[2] | 1 | // %flair:license{
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[15] | 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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[2] | 4 | // %flair:license}
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| 5 | // created: 2011/05/01
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| 6 | // filename: ui_com.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 permettant la lecture et l'ecriture sur socket UDT
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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 "ui_com.h"
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| 19 | #include <cstdlib>
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| 20 | #include <string.h>
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| 21 | #include <unistd.h>
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| 22 | #include "Mutex.h"
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| 23 | #include "SendData.h"
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| 24 | #include "communication.h"
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| 25 | #include "FrameworkManager.h"
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| 26 | #include "zlib.h"
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| 27 | #include <assert.h>
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| 28 | #include "config.h"
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| 29 |
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| 30 | #ifdef __XENO__
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| 31 | #include <pthread.h>
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| 32 | #include <native/task.h>
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| 33 | #include <native/task.h>
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| 34 | #include <fcntl.h>
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| 35 | #endif
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| 36 |
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| 37 | using std::string;
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| 38 | using namespace flair::core;
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| 39 | using namespace flair::gui;
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| 40 |
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[15] | 41 | ui_com::ui_com(const Object *parent, UDTSOCKET sock)
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[213] | 42 | : Thread(parent, "send", 2,16384*2) {
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[15] | 43 | // buffer envoi
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| 44 | send_buffer = (char *)malloc(3);
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| 45 | send_size = 3; // id(1)+period(2)
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[2] | 46 |
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[15] | 47 | // mutex
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| 48 | send_mutex = NULL;
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| 49 | send_mutex = new Mutex(this, ObjectName());
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[2] | 50 |
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[15] | 51 | socket_fd = sock;
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| 52 | connection_lost = false;
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[2] | 53 |
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| 54 | #ifdef __XENO__
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[442] | 55 | Err("multi buffering is not well implemented in RT\n");
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| 56 | #endif
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| 57 |
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| 58 | #ifdef __XENO__
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[15] | 59 | int status;
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| 60 | string tmp_name;
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[2] | 61 |
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[15] | 62 | is_running = true;
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[2] | 63 |
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[15] | 64 | // pipe
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| 65 | tmp_name = getFrameworkManager()->ObjectName() + "-" + ObjectName() + "-pipe";
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| 66 | // xenomai limitation
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| 67 | if (tmp_name.size() > 31)
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| 68 | Err("rt_pipe_create error (%s is too long)\n", tmp_name.c_str());
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[2] | 69 | #ifdef RT_PIPE_SIZE
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[15] | 70 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
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[2] | 71 | #else
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[15] | 72 | status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, 0);
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[2] | 73 | #endif
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| 74 |
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[15] | 75 | if (status != 0) {
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[133] | 76 | char errorMsg[256];
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| 77 | Err("rt_pipe_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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[15] | 78 | // return -1;
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| 79 | }
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[2] | 80 |
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[15] | 81 | // start user side thread
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[2] | 82 | #ifdef NRT_STACK_SIZE
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[15] | 83 | // Initialize thread creation attributes
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| 84 | pthread_attr_t attr;
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| 85 | if (pthread_attr_init(&attr) != 0) {
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| 86 | Err("pthread_attr_init error\n");
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| 87 | }
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[2] | 88 |
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[15] | 89 | if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
