lld.xml", log_path.c_str(), time);
414
415 xml_change = fopen(filename, "a");
416 fprintf(xml_change, "%s", buf);
417 fclose(xml_change);
418
419 sprintf(filename, "changes_at_%lld.xml", time);
420 xml_changes.push_back(filename);
421 }
422}
423
424void FrameworkManager_impl::SendFile(UDTSOCKET socket,string path, string name) {
425 char *buf, *more_buf;
426 int size;
427 filebuf *pbuf;
428 ssize_t nb_write;
429 string filename = path + "/" + name;
430
431 // open the file
432 fstream ifs(filename.c_str(), ios::in | ios::binary);
433 ifs.seekg(0, ios::end);
434 size = ifs.tellg();
435 ifs.seekg(0, ios::beg);
436 pbuf = ifs.rdbuf();
437
438 if (size <= 0) {
439 Err("error opening file %s\n", filename.c_str());
440 return;
441 }
442
443 buf = (char *)malloc(sizeof(uint8_t) + sizeof(int) + name.size());
444 if (buf == NULL) {
445 Err("malloc error, not sending file\n");
446 return;
447 }
448
449 if (IsBigEndian()) {
450 buf[0] = FILE_INFO_BIG_ENDIAN;
451 } else {
452 buf[0] = FILE_INFO_LITTLE_ENDIAN;
453 }
454
455 memcpy(buf + 1, &size, sizeof(int));
456 memcpy(buf + 1 + sizeof(int), name.c_str(), name.size());
457 Printf("sending %s, size: %i\n", filename.c_str(), size);
458 // send file information
459 UDT::sendmsg(socket, buf, sizeof(uint8_t) + sizeof(int) + name.size(), -1,true);
460
461 more_buf = (char *)realloc((void *)buf, size);
462 if (more_buf == NULL) {
463 Err("realloc error, not sending file\n");
464 free(buf);
465 return;
466 } else {
467 buf = more_buf;
468 }
469
470 pbuf->sgetn(buf, size);
471 // send the file
472 nb_write = UDT::sendmsg(socket, buf, size, -1, true);
473
474 if (nb_write < 0) {
475 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
476 } else if (nb_write != size) {
477 Err("UDT::sendmsg error, sent %ld/%i\n", nb_write, size);
478 }
479
480 ifs.close();
481 free(buf);
482}
483
484void FrameworkManager_impl::FinishSending(UDTSOCKET socket) {
485 char rm_cmd[256];
486
487 // send orignal xml
488 SendFile(socket,log_path, "setup.xml");
489 sprintf(rm_cmd, "rm %s/setup.xml", log_path.c_str());
490 system(rm_cmd);
491
492 // send xml changes
493 for (size_t i = 0; i < xml_changes.size(); i++) {
494 // Printf("%s\n",xml_changes.at(i).c_str());
495 SendFile(socket,log_path, xml_changes.at(i).c_str());
496 sprintf(rm_cmd, "rm %s/%s", log_path.c_str(), xml_changes.at(i).c_str());
497 system(rm_cmd);
498 }
499 xml_changes.clear();
500
501 // end notify
502 char buf = END_SENDING_FILES;
503 int nb_write = UDT::sendmsg(socket, &buf, 1, -1, true);
504
505 if (nb_write < 0) {
506 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
507 } else if (nb_write != 1) {
508 Err("UDT::sendmsg error, sent %i/%i\n", nb_write, 1);
509 }
510
511 //wait end ACK
512 int nb_read = UDT::recvmsg(socket,&buf,1);
513 if(nb_read<0) {
514 Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
515 } else if (nb_read != 1) {
516 Err("UDT::recvmsg error, sent %i/%i\n",nb_read,1);
517 }
518}
519
520UDTSOCKET FrameworkManager_impl::GetSocket(void) {
521 while (1) {
522 UDTSOCKET new_fd;
523 new_fd = UDT::socket(AF_INET, SOCK_DGRAM, 0);
524 if (new_fd == UDT::INVALID_SOCK) {
525 Err("socket error: %s\n", UDT::getlasterror().getErrorMessage());
526 return 0;
527 }
528
529 sockaddr_in serv_addr;
530 serv_addr.sin_family = AF_INET;
531 serv_addr.sin_port = htons(short(port));
532
