source: flair-src/trunk/lib/FlairCore/src/ui_com.cpp@ 2

Last change on this file since 2 was 2, checked in by Sanahuja Guillaume, 7 years ago

flaircore

File size: 15.8 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2011/05/01
6// filename: ui_com.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe permettant la lecture et l'ecriture sur socket UDT
14//
15//
16/*********************************************************************/
17
18#include "ui_com.h"
19#include <cstdlib>
20#include <string.h>
21#include <unistd.h>
22#include "Mutex.h"
23#include "SendData.h"
24#include "communication.h"
25#include "FrameworkManager.h"
26#include "zlib.h"
27#include <assert.h>
28#include "config.h"
29
30#ifdef __XENO__
31#include <pthread.h>
32#include <native/task.h>
33#include <native/task.h>
34#include <fcntl.h>
35#endif
36
37using std::string;
38using namespace flair::core;
39using namespace flair::gui;
40
41ui_com::ui_com(const Object *parent,UDTSOCKET sock): Thread(parent,"send",2)
42{
43 //buffer envoi
44 send_buffer=(char*)malloc(3);
45 send_size=3;//id(1)+period(2)
46
47 //mutex
48 send_mutex=NULL;
49 send_mutex=new Mutex(this,ObjectName());
50
51 socket_fd=sock;
52 connection_lost=false;
53
54#ifdef __XENO__
55 int status;
56 string tmp_name;
57
58 is_running=true;
59
60 //pipe
61 tmp_name= getFrameworkManager()->ObjectName() + "-" + ObjectName()+ "-pipe";
62 //xenomai limitation
63 if(tmp_name.size()>31) Err("rt_pipe_create error (%s is too long)\n",tmp_name.c_str());
64#ifdef RT_PIPE_SIZE
65 status=rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO,RT_PIPE_SIZE);
66#else
67 status=rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO,0);
68#endif
69
70 if(status!=0)
71 {
72 Err("rt_pipe_create error (%s)\n",strerror(-status));
73 //return -1;
74 }
75
76 //start user side thread
77#ifdef NRT_STACK_SIZE
78 // Initialize thread creation attributes
79 pthread_attr_t attr;
80 if(pthread_attr_init(&attr) != 0)
81 {
82 Err("pthread_attr_init error\n");
83 }
84
85 if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0)
86 {
87 Err("pthread_attr_setstacksize error\n");
88 }
89
90 if(pthread_create(&thread, &attr, user_thread, (void*)this) < 0)
91#else //NRT_STACK_SIZE
92 if(pthread_create(&thread, NULL, user_thread, (void*)this) < 0)
93#endif //NRT_STACK_SIZE
94 {
95 Err("pthread_create error\n");
96 //return -1;
97 }
98#ifdef NRT_STACK_SIZE
99 if(pthread_attr_destroy(&attr) != 0)
100 {
101 Err("pthread_attr_destroy error\n");
102 }
103#endif
104
105#endif//__XENO__
106 int timeout=100;
107 if(UDT::setsockopt(socket_fd, 0, UDT_RCVTIMEO, &timeout, sizeof(int))!=0) Err("UDT::setsockopt error (UDT_RCVTIMEO)\n");
108
109 bool blocking = true;
110 if(UDT::setsockopt(socket_fd, 0, UDT_SNDSYN, &blocking, sizeof(bool))!=0) Err("UDT::setsockopt error (UDT_SNDSYN)\n");
111
112 if(UDT::setsockopt(socket_fd, 0, UDT_RCVSYN, &blocking, sizeof(bool))!=0) Err("UDT::setsockopt error (UDT_RCVSYN)\n");
113//#endif //__XENO__