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| 90 | Err("pthread_attr_setstacksize error\n");
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| 91 | }
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[2] | 92 |
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[15] | 93 | if (pthread_create(&thread, &attr, user_thread, (void *)this) < 0)
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| 94 | #else // NRT_STACK_SIZE
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| 95 | if (pthread_create(&thread, NULL, user_thread, (void *)this) < 0)
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| 96 | #endif // NRT_STACK_SIZE
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| 97 | {
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| 98 | Err("pthread_create error\n");
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| 99 | // return -1;
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| 100 | }
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[2] | 101 | #ifdef NRT_STACK_SIZE
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[15] | 102 | if (pthread_attr_destroy(&attr) != 0) {
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| 103 | Err("pthread_attr_destroy error\n");
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| 104 | }
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[2] | 105 | #endif
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| 106 |
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[15] | 107 | #endif //__XENO__
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| 108 | int timeout = 100;
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| 109 | if (UDT::setsockopt(socket_fd, 0, UDT_RCVTIMEO, &timeout, sizeof(int)) != 0)
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| 110 | Err("UDT::setsockopt error (UDT_RCVTIMEO)\n");
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[247] | 111 | /*
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| 112 | timeout=-1;
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| 113 | if (UDT::setsockopt(socket_fd, 0, UDT_SNDTIMEO, &timeout, sizeof(int)) != 0)
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| 114 | Err("UDT::setsockopt error (UDT_SNDTIMEO)\n");
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| 115 | */
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[15] | 116 | bool blocking = true;
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| 117 | if (UDT::setsockopt(socket_fd, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
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| 118 | Err("UDT::setsockopt error (UDT_SNDSYN)\n");
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[2] | 119 |
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[15] | 120 | if (UDT::setsockopt(socket_fd, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
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| 121 | Err("UDT::setsockopt error (UDT_RCVSYN)\n");
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| 122 | //#endif //__XENO__
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[2] | 123 |
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[15] | 124 | Start();
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[2] | 125 | }
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| 126 |
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[15] | 127 | ui_com::~ui_com() {
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[243] | 128 | //Printf("destruction ui_com\n");
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[2] | 129 |
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| 130 | #ifdef __XENO__
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[15] | 131 | is_running = false;
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[2] | 132 |
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[15] | 133 | pthread_join(thread, NULL);
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[2] | 134 |
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[15] | 135 | int status = rt_pipe_delete(&pipe);
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[133] | 136 | if (status != 0) {
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| 137 | char errorMsg[256];
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| 138 | Err("rt_pipe_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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| 139 | }
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[2] | 140 | #endif
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| 141 |
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[15] | 142 | SafeStop();
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[2] | 143 |
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[15] | 144 | if (IsSuspended() == true)
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| 145 | Resume();
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[2] | 146 |
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[15] | 147 | Join();
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[247] | 148 |
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| 149 | char buf=CLOSING_CONNECTION;
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| 150 | Send(&buf,1);
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| 151 |
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[15] | 152 | if (send_buffer != NULL)
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| 153 | free(send_buffer);
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| 154 | send_buffer = NULL;
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[2] | 155 |
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[243] | 156 | //Printf("destruction ui_com ok\n");
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[2] | 157 | }
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| 158 |
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[439] | 159 | //send, public part; dispatch to SendNRT (nrt) or rt_pipe (rt)
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| 160 | //rt_pipe is read by user thread which calls SendNRT
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[252] | 161 | void ui_com::Send(char *buf, ssize_t size,int ttl) {
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[15] | 162 | if (connection_lost == true)
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| 163 | return;
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[2] | 164 |
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[15] | 165 | char *tosend = buf;