533 if (inet_pton(AF_INET, address.c_str(), &serv_addr.sin_addr) <= 0) {
534 Err("incorrect network address\n");
535 return 0;
536 }
537
538 memset(&(serv_addr.sin_zero), '\0', 8);
539
540 if (UDT::ERROR ==
541 UDT::connect(new_fd, (sockaddr *)&serv_addr, sizeof(serv_addr))) {
542 // Printf("connect error: %s
543 // %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
544 UDT::close(new_fd);
545 if (UDT::getlasterror().getErrorCode() != 1001 &&
546 UDT::getlasterror().getErrorCode() != 1002) {
547 Err("connect error: %s\n", UDT::getlasterror().getErrorMessage());
548 return 0;
549 }
550 } else {
551 // printf("connected to
552 // %s:%i\n",inet_ntoa(serv_addr.sin_addr),serv_addr.sin_port);
553 return new_fd;
554 }
555 }
556}
557
558#ifdef __XENO__
559int FrameworkManager_impl::CreatePipe(RT_PIPE *fd, string name) {
560 name = self->ObjectName() + "-" + name;
561 // xenomai limitation
562 if (name.size() > 31)
563 self->Err("rt_pipe_create error (%s is too long)\n", name.c_str());
564// start log writter
565#ifdef RT_PIPE_SIZE
566 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
567#else
568 return rt_pipe_create(fd, name.c_str(), P_MINOR_AUTO, 0);
569#endif
570}
571#else
572int FrameworkManager_impl::CreatePipe(int (*fd)[2], string name) {
573 // if(pipe2(fd[0],O_NONBLOCK) == -1)
574 if (pipe(fd[0]) == -1) {
575 return errno;
576 } else {
577 int attr = fcntl((*fd)[0], F_GETFL, 0);
578 if (attr == -1) {
579 return errno;
580 }
581 if (fcntl((*fd)[0], F_SETFL, attr | O_NONBLOCK) == -1) {
582 return errno;
583 }
584 attr = fcntl((*fd)[1], F_GETFL, 0);
585 if (attr == -1) {
586 return errno;
587 }
588 if (fcntl((*fd)[1], F_SETFL, attr | O_NONBLOCK) == -1) {
589 return errno;
590 }
591
592 return 0;
593 }
594}
595#endif
596
597#ifdef __XENO__
598int FrameworkManager_impl::DeletePipe(RT_PIPE *fd) {
599 return rt_pipe_delete(fd);
600}
601#else
602int FrameworkManager_impl::DeletePipe(int (*fd)[2]) {
603 int status1 = close((*fd)[0]);
604 int status2 = close((*fd)[1]);
605 if (status1 == 0 && status2 == 0)
606 return 0;
607 if (status1 != 0)
608 return status1;
609 if (status2 != 0)
610 return status2;
611}
612#endif
613
614void FrameworkManager_impl::SetupLogger(string log_path,uint32_t stackSize) {
615
616 if (logger_defined == true) {
617 Warn("SetupLogger() was already called.\n");
618 return;
619 }
620
621 this->log_path = log_path;
622
623 int status = CreatePipe(&cmd_pipe, "log_cmd");
624 if (status != 0) {
625 char errorMsg[256];
626 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
627 return;
628 }
629
630 status = CreatePipe(&data_pipe, "log_data");
631 if (status != 0) {
632 char errorMsg[256];
633 Err("Error creating pipe (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
634 return;
635 }
636
637#ifdef __XENO__
638 string tmp_name;
639 tmp_name = self->ObjectName() + "-log_heap";
640 status = rt_heap_create(&log_heap, tmp_name.c_str(), RT_LOG_HEAP, H_FIFO);
641 if (status != 0) {
642 char errorMsg[256];
643 Err("rt_heap_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
644 return;
645 }
646#endif //__XENO__
647
648 continuer = true;
649
650 // Initialize thread creation attributes
651 pthread_attr_t attr;
652 status=pthread_attr_init(&attr);
653 if (status != 0) {
654 char errorMsg[256];
655 Err("pthread_attr_init error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
656 return;
657 }
658