114
115 Start();
116}
117
118
119ui_com::~ui_com()
120{
121 //printf("destruction ui_com\n");
122
123#ifdef __XENO__
124 is_running=false;
125
126 pthread_join(thread, NULL);
127
128 int status=rt_pipe_delete(&pipe);
129 if(status!=0) Err("rt_pipe_delete error (%s)\n",strerror(-status));
130#endif
131
132 SafeStop();
133
134 if(IsSuspended()==true) Resume();
135
136 Join();
137
138 if(send_buffer!=NULL) free(send_buffer);
139 send_buffer=NULL;
140
141 //printf("destruction ui_com ok\n");
142}
143
144void ui_com::Send(char* buf,ssize_t size) {
145 if(connection_lost==true) return;
146
147 char* tosend=buf;
148 ssize_t nb_write;
149
150 if(buf[0]==XML_HEADER) {
151 //cut xml header
152 tosend=strstr(buf,"<root");
153 size-=tosend-buf;
154 }
155
156#ifdef __XENO__
157 nb_write=rt_pipe_write(&pipe,tosend,size,P_NORMAL);
158
159 if(nb_write<0)
160 {
161 Err("rt_pipe_write error (%s)\n",strerror(-nb_write));
162 }
163 else if (nb_write != size)
164 {
165 Err("rt_pipe_write error %i/%i\n",nb_write,size);
166 }
167#else //__XENO__
168
169#ifdef COMPRESS_FRAMES
170 bool sendItCompressed=false;
171 if(buf[0]==XML_HEADER) {
172 sendItCompressed=true;
173 }
174
175 if(sendItCompressed) {
176 char *out;
177 ssize_t out_size;
178 if(compressBuffer(tosend, size,&out,&out_size, 9)==Z_OK) {
179 size=out_size;
180 nb_write = UDT::sendmsg(socket_fd,out,size, -1, true);
181 free(out);
182 } else {
183 Warn("Compress error, sending it uncompressed\n");
184 sendItCompressed=false;
185 }
186 }
187
188 if(!sendItCompressed) {
189 nb_write = UDT::sendmsg(socket_fd,tosend,size, -1, true);
190 }
191
192#else //COMPRESS_FRAMES
193 nb_write = UDT::sendmsg(socket_fd,tosend,size, -1, true);
194#endif //COMPRESS_FRAMES
195//Printf("write %i %i\n",nb_write,size);
196 if(nb_write<0) {
197 Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
198 if(UDT::getlasterror().getErrorCode()==CUDTException::ECONNLOST || UDT::getlasterror().getErrorCode()==CUDTException::EINVSOCK) {
199 connection_lost=true;
200 }
201 } else if (nb_write != size) {
202 Err("%s, code %i (%ld/%ld)\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode(),nb_write,size);
203 }
204#endif //__XENO__
205}
206
207ssize_t ui_com::Receive(char* buf,ssize_t buf_size) {
208 ssize_t bytesRead= UDT::recvmsg(socket_fd,buf,buf_size);
209
210 if(bytesRead<0) {
211 if(UDT::getlasterror().getErrorCode()==CUDTException::ECONNLOST) {
212 Err("UDT::recvmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
213 connection_lost=true;
214 }
215 }
216
217 return bytesRead;
218}
219
220void ui_com::Run(void)
221{
222 //check endianness
223 char header;
224 if(IsBigEndian())
225 {
226 header=DATAS_BIG_ENDIAN;
227 Printf("System is big endian\n");
228 }
229 else
230 {
231 header=DATAS_LITTLE_ENDIAN;
232 Printf("System is little endian\n");
233 }
234
235#ifdef __XENO__
236 WarnUponSwitches(true);
237 printf("\n");//a revoir pourquoi??
238 //sans ce printf, dans le simu_roll, le suspend ne fonctionne pas...