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| 166 | if (buf[0] == XML_HEADER) {
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| 167 | // cut xml header
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| 168 | tosend = strstr(buf, "<root");
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| 169 | size -= tosend - buf;
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| 170 | }
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[2] | 171 |
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| 172 | #ifdef __XENO__
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[439] | 173 | //data buf
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| 174 | ssize_t nb_write = rt_pipe_write(&pipe, tosend, size, P_NORMAL);
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[15] | 175 | if (nb_write < 0) {
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[133] | 176 | char errorMsg[256];
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| 177 | Err("rt_pipe_write error (%s)\n", strerror_r(-nb_write, errorMsg, sizeof(errorMsg)));
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[15] | 178 | } else if (nb_write != size) {
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| 179 | Err("rt_pipe_write error %i/%i\n", nb_write, size);
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| 180 | }
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[439] | 181 | //ttl
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| 182 | nb_write = rt_pipe_write(&pipe, &ttl, sizeof(ttl), P_NORMAL);
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| 183 | if (nb_write < 0) {
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| 184 | char errorMsg[256];
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| 185 | Err("rt_pipe_write error (%s)\n", strerror_r(-nb_write, errorMsg, sizeof(errorMsg)));
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| 186 | } else if (nb_write != sizeof(ttl)) {
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| 187 | Err("rt_pipe_write error %i/%i\n", nb_write, size);
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| 188 | }
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[2] | 189 | #else //__XENO__
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[439] | 190 | SendNRT(tosend,size,ttl);
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| 191 | #endif //__XENO__
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| 192 | }
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[2] | 193 |
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[439] | 194 | //send, private part; called to effectively send to udt
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| 195 | //this is always in nrt
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| 196 | void ui_com::SendNRT(char *buf, ssize_t size,int ttl) {
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| 197 | ssize_t nb_write;
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| 198 | bool sendItCompressed = false;
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| 199 |
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[2] | 200 | #ifdef COMPRESS_FRAMES
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[15] | 201 | if (buf[0] == XML_HEADER) {
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| 202 | sendItCompressed = true;
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| 203 | }
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[439] | 204 | #endif // COMPRESS_FRAMES
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[2] | 205 |
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[15] | 206 | if (sendItCompressed) {
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| 207 | char *out;
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| 208 | ssize_t out_size;
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[439] | 209 | if (compressBuffer(buf, size, &out, &out_size, 9) == Z_OK) {
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[15] | 210 | size = out_size;
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[252] | 211 | nb_write = UDT::sendmsg(socket_fd, out, size,ttl, true);
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[15] | 212 | free(out);
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| 213 | } else {
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| 214 | Warn("Compress error, sending it uncompressed\n");
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| 215 | sendItCompressed = false;
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[2] | 216 | }
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[15] | 217 | }
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[2] | 218 |
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[15] | 219 | if (!sendItCompressed) {
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[439] | 220 | nb_write = UDT::sendmsg(socket_fd, buf, size, ttl, true);
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[15] | 221 | }
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[2] | 222 |
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[247] | 223 | //Printf("write %i %i\n",nb_write,size);
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[15] | 224 | if (nb_write < 0) {
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| 225 | Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 226 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
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| 227 | UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
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| 228 | connection_lost = true;
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[2] | 229 | }
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[15] | 230 | } else if (nb_write != size) {
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| 231 | Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
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| 232 | UDT::getlasterror().getErrorCode(), nb_write, size);
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| 233 | }
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[2] | 234 | }
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| 235 |
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[15] | 236 | ssize_t ui_com::Receive(char *buf, ssize_t buf_size) {
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| 237 | ssize_t bytesRead = UDT::recvmsg(socket_fd, buf, buf_size);
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[2] | 238 |