659 status=pthread_attr_setstacksize(&attr, stackSize);
660 if (status != 0) {
661 char errorMsg[256];
662 Err("pthread_attr_setstacksize error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
663 return;
664 }
665
666 status=pthread_create(&log_th, &attr, write_log_user, (void *)this);
667 if (status < 0) {
668 char errorMsg[256];
669 Err("pthread_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
670 return;
671 }
672
673 status=pthread_attr_destroy(&attr);
674 if (status != 0) {
675 char errorMsg[256];
676 Err("pthread_attr_destroy error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
677 return;
678 }
679
680 logger_defined = true;
681}
682
683void FrameworkManager_impl::AddDeviceToLog(IODevice *device) {
684 if (logger_defined == false) {
685 Warn("SetupLogger() was not called, not adding to log\n");
686 return;
687 }
688
689 if (is_logging == false) {
690 if (!device->pimpl_->IsSetToBeLogged()) {
691 device->pimpl_->SetToBeLogged();
692 log_desc_t tmp;
693 tmp.device = device;
694 logs.push_back(tmp);
695 } else {
696 Warn("not adding it twice\n");
697 }
698 } else {
699 Err("impossible while logging\n");
700 }
701}
702
703bool FrameworkManager_impl::IsDeviceLogged(const IODevice *device) const {
704 return device->pimpl_->IsSetToBeLogged();
705}
706
707void FrameworkManager_impl::StartLog(void) {
708 if (logger_defined == false) {
709 Err("SetupLogger() was not called, not starting log\n");
710 return;
711 }
712
713 ssize_t written;
714 size_t nb_err = 0;
715
716 if (logs.size() == 0) {
717 Warn("Not starting log: nothing to log!\n");
718 return;
719 }
720
721 if (is_logging == false) {
722 for (size_t i = 0; i < logs.size(); i++) {
723
724 logs.at(i).running = true;
725 logs.at(i).dbtFile = NULL;
726 logs.at(i).size = logs.at(i).device->pimpl_->LogSize();
727#ifdef __XENO__
728 written =
729 rt_pipe_write(&cmd_pipe, &logs.at(i), sizeof(log_desc_t), P_NORMAL);
730#else
731 written = write(cmd_pipe[1], &logs.at(i), sizeof(log_desc_t));
732#endif
733
734 if (written < 0) {
735 char errorMsg[256];
736 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
737 nb_err++;
738 logs.at(i).running = false;
739 } else if (written != sizeof(log_desc_t)) {
740 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
741 nb_err++;
742 logs.at(i).running = false;
743 }
744 }
745
746 if (nb_err != logs.size())
747 is_logging = true;
748 } else {
749 Warn("Already logging\n");
750 }
751}
752
753void FrameworkManager_impl::StopLog(void) {
754 ssize_t written;
755
756 if (is_logging == true) {
757 for (size_t i = 0; i < logs.size(); i++) {
758 logs.at(i).running = false;
759 }
760// send only one running false condition, user thread will stop and send all
761#ifdef __XENO__
762 written =
763 rt_pipe_write(&cmd_pipe, &logs.at(0), sizeof(log_desc_t), P_NORMAL);
764#else
765 written = write(cmd_pipe[1], &logs.at(0), sizeof(log_desc_t));
766#endif
767
768 if (written < 0) {
769 char errorMsg[256];
770 Err("write pipe error (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
771 return;
772 } else if (written != sizeof(log_desc_t)) {
773 Err("write pipe error %ld/%ld\n", written, sizeof(log_desc_t));
774 return;
775 }
776
777 is_logging = false;
778 } else {
779 Warn("Not logging\n");
780 }
781}
782
783char *FrameworkManager_impl::GetBuffer(size_t sz) {
784// Printf("alloc %i\n",sz);
785#ifdef __XENO__