239#endif
240 //on attend d'avoir des choses à faire
241 Suspend();
242
243 while(!ToBeStopped())
244 {
245 size_t resume_id;
246 Time min=0xffffffffffffffffULL;
247
248 //on recpuere l'id de la prochaine execution
249 send_mutex->GetMutex();
250 resume_id=resume_time.size();
251 for(size_t i=0;i<resume_time.size();i++)
252 {
253 if(resume_time.at(i)<min && data_to_send.at(i)->IsEnabled()==true)
254 {
255 min=resume_time.at(i);
256 resume_id=i;
257 }
258 }
259
260 //attente
261 if(resume_id<resume_time.size())
262 {
263 Time time=resume_time.at(resume_id);
264 uint16_t resume_period=data_to_send.at(resume_id)->SendPeriod();
265 send_mutex->ReleaseMutex();
266 //on dort jusqu'a la prochaine execution
267 SleepUntil(time);
268
269 //envoi des donnees
270 int offset=3;
271 send_buffer[0]=header;
272 send_mutex->GetMutex();
273
274 for(size_t i=0;i<data_to_send.size();i++) {
275 if(data_to_send.at(i)->SendPeriod()==resume_period && data_to_send.at(i)->IsEnabled()==true) {
276 data_to_send.at(i)->CopyDatas(send_buffer+offset);
277 offset+=data_to_send.at(i)->SendSize();
278 }
279 }
280 if(offset!=3) {
281 memcpy(&send_buffer[1],&resume_period,sizeof(uint16_t));
282 //printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
283 //for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
284 //printf("\n");
285 Send(send_buffer,offset);
286 }
287
288 //on planifie la prochaine execution
289 for(size_t i=0;i<data_to_send.size();i++)
290 {
291 if(data_to_send.at(i)->SendPeriod()==resume_period)
292 {
293 resume_time.at(i)+=data_to_send.at(i)->SendPeriod()*1000000;
294 }
295 }
296 send_mutex->ReleaseMutex();
297 //Printf("%i %lld\n",resume_period,GetTime()/1000000);
298 }
299 else
300 {
301 send_mutex->ReleaseMutex();
302 //rien a faire, suspend
303 //Printf("rien a faire suspend\n");
304 Suspend();
305 //Printf("wake\n");
306 //on planifie la prochaine execution
307 Time time=GetTime();
308 send_mutex->GetMutex();
309 for(size_t i=0;i<data_to_send.size();i++)
310 {
311 resume_time.at(i)=time+(Time)data_to_send.at(i)->SendPeriod()*1000000;
312 }
313 send_mutex->ReleaseMutex();
314 }
315 }
316}
317#ifdef __XENO__
318void* ui_com::user_thread(void * arg)
319{
320 int pipe_fd=-1;
321 string devname;
322 char* buf=NULL;
323 ui_com *caller = (ui_com*)arg;
324 int rv;
325 fd_set set;
326 struct timeval timeout;
327 ssize_t nb_read,nb_write;
328
329 buf=(char*)malloc(NRT_PIPE_SIZE);
330 if(buf==NULL)
331 {
332 caller->Err("malloc error\n");
333 }
334
335 devname= NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" + caller->ObjectName()+ "-pipe";
336 while(pipe_fd<0)
337 {
338 pipe_fd = open(devname.c_str(), O_RDWR);
339 if (pipe_fd < 0 && errno!=ENOENT) caller->Err("open pipe_fd error (%s)\n",strerror(-errno));
340 usleep(1000);
341 }
342
343 while(1)
344 {
345 FD_ZERO(&set); // clear the set
346 FD_SET(pipe_fd, &set); // add our file descriptor to the set
347
348 timeout.tv_sec = 0;
349 timeout.tv_usec = SELECT_TIMEOUT_MS*1000;
350
351 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
352
353 if(rv == -1)
354 {