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[15] | 239 | if (bytesRead < 0) {
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| 240 | if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST) {
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| 241 | Err("UDT::recvmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 242 | connection_lost = true;
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[2] | 243 | }
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[15] | 244 | }
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[2] | 245 |
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[15] | 246 | return bytesRead;
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[2] | 247 | }
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| 248 |
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[234] | 249 | void ui_com::CheckConnection(void) {
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| 250 | int32_t val,len;
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| 251 |
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| 252 | int result=UDT::getsockopt(socket_fd,0,UDT_STATE,&val,&len);
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| 253 | if (result < 0) {
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| 254 | Printf("UDT::getsockopt error (%s)\n", UDT::getlasterror().getErrorMessage());
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| 255 | }
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| 256 | // printf("opt: %i %i %i\n",result,val,len);
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| 257 | }
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| 258 |
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[439] | 259 | //todo: le run (rt) push les données une par une
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| 260 | //le nrt recupere et decide quand envoyer :
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| 261 | // -quand toutes les données d'une meme periode sont recues
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| 262 | // -quand on a atteind le nb buffering
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| 263 | // -le nrt alloue dynamiquement le buffer d'envoi
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| 264 | //-> enelver l'alloc du buffer au startup (UpdateDataToSendSize)
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[15] | 265 | void ui_com::Run(void) {
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| 266 | // check endianness
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| 267 | char header;
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| 268 | if (IsBigEndian()) {
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[253] | 269 | header = DATA_BIG_ENDIAN;
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[15] | 270 | Printf("System is big endian\n");
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| 271 | } else {
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[253] | 272 | header = DATA_LITTLE_ENDIAN;
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[15] | 273 | Printf("System is little endian\n");
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| 274 | }
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[2] | 275 |
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| 276 | #ifdef __XENO__
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[15] | 277 | WarnUponSwitches(true);
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| 278 | printf("\n"); // a revoir pourquoi??
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| 279 | // sans ce printf, dans le simu_roll, le suspend ne fonctionne pas...
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[2] | 280 | #endif
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[15] | 281 | // on attend d'avoir des choses à faire
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| 282 | Suspend();
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[2] | 283 |
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[15] | 284 | while (!ToBeStopped()) {
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| 285 | size_t resume_id;
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| 286 | Time min = 0xffffffffffffffffULL;
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[2] | 287 |
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[15] | 288 | // on recpuere l'id de la prochaine execution
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| 289 | send_mutex->GetMutex();
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[441] | 290 | resume_id = resumeTimes.size();
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| 291 | for (size_t i = 0; i < resumeTimes.size(); i++) {
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| 292 | if (resumeTimes.at(i) < min && datasToSend.at(i)->IsEnabled() == true) {
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| 293 | min = resumeTimes.at(i);
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[15] | 294 | resume_id = i;
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| 295 | }
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| 296 | }
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[2] | 297 |
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[15] | 298 | // attente
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[441] | 299 | if (resume_id < resumeTimes.size()) {
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| 300 | Time time = resumeTimes.at(resume_id);
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| 301 | uint16_t resume_period = datasToSend.at(resume_id)->SendPeriod();
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[15] | 302 | send_mutex->ReleaseMutex();
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| 303 | // on dort jusqu'a la prochaine execution
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| 304 | SleepUntil(time);
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[2] | 305 |
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[15] | 306 | // envoi des donnees
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| 307 | int offset = 3;
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| 308 | send_buffer[0] = header;
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| 309 | send_mutex->GetMutex();
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[2] | 310 |
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[441] | 311 | for (size_t i = 0; i < datasToSend.size(); i++) {