786 void *ptr;
787 int status = rt_heap_alloc(&log_heap, sz, TM_NONBLOCK, &ptr);
788 if (status != 0) {
789 char errorMsg[256];
790 Err("rt_heap_alloc error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
791 ptr = NULL;
792 }
793 return (char *)ptr;
794#else
795 return (char *)malloc(sz);
796#endif
797}
798
799void FrameworkManager_impl::ReleaseBuffer(char *buf) {
800#ifdef __XENO__
801 int status = rt_heap_free(&log_heap, buf);
802
803 if (status != 0) {
804 char errorMsg[256];
805 Err("rt_heap_free error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
806 }
807#else
808 free(buf);
809#endif
810}
811
812void FrameworkManager_impl::WriteLog(const char *buf, size_t size) {
813 ssize_t written;
814
815#ifdef __XENO__
816 written = rt_pipe_write(&data_pipe, buf, size, P_NORMAL);
817#else
818 written = write(data_pipe[1], buf, size);
819#endif
820
821 if (written < 0) {
822 char errorMsg[256];
823 Err("error write pipe (%s)\n", strerror_r(-written, errorMsg, sizeof(errorMsg)));
824 } else if (written != (ssize_t)size) {
825 Err("error write pipe %ld/%ld\n", written, size);
826 }
827}
828
829void *FrameworkManager_impl::write_log_user(void *arg) {
830 int cmd_pipe = -1;
831 int data_pipe = -1;
832 fd_set set;
833 struct timeval timeout;
834 FrameworkManager_impl *caller = (FrameworkManager_impl *)arg;
835 int rv;
836
837 vector<log_desc_t> logs;
838
839#ifdef __XENO__
840 while (cmd_pipe < 0) {
841 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_cmd";
842 cmd_pipe = open(filename.c_str(), O_RDWR);
843 if (cmd_pipe < 0 && errno != ENOENT) {
844 char errorMsg[256];
845 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
846 }
847 usleep(1000);
848 }
849 while (data_pipe < 0) {
850 string filename = NRT_PIPE_PATH + caller->self->ObjectName() + "-log_data";
851 data_pipe = open(filename.c_str(), O_RDWR);
852 if (data_pipe < 0 && errno != ENOENT) {
853 char errorMsg[256];
854 caller->self->Err("open rt_pipe error: %s %s\n", filename.c_str(), strerror_r(errno, errorMsg, sizeof(errorMsg)));
855 }
856 usleep(1000);
857 }
858#else
859 cmd_pipe = caller->cmd_pipe[0];
860 data_pipe = caller->data_pipe[0];
861#endif
862
863 while (caller->continuer == true) {
864 FD_ZERO(&set);
865 FD_SET(cmd_pipe, &set);
866 FD_SET(data_pipe, &set);
867
868 timeout.tv_sec = 0;
869 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
870 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
871
872 if (rv == -1) {
873 caller->Err("select error\n"); // an error accured
874 } else if (rv == 0) {
875 // printf("timeout write_log_user %s\n",caller->ObjectName().c_str()); //
876 // a timeout occured
877 } else {
878 if (FD_ISSET(cmd_pipe, &set)) {
879 log_desc_t tmp;
880 read(cmd_pipe, &tmp, sizeof(log_desc_t));
881
882 if (tmp.running == true) {// start logging
883 string filename = caller->log_path + "/" + caller->FileName(tmp.device) + ".dbt";
884 printf("Creating log file %s (log size %i)\n", filename.c_str(), (int)tmp.size);
885 tmp.dbtFile = inithdFile((char *)filename.c_str(), UAV, tmp.size);
886 logs.push_back(tmp);
887
888 if (logs.size() == 1) {
889 filename = caller->log_path + "/setup.xml";
890 xmlSaveFile(filename.c_str(), caller->file_doc);
891 }
892 } else {// stop logging
893 //disable watchdog temporarly
894 //this is necessary because GCS is no longer sending the heartbeat when receiving files...