355 if(caller->is_running==false && UDT::getlasterror().getErrorCode()==CUDTException::ETIMEOUT) break;//timeout
356 if(UDT::getlasterror().getErrorCode()!=CUDTException::ETIMEOUT) caller->Err("epoll_wait, %s, code %i\n",UDT::getlasterror().getErrorMessage(),UDT::getlasterror().getErrorCode());
357 }
358 else if(rv == 0)
359 {
360 //printf("timeout\n"); // a timeout occured
361 if(caller->is_running==false) break;
362
363 }
364 else
365 {
366 nb_read=read(pipe_fd,buf,NRT_PIPE_SIZE);
367 buf[nb_read]=0;
368 //printf("envoi\n%s\n",buf);
369
370#ifdef COMPRESS_FRAMES
371 char *out;
372 ssize_t out_size;
373
374 if(buf[0]==XML_HEADER) {
375 if(compressBuffer(buf, nb_read,&out,&out_size, 9)==Z_OK) {
376 nb_read=out_size;
377 nb_write = UDT::sendmsg(caller->socket_fd,out,out_size, -1, true);
378 free(out);
379 } else {
380 caller->Warn("Compress error, sending it uncompressed\n");
381 nb_write = UDT::sendmsg(caller->socket_fd, buf,nb_read, -1, true);
382 }
383 } else {
384 nb_write = UDT::sendmsg(caller->socket_fd, buf,nb_read, -1, true);
385 }
386#else
387 nb_write = UDT::sendmsg(caller->socket_fd, buf,nb_read, -1, true);
388#endif
389
390 if(nb_write<0)
391 {
392 caller->Err("UDT::sendmsg error (%s)\n",UDT::getlasterror().getErrorMessage());
393 if(UDT::getlasterror().getErrorCode()==CUDTException::ECONNLOST || UDT::getlasterror().getErrorCode()==CUDTException::EINVSOCK)
394 {
395 caller->connection_lost=true;
396 }
397 }
398 else if (nb_write != nb_read)
399 {
400 caller->Err("UDT::sendmsg error %i/%i\n",nb_write,nb_read);
401 }
402 }
403 }
404
405 close(pipe_fd);
406 if(buf!=NULL) free(buf);
407 pthread_exit(0);
408}
409#endif
410
411int ui_com::compressBuffer(char *in, ssize_t in_size,char **out,ssize_t *out_size, int level)
412{
413 int ret, flush;
414 unsigned have;
415 z_stream strm;
416
417 /* allocate deflate state */
418 strm.zalloc = Z_NULL;
419 strm.zfree = Z_NULL;
420 strm.opaque = Z_NULL;
421 ret = deflateInit(&strm, level);
422 if (ret != Z_OK)
423 return ret;
424
425 *out=(char*)malloc(COMPRESS_CHUNK);
426 if(!(*out))
427 return Z_BUF_ERROR;
428
429 strm.next_in = (unsigned char*)in;
430 strm.avail_out = COMPRESS_CHUNK;
431 strm.next_out = (unsigned char*)*out;
432 strm.avail_in=in_size;
433 flush=Z_FINISH;
434
435 ret = deflate(&strm, flush); /* no bad return value */
436 if (ret == Z_STREAM_ERROR) {
437 free(*out);
438 return ret;
439 }
440
441 have = COMPRESS_CHUNK - strm.avail_out;
442 *out_size=have;
443//printf("%i -> %i\n",in_size,have);
444 /* clean up and return */
445 (void)deflateEnd(&strm);
446
447 if(strm.avail_out!=0) {
448 return Z_OK;
449 } else {
450 return Z_STREAM_ERROR;
451 }
452}
453
454int ui_com::uncompressBuffer(unsigned char *in, ssize_t in_size,unsigned char **out,ssize_t *out_size)
455{
456 int ret;
457 //unsigned have;
458 z_stream strm;
459
460 /* allocate inflate state */
461 strm.zalloc = Z_NULL;
462 strm.zfree = Z_NULL;
463 strm.opaque = Z_NULL;
464 strm.avail_in = 0;
465 strm.next_in = Z_NULL;
466 ret = inflateInit(&strm);
467 if (ret != Z_OK)
468 return ret;
469
470 *out=(unsigned char*)malloc(COMPRESS_CHUNK);
471 if(!(*out))
472 return Z_BUF_ERROR;
473