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| 312 | if (datasToSend.at(i)->SendPeriod() == resume_period && datasToSend.at(i)->IsEnabled() == true) {
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| 313 | datasToSend.at(i)->CopyDatas(send_buffer + offset);
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| 314 | offset += datasToSend.at(i)->SendSize();
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[15] | 315 | }
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| 316 | }
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| 317 | if (offset != 3) {
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| 318 | memcpy(&send_buffer[1], &resume_period, sizeof(uint16_t));
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[252] | 319 | //printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
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[15] | 320 | // for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
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| 321 | // printf("\n");
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[443] | 322 | //Send(send_buffer, offset,resume_period);
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[15] | 323 | }
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[2] | 324 |
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[440] | 325 | //test to push datas
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[441] | 326 | for (size_t i = 0; i < datasToSend.size(); i++) {
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| 327 | if (datasToSend.at(i)->SendPeriod() == resume_period && datasToSend.at(i)->IsEnabled() == true) {
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| 328 | PushDatasToSend(datasToSend.at(i));
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[440] | 329 | }
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| 330 | }
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| 331 | //end test
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| 332 |
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[15] | 333 | // on planifie la prochaine execution
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[441] | 334 | for (size_t i = 0; i < datasToSend.size(); i++) {
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| 335 | if (datasToSend.at(i)->SendPeriod() == resume_period) {
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| 336 | resumeTimes.at(i) += datasToSend.at(i)->SendPeriod() * 1000000;
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[2] | 337 | }
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[15] | 338 | }
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| 339 | send_mutex->ReleaseMutex();
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[157] | 340 | //Printf("%i %lld\n",resume_period,GetTime()/1000000);
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[15] | 341 | } else {
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| 342 | send_mutex->ReleaseMutex();
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| 343 | // rien a faire, suspend
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[157] | 344 | //Printf("rien a faire suspend\n");
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[15] | 345 | Suspend();
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[157] | 346 | //Printf("wake\n");
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[15] | 347 | // on planifie la prochaine execution
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| 348 | Time time = GetTime();
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| 349 | send_mutex->GetMutex();
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[441] | 350 | for (size_t i = 0; i < datasToSend.size(); i++) {
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| 351 | resumeTimes.at(i) =
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| 352 | time + (Time)datasToSend.at(i)->SendPeriod() * 1000000;
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[15] | 353 | }
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| 354 | send_mutex->ReleaseMutex();
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[2] | 355 | }
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[15] | 356 | }
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[2] | 357 | }
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[440] | 358 |
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| 359 |
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| 360 | //called with send_mutex locked
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| 361 | //in nrt
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[441] | 362 | //TODO: RT part has to put datas in pipe, then user thread call this
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| 363 | void ui_com::PushDatasToSend(const SendData *dataToSend) {
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[440] | 364 | PushedData_t* ptr=NULL;
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| 365 | //check if we already have one buffer for this couple period/nb_buffering
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[441] | 366 | for (size_t i = 0; i < pushedDatas.size(); i++) {
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| 367 | if (pushedDatas.at(i).period==dataToSend->SendPeriod() && pushedDatas.at(i).nb_buffering==dataToSend->NbBuffering()) {
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| 368 | ptr=&pushedDatas.at(i);
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[440] | 369 | }
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| 370 | }
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| 371 | if(ptr==NULL) {
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[441] | 372 | Warn("no match in buffers\n");
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| 373 | return;
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[440] | 374 | }
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| 375 |
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[442] | 376 | if(ptr->actual_size==0) {
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| 377 | if (IsBigEndian()) {
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| 378 | ptr->buf[0] = MULTIPLE_DATA_BIG_ENDIAN;
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| 379 | } else {
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| 380 | ptr->buf[0] = MULTIPLE_DATA_LITTLE_ENDIAN;
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| 381 | }
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| 382 | ptr->actual_size+=sizeof(char);