895 //TODO: add a thread in GCS for receiving file
896 //but be careful that with a xbee modem for exemple, sending files can saturate communication and
897 //avoid the heartbeat to be received... so disabling watchdog is not a so bad option...
898 if(caller->gcs_watchdog!=NULL) {
899 caller->gcs_watchdog->SafeStop();
900 caller->gcs_watchdog->Join();
901 }
902 //create a socket for files
903 UDTSOCKET file_sock = caller->GetSocket();
904 char data=START_SENDING_FILES;
905 ssize_t nb_write = UDT::sendmsg(file_sock, &data, 1, -1, true);
906 if (nb_write < 0) {
907 caller->Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
908 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
909 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
910 }
911 } else if (nb_write != 1) {
912 caller->Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
913 UDT::getlasterror().getErrorCode(), nb_write, 1);
914 }
915 for (size_t i = 0; i < logs.size(); i++) {
916 if (logs.at(i).dbtFile != NULL) {
917 close_hdfile(logs.at(i).dbtFile);
918
919 string filename = caller->FileName(logs.at(i).device) + ".dbt";
920 caller->SendFile(file_sock,caller->log_path, filename);
921
922 fstream txt_file;
923 filename = caller->FileName(logs.at(i).device) + ".txt";
924 txt_file.open((caller->log_path + "/" + filename).c_str(),
925 fstream::out);
926 txt_file << "1: time (us)\n2: time (ns)\n";
927 int index = 3;
928 logs.at(i).device->pimpl_->WriteLogsDescriptors(txt_file, &index);
929 txt_file.close();
930
931 caller->SendFile(file_sock,caller->log_path, filename);
932 }
933 }
934 // a revoir celui ci est le xml enregistré et pas forcement l'actuel
935 // if(caller->xml_file!="") caller->SendFile(caller->xml_file);
936 caller->FinishSending(file_sock);
937
938 int status = UDT::close(file_sock);
939 if (status != 0)
940 caller->Err("Error udt::close %s", UDT::getlasterror().getErrorMessage());
941
942 logs.clear();
943 //enable watchdog again
944 if(caller->gcs_watchdog!=NULL) {
945 caller->gcs_watchdog->Start();
946 }
947 }
948 }
949
950 if (FD_ISSET(data_pipe, &set)) {
951 log_header_t header;
952 read(data_pipe, &header, sizeof(log_header_t));
953
954 for (size_t i = 0; i < logs.size(); i++) {
955 if (logs.at(i).device == header.device) {
956 char *buf = (char *)malloc(header.size);
957 read(data_pipe, buf, header.size);
958 // printf("%s \n",header.device->ObjectName().c_str());
959 // for(int i=0;i<header.size;i++) printf("%x ",buf[i]);
960 // printf("\n");
961 if (logs.at(i).size == header.size) {
962 if (logs.at(i).dbtFile != NULL) {
963 write_hdfile(
964 logs.at(i).dbtFile, buf, (road_time_t)(header.time / 1000),
965 (road_timerange_t)(header.time % 1000), header.size);
966 } else {
967 printf("err\n");
968 }
969 } else {
970 caller->self->Err("%s log size is not correct %i/%i\n",
971 header.device->ObjectName().c_str(),
972 header.size, logs.at(i).size);
973 }
974 free(buf);
975 }
976 }
977 }
978 }
979 }
980
981#ifdef __XENO__
982 close(cmd_pipe);
983 close(data_pipe);
984#endif
985
986 pthread_exit(0);
987}
988
989string FrameworkManager_impl::FileName(IODevice *device) {
990 return getFrameworkManager()->ObjectName() + "_" + device->ObjectName();
991}
992
993void FrameworkManager_impl::PrintXml(void) const {
994 xmlChar *xmlbuff;
995 int buffersize;
996 xmlDocDumpFormatMemory(file_doc, &xmlbuff, &buffersize, 1);
997 Printf("xml:\n%s\n", xmlbuff);
998 xmlFree(xmlbuff);
999}
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