474 strm.avail_in = in_size;
475 strm.next_in = in;
476 strm.avail_out = COMPRESS_CHUNK;
477 strm.next_out = *out;
478
479 ret = inflate(&strm, Z_NO_FLUSH);
480 assert(ret != Z_STREAM_ERROR); /* state not clobbered */
481 switch (ret) {
482 case Z_NEED_DICT:
483 ret = Z_DATA_ERROR; /* and fall through */
484 case Z_DATA_ERROR:
485 case Z_MEM_ERROR:
486 (void)inflateEnd(&strm);
487 return ret;
488 }
489 //have = COMPRESS_CHUNK - strm.avail_out;
490
491 /* clean up and return */
492 (void)inflateEnd(&strm);
493 return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
494}
495
496bool ui_com::ConnectionLost()
497{
498 return connection_lost;
499}
500
501void ui_com::AddSendData(const SendData *obj)
502{
503 send_mutex->GetMutex();
504
505 resume_time.push_back(GetTime()+(Time)obj->SendPeriod()*1000000);
506
507 //on resume en meme temps tout ceux qui ont la meme periode
508 for(size_t i=0;i<data_to_send.size();i++)
509 {
510 if(data_to_send.at(i)->SendPeriod()==obj->SendPeriod())
511 {
512 resume_time.at(resume_time.size()-1)=resume_time.at(i);
513 break;
514 }
515 }
516
517 data_to_send.push_back(obj);
518
519 send_mutex->ReleaseMutex();
520}
521
522void ui_com::UpdateSendData(const SendData *obj)
523{
524 //le mutex est deja pris par l'appellant
525 size_t id,i;
526
527 //on recupere l'id
528 for(i=0;i<data_to_send.size();i++)
529 {
530 if(data_to_send.at(i)==obj)
531 {
532 id=i;
533 break;
534 }
535 }
536
537 //on resume en meme temps tout ceux qui ont la meme periode
538 for(i=0;i<data_to_send.size();i++)
539 {
540 if(i==id) continue;
541 if(data_to_send.at(i)->IsEnabled()==true && data_to_send.at(i)->SendPeriod()==obj->SendPeriod())
542 {
543 resume_time.at(id)=resume_time.at(i);
544 break;
545 }
546 }
547
548 //si aucun match, on planifie l'execution
549 if(i==data_to_send.size()) resume_time.at(id)=GetTime()+(Time)obj->SendPeriod()*1000000;
550
551 if(IsSuspended()==true) Resume();
552
553 return;
554}
555
556void ui_com::UpdateDataToSendSize(void)
557{
558 send_mutex->GetMutex();
559 send_size=3;//id(1)+period(2)
560 for(size_t i=0;i<data_to_send.size();i++)
561 {
562 if(data_to_send[i]!=NULL) send_size+=data_to_send[i]->SendSize();
563 }
564
565 //send_buffer=(char*)realloc((void*)send_buffer,send_size*sizeof(char));
566 if(send_buffer!=NULL) free(send_buffer);
567 send_buffer=(char*)malloc(send_size*sizeof(char));
568 send_mutex->ReleaseMutex();
569}
570
571void ui_com::RemoveSendData(const SendData *obj)
572{
573 //printf("remove_data_to_send %i\n",data_to_send.size());
574
575 send_mutex->GetMutex();
576 //on recupere l'id
577 for(size_t i=0;i<data_to_send.size();i++)
578 {
579 if(data_to_send.at(i)==obj)
580 {
581 data_to_send.erase (data_to_send.begin()+i);
582 resume_time.erase (resume_time.begin()+i);
583 //printf("remove_data_to_send %i ok\n",data_to_send.size());
584 break;
585 }
586 }
587 send_mutex->ReleaseMutex();
588
589 return;
590}
591
592void ui_com::Block(void)
593{
594 send_mutex->GetMutex();
595}
596
597void ui_com::UnBlock(void)
598{
599 send_mutex->ReleaseMutex();
600}
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