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| 383 | memcpy(ptr->buf+ptr->actual_size,&(ptr->period),sizeof(uint16_t));
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| 384 | ptr->actual_size+=sizeof(uint16_t);
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| 385 | memcpy(ptr->buf+ptr->actual_size,&(ptr->nb_buffering),sizeof(uint16_t));
|
---|
| 386 | ptr->actual_size+=sizeof(uint16_t);
|
---|
| 387 | }
|
---|
| 388 |
|
---|
[441] | 389 | dataToSend->CopyDatas(ptr->buf+ptr->actual_size);
|
---|
| 390 | ptr->actual_size+=dataToSend->SendSize();
|
---|
[442] | 391 | Printf("nb buffered %i/%i\n",ptr->actual_size,ptr->final_size);
|
---|
[441] | 392 | Printf("pushed size %i period %i nb buffering %i\n",dataToSend->SendSize(),dataToSend->SendPeriod(),dataToSend->NbBuffering());
|
---|
[442] | 393 | if(ptr->actual_size>=ptr->final_size) {//par securité on test aussi le cas ou supérieur
|
---|
[441] | 394 | Printf("ready to send\n");
|
---|
[443] | 395 | SendNRT(ptr->buf, ptr->actual_size,ptr->period);
|
---|
[441] | 396 | //clean
|
---|
| 397 | ptr->actual_size=0;
|
---|
| 398 | }
|
---|
[440] | 399 | }
|
---|
| 400 |
|
---|
| 401 |
|
---|
[2] | 402 | #ifdef __XENO__
|
---|
[15] | 403 | void *ui_com::user_thread(void *arg) {
|
---|
| 404 | int pipe_fd = -1;
|
---|
| 405 | string devname;
|
---|
| 406 | char *buf = NULL;
|
---|
| 407 | ui_com *caller = (ui_com *)arg;
|
---|
| 408 | int rv;
|
---|
| 409 | fd_set set;
|
---|
| 410 | struct timeval timeout;
|
---|
[439] | 411 | ssize_t nb_read;
|
---|
| 412 | int ttl;
|
---|
[2] | 413 |
|
---|
[15] | 414 | buf = (char *)malloc(NRT_PIPE_SIZE);
|
---|
| 415 | if (buf == NULL) {
|
---|
| 416 | caller->Err("malloc error\n");
|
---|
| 417 | }
|
---|
[2] | 418 |
|
---|
[15] | 419 | devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
|
---|
| 420 | caller->ObjectName() + "-pipe";
|
---|
| 421 | while (pipe_fd < 0) {
|
---|
| 422 | pipe_fd = open(devname.c_str(), O_RDWR);
|
---|
[133] | 423 | if (pipe_fd < 0 && errno != ENOENT) {
|
---|
| 424 | char errorMsg[256];
|
---|
| 425 | caller->Err("open pipe_fd error (%s)\n", strerror_r(errno, errorMsg, sizeof(errorMsg)));
|
---|
| 426 | }
|
---|
[15] | 427 | usleep(1000);
|
---|
| 428 | }
|
---|
[2] | 429 |
|
---|
[15] | 430 | while (1) {
|
---|
| 431 | FD_ZERO(&set); // clear the set
|
---|
| 432 | FD_SET(pipe_fd, &set); // add our file descriptor to the set
|
---|
[2] | 433 |
|
---|
[15] | 434 | timeout.tv_sec = 0;
|
---|
| 435 | timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
|
---|
[2] | 436 |
|
---|
[15] | 437 | rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
|
---|
[2] | 438 |
|
---|
[15] | 439 | if (rv == -1) {
|
---|
[439] | 440 | if (caller->is_running == false && UDT::getlasterror().getErrorCode() == CUDTException::ETIMEOUT)
|
---|
[15] | 441 | break; // timeout
|
---|
| 442 | if (UDT::getlasterror().getErrorCode() != CUDTException::ETIMEOUT)
|
---|
| 443 | caller->Err("epoll_wait, %s, code %i\n",
|
---|
[439] | 444 | UDT::getlasterror().getErrorMessage(), UDT::getlasterror().getErrorCode());
|
---|
[15] | 445 | } else if (rv == 0) {
|
---|
| 446 | // printf("timeout\n"); // a timeout occured
|
---|
| 447 | if (caller->is_running == false)
|
---|
| 448 | break;
|
---|
[2] | 449 |
|
---|
[15] | 450 | } else {
|
---|
[439] | 451 | //read data buf and ttl
|
---|
| 452 | //RT part has made 2 rt_pipe_write; they should be available in nrt
|
---|
| 453 | //(select ensure at least one data is ready)
|
---|
[15] | 454 | nb_read = read(pipe_fd, buf, NRT_PIPE_SIZE);
|
---|
| 455 | buf[nb_read] = 0;
|
---|
[439] | 456 | read(pipe_fd, &ttl, sizeof(ttl));
|
---|
[15] | 457 | // printf("envoi\n%s\n",buf);
|
---|
[2] | 458 |
|
---|
[439] | 459 | caller->SendNRT(buf, nb_read,ttl);
|
---|
[2] | 460 | }
|
---|
[15] | 461 | }
|
---|
[2] | 462 |
|
---|
[15] | 463 | close(pipe_fd);
|
---|
| 464 | if (buf != NULL)
|
---|
| 465 | free(buf);
|
---|
| 466 | pthread_exit(0);
|
---|
[2] | 467 | }
|
---|
| 468 | #endif
|
---|
| 469 |
|
---|
[15] | 470 | int ui_com::compressBuffer(char *in, ssize_t in_size, char **out,
|
---|
| 471 | ssize_t *out_size, int level) {
|
---|
| 472 | int ret, flush;
|
---|
| 473 | unsigned have;
|
---|
| 474 | z_stream strm;
|
---|
[2] | 475 |
|
---|
[15] | 476 | /* allocate deflate state */
|
---|
| 477 | strm.zalloc = Z_NULL;
|
---|
| 478 | strm.zfree = Z_NULL;
|
---|
| 479 | strm.opaque = Z_NULL;
|
---|
| 480 | ret = deflateInit(&strm, level);
|
---|
| 481 | if (ret != Z_OK)
|
---|
| 482 | return ret;
|
---|
[2] | 483 |
|
---|
[15] | 484 | *out = (char *)malloc(COMPRESS_CHUNK);
|
---|
| 485 | if (!(*out))
|
---|
| 486 | return Z_BUF_ERROR;
|
---|
[2] | 487 |
|
---|
[15] | 488 | strm.next_in = (unsigned char *)in;
|
---|
| 489 | strm.avail_out = COMPRESS_CHUNK;
|
---|
| 490 | strm.next_out = (unsigned char *)*out;
|
---|
| 491 | strm.avail_in = in_size;
|
---|
| 492 | flush = Z_FINISH;
|
---|
[2] | 493 |
|
---|
[15] | 494 | ret = deflate(&strm, flush); /* no bad return value */
|
---|
| 495 | if (ret == Z_STREAM_ERROR) {
|
---|
| 496 | free(*out);
|
---|
| 497 | return ret;
|
---|
| 498 | }
|
---|
[2] | 499 |
|
---|
[15] | 500 | have = COMPRESS_CHUNK - strm.avail_out;
|
---|
| 501 | *out_size = have;
|
---|
| 502 | // printf("%i -> %i\n",in_size,have);
|
---|
| 503 | /* clean up and return */
|
---|
| 504 | (void)deflateEnd(&strm);
|
---|
[2] | 505 |
|
---|
[15] | 506 | if (strm.avail_out != 0) {
|
---|
| 507 | return Z_OK;
|
---|
| 508 | } else {
|
---|
| 509 | return Z_STREAM_ERROR;
|
---|
| 510 | }
|
---|
[2] | 511 | }
|
---|
| 512 |
|
---|
[15] | 513 | int ui_com::uncompressBuffer(unsigned char *in, ssize_t in_size,
|
---|
| 514 | unsigned char **out, ssize_t *out_size) {
|
---|
| 515 | int ret;
|
---|
| 516 | // unsigned have;
|
---|
| 517 | z_stream strm;
|
---|
[2] | 518 |
|
---|
[15] | 519 | /* allocate inflate state */
|
---|
| 520 | strm.zalloc = Z_NULL;
|
---|
| 521 | strm.zfree = Z_NULL;
|
---|
| 522 | strm.opaque = Z_NULL;
|
---|
| 523 | strm.avail_in = 0;
|
---|
| 524 | strm.next_in = Z_NULL;
|
---|
| 525 | ret = inflateInit(&strm);
|
---|
| 526 | if (ret != Z_OK)
|
---|
| 527 | return ret;
|
---|
[2] | 528 |
|
---|
[15] | 529 | *out = (unsigned char *)malloc(COMPRESS_CHUNK);
|
---|
| 530 | if (!(*out))
|
---|
| 531 | return Z_BUF_ERROR;
|
---|
[2] | 532 |
|
---|
[15] | 533 | strm.avail_in = in_size;
|
---|
| 534 | strm.next_in = in;
|
---|
| 535 | strm.avail_out = COMPRESS_CHUNK;
|
---|
| 536 | strm.next_out = *out;
|
---|
[2] | 537 |
|
---|
[15] | 538 | ret = inflate(&strm, Z_NO_FLUSH);
|
---|
| 539 | assert(ret != Z_STREAM_ERROR); /* state not clobbered */
|
---|
| 540 | switch (ret) {
|
---|
| 541 | case Z_NEED_DICT:
|
---|
| 542 | ret = Z_DATA_ERROR; /* and fall through */
|
---|
| 543 | case Z_DATA_ERROR:
|
---|
| 544 | case Z_MEM_ERROR:
|
---|
[2] | 545 | (void)inflateEnd(&strm);
|
---|
[15] | 546 | return ret;
|
---|
| 547 | }
|
---|
| 548 | // have = COMPRESS_CHUNK - strm.avail_out;
|
---|
[2] | 549 |
|
---|
[15] | 550 | /* clean up and return */
|
---|
| 551 | (void)inflateEnd(&strm);
|
---|
| 552 | return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
|
---|
[2] | 553 | }
|
---|
| 554 |
|
---|
[15] | 555 | bool ui_com::ConnectionLost() { return connection_lost; }
|
---|
[2] | 556 |
|
---|
[15] | 557 | void ui_com::AddSendData(const SendData *obj) {
|
---|
| 558 | send_mutex->GetMutex();
|
---|
[2] | 559 |
|
---|
[441] | 560 | resumeTimes.push_back(GetTime() + (Time)obj->SendPeriod() * 1000000);
|
---|
[15] | 561 |
|
---|
| 562 | // on resume en meme temps tout ceux qui ont la meme periode
|
---|
[441] | 563 | for (size_t i = 0; i < datasToSend.size(); i++) {
|
---|
| 564 | if (datasToSend.at(i)->SendPeriod() == obj->SendPeriod()) {
|
---|
| 565 | resumeTimes.at(resumeTimes.size() - 1) = resumeTimes.at(i);
|
---|
[15] | 566 | break;
|
---|
[2] | 567 | }
|
---|
[15] | 568 | }
|
---|
[2] | 569 |
|
---|
[441] | 570 | datasToSend.push_back(obj);
|
---|
[2] | 571 |
|
---|
[15] | 572 | send_mutex->ReleaseMutex();
|
---|
[2] | 573 | }
|
---|
| 574 |
|
---|
[441] | 575 | //TODO: check if it is RT compatible
|
---|
[442] | 576 | //must be called with mutex locked
|
---|
[15] | 577 | void ui_com::UpdateSendData(const SendData *obj) {
|
---|
| 578 | // le mutex est deja pris par l'appellant
|
---|
| 579 | size_t id, i;
|
---|
[2] | 580 |
|
---|
[15] | 581 | // on recupere l'id
|
---|
[441] | 582 | for (i = 0; i < datasToSend.size(); i++) {
|
---|
| 583 | if (datasToSend.at(i) == obj) {
|
---|
[15] | 584 | id = i;
|
---|
| 585 | break;
|
---|
[2] | 586 | }
|
---|
[15] | 587 | }
|
---|
[2] | 588 |
|
---|
[15] | 589 | // on resume en meme temps tout ceux qui ont la meme periode
|
---|
[441] | 590 | for (i = 0; i < datasToSend.size(); i++) {
|
---|
[15] | 591 | if (i == id)
|
---|
| 592 | continue;
|
---|
[441] | 593 | if (datasToSend.at(i)->IsEnabled() == true && datasToSend.at(i)->SendPeriod() == obj->SendPeriod()) {
|
---|
| 594 | resumeTimes.at(id) = resumeTimes.at(i);
|
---|
[15] | 595 | break;
|
---|
[2] | 596 | }
|
---|
[15] | 597 | }
|
---|
[2] | 598 |
|
---|
[15] | 599 | // si aucun match, on planifie l'execution
|
---|
[441] | 600 | if (i == datasToSend.size())
|
---|
| 601 | resumeTimes.at(id) = GetTime() + (Time)obj->SendPeriod() * 1000000;
|
---|
[2] | 602 |
|
---|
[441] | 603 | if (IsSuspended() == true) Resume();
|
---|
[2] | 604 |
|
---|
[441] | 605 | //update all buffers if necessary, discard datas
|
---|
| 606 | std::vector<PushedData_t>::iterator pushedDatasIterator = pushedDatas.begin();
|
---|
| 607 | while(pushedDatasIterator != pushedDatas.end()) {
|
---|
| 608 | size_t bufSize=0;
|
---|
| 609 | for (size_t i = 0; i < datasToSend.size(); i++) {
|
---|
| 610 | if (datasToSend.at(i)->IsEnabled() && datasToSend.at(i)->SendPeriod() == (*pushedDatasIterator).period && datasToSend.at(i)->NbBuffering()==(*pushedDatasIterator).nb_buffering) {
|
---|
| 611 | bufSize+=datasToSend.at(i)->SendSize();
|
---|
| 612 | }
|
---|
| 613 | }
|
---|
| 614 | bufSize*=(*pushedDatasIterator).nb_buffering;
|
---|
[442] | 615 | if(bufSize!=0) bufSize+=sizeof(char)+sizeof(uint16_t)+sizeof(uint16_t);//header+period+nb_buffering
|
---|
[441] | 616 | if(bufSize!=(*pushedDatasIterator).final_size && bufSize!=0) {
|
---|
| 617 | Printf("change buf size %i->%i\n",(*pushedDatasIterator).final_size,bufSize);
|
---|
| 618 | (*pushedDatasIterator).actual_size=0;
|
---|
| 619 | (*pushedDatasIterator).final_size=bufSize;
|
---|
| 620 | free((*pushedDatasIterator).buf);
|
---|
| 621 | (*pushedDatasIterator).buf=(char*)malloc(bufSize);
|
---|
| 622 | }
|
---|
| 623 | if(bufSize==0) {
|
---|
| 624 | Printf("delete buf\n");
|
---|
| 625 | free((*pushedDatasIterator).buf);
|
---|
| 626 | pushedDatasIterator = pushedDatas.erase(pushedDatasIterator);
|
---|
| 627 | } else {
|
---|
| 628 | ++pushedDatasIterator;
|
---|
| 629 | }
|
---|
| 630 | }
|
---|
| 631 |
|
---|
| 632 | //check if we need a new buffer for this couple period/nb_buffering
|
---|
| 633 | if(obj->IsEnabled()) {
|
---|
| 634 | bool match=false;
|
---|
| 635 | for (size_t i = 0; i < pushedDatas.size(); i++) {
|
---|
| 636 | if (pushedDatas.at(i).period==obj->SendPeriod() && pushedDatas.at(i).nb_buffering==obj->NbBuffering()) {
|
---|
| 637 | Printf("match item %i, period %i nb buff %i\n",i,obj->SendPeriod(),obj->NbBuffering());
|
---|
| 638 | match=true;
|
---|
| 639 | }
|
---|
| 640 | }
|
---|
| 641 | //create new one
|
---|
| 642 | if(!match) {
|
---|
| 643 | printf("no match\n");
|
---|
| 644 | PushedData_t tmp;
|
---|
| 645 | tmp.period=obj->SendPeriod();
|
---|
| 646 | tmp.nb_buffering=obj->NbBuffering();
|
---|
| 647 | tmp.actual_size=0;
|
---|
| 648 | tmp.final_size=0;
|
---|
| 649 | for (size_t i = 0; i < datasToSend.size(); i++) {
|
---|
[442] | 650 | Printf("data %i/%i %i %i\n",i,datasToSend.size(),datasToSend.at(i)->SendPeriod() ,datasToSend.at(i)->NbBuffering());
|
---|
[441] | 651 | if (datasToSend.at(i)->IsEnabled() && datasToSend.at(i)->SendPeriod() == obj->SendPeriod() && datasToSend.at(i)->NbBuffering()==obj->NbBuffering()) {
|
---|
| 652 | tmp.final_size+=datasToSend.at(i)->SendSize();
|
---|
[442] | 653 | Printf("add %i\n",datasToSend.at(i)->SendSize());
|
---|
[441] | 654 | }
|
---|
| 655 | }
|
---|
| 656 | tmp.final_size*=obj->NbBuffering();
|
---|
[442] | 657 | tmp.final_size+=sizeof(char)+sizeof(uint16_t)+sizeof(uint16_t);//header+period+nb_buffering
|
---|
[441] | 658 | printf("final size %i\n",tmp.final_size);
|
---|
| 659 | tmp.buf=(char*)malloc(tmp.final_size);
|
---|
| 660 | if(tmp.buf!=NULL) {
|
---|
| 661 | pushedDatas.push_back(tmp);
|
---|
| 662 | } else {
|
---|
| 663 | Warn("could not allocate buffer of size %i\n",tmp.final_size);
|
---|
| 664 | }
|
---|
| 665 | }
|
---|
| 666 | }
|
---|
| 667 | Printf("nb buf %i\n",pushedDatas.size());
|
---|
[15] | 668 | return;
|
---|
[2] | 669 | }
|
---|
| 670 |
|
---|
[439] | 671 | //allocate a buffer at startup for the worst case
|
---|
| 672 | //(every data send with same pedriod)
|
---|
| 673 | //TODO: dynamic size depending on what gcs asks?
|
---|
[15] | 674 | void ui_com::UpdateDataToSendSize(void) {
|
---|
| 675 | send_mutex->GetMutex();
|
---|
| 676 | send_size = 3; // id(1)+period(2)
|
---|
[441] | 677 | for (size_t i = 0; i < datasToSend.size(); i++) {
|
---|
| 678 | if (datasToSend[i] != NULL)
|
---|
| 679 | send_size += datasToSend[i]->SendSize();
|
---|
[15] | 680 | }
|
---|
[2] | 681 |
|
---|
[15] | 682 | // send_buffer=(char*)realloc((void*)send_buffer,send_size*sizeof(char));
|
---|
| 683 | if (send_buffer != NULL)
|
---|
| 684 | free(send_buffer);
|
---|
| 685 | send_buffer = (char *)malloc(send_size * sizeof(char));
|
---|
| 686 | send_mutex->ReleaseMutex();
|
---|
[2] | 687 | }
|
---|
| 688 |
|
---|
[442] | 689 | void ui_com::UpdateDataToSendBufferSize(const SendData *obj) {
|
---|
| 690 | send_mutex->GetMutex();
|
---|
| 691 |
|
---|
| 692 | PushedData_t* ptr=NULL;
|
---|
| 693 | //get buffer for this couple period/nb_buffering
|
---|
| 694 | for (size_t i = 0; i < pushedDatas.size(); i++) {
|
---|
| 695 | if (pushedDatas.at(i).period==obj->SendPeriod() && pushedDatas.at(i).nb_buffering==obj->NbBuffering()) {
|
---|
| 696 | ptr=&pushedDatas.at(i);
|
---|
| 697 | }
|
---|
| 698 | }
|
---|
| 699 | if(ptr==NULL) {
|
---|
| 700 | Err("no corresponding match for couple %i %i\n",obj->SendPeriod(),obj->NbBuffering());
|
---|
| 701 | return;
|
---|
| 702 | }
|
---|
| 703 |
|
---|
| 704 | ptr->final_size=sizeof(char)+sizeof(uint16_t)+sizeof(uint16_t);//header+period+nb_buffering
|
---|
| 705 | ptr->final_size+=obj->SendSize()*obj->NbBuffering();
|
---|
| 706 | Printf("final %i\n",ptr->final_size);
|
---|
| 707 | free(ptr->buf);
|
---|
| 708 | ptr->buf=(char*)malloc(ptr->final_size);
|
---|
| 709 |
|
---|
| 710 | send_mutex->ReleaseMutex();
|
---|
| 711 | }
|
---|
| 712 |
|
---|
[15] | 713 | void ui_com::RemoveSendData(const SendData *obj) {
|
---|
| 714 | // printf("remove_data_to_send %i\n",data_to_send.size());
|
---|
[2] | 715 |
|
---|
[15] | 716 | send_mutex->GetMutex();
|
---|
| 717 | // on recupere l'id
|
---|
[441] | 718 | for (size_t i = 0; i < datasToSend.size(); i++) {
|
---|
| 719 | if (datasToSend.at(i) == obj) {
|
---|
| 720 | datasToSend.erase(datasToSend.begin() + i);
|
---|
| 721 | resumeTimes.erase(resumeTimes.begin() + i);
|
---|
[15] | 722 | // printf("remove_data_to_send %i ok\n",data_to_send.size());
|
---|
| 723 | break;
|
---|
[2] | 724 | }
|
---|
[15] | 725 | }
|
---|
| 726 | send_mutex->ReleaseMutex();
|
---|
[2] | 727 |
|
---|
[15] | 728 | return;
|
---|
[2] | 729 | }
|
---|
| 730 |
|
---|
[15] | 731 | void ui_com::Block(void) { send_mutex->GetMutex(); }
|
---|
[2] | 732 |
|
---|
[15] | 733 | void ui_com::UnBlock(void) { send_mutex->ReleaseMutex(); }
|
---|