source: flair-src/trunk/lib/FlairCore/src/ui_com.cpp@ 202

Last change on this file since 202 was 157, checked in by Sanahuja Guillaume, 7 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2
File size: 15.2 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: 2011/05/01
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)
42 : Thread(parent, "send", 2) {
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)
64 Err("rt_pipe_create error (%s is too long)\n", tmp_name.c_str());
65#ifdef RT_PIPE_SIZE
66 status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, RT_PIPE_SIZE);
67#else
68 status = rt_pipe_create(&pipe, tmp_name.c_str(), P_MINOR_AUTO, 0);
69#endif
70
71 if (status != 0) {
72 char errorMsg[256];
73 Err("rt_pipe_create error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
74 // return -1;
75 }
76
77// start user side thread
78#ifdef NRT_STACK_SIZE
79 // Initialize thread creation attributes
80 pthread_attr_t attr;
81 if (pthread_attr_init(&attr) != 0) {
82 Err("pthread_attr_init error\n");
83 }
84
85 if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
86 Err("pthread_attr_setstacksize error\n");
87 }
88
89 if (pthread_create(&thread, &attr, user_thread, (void *)this) < 0)
90#else // NRT_STACK_SIZE
91 if (pthread_create(&thread, NULL, user_thread, (void *)this) < 0)
92#endif // NRT_STACK_SIZE
93 {
94 Err("pthread_create error\n");
95 // return -1;
96 }
97#ifdef NRT_STACK_SIZE
98 if (pthread_attr_destroy(&attr) != 0) {
99 Err("pthread_attr_destroy error\n");
100 }
101#endif
102
103#endif //__XENO__
104 int timeout = 100;
105 if (UDT::setsockopt(socket_fd, 0, UDT_RCVTIMEO, &timeout, sizeof(int)) != 0)
106 Err("UDT::setsockopt error (UDT_RCVTIMEO)\n");
107
108 bool blocking = true;
109 if (UDT::setsockopt(socket_fd, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
110 Err("UDT::setsockopt error (UDT_SNDSYN)\n");
111
112 if (UDT::setsockopt(socket_fd, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
113 Err("UDT::setsockopt error (UDT_RCVSYN)\n");
114 //#endif //__XENO__
115
116 Start();
117}
118
119ui_com::~ui_com() {
120// printf("destruction ui_com\n");
121
122#ifdef __XENO__
123 is_running = false;
124
125 pthread_join(thread, NULL);
126
127 int status = rt_pipe_delete(&pipe);
128 if (status != 0) {
129 char errorMsg[256];
130 Err("rt_pipe_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
131 }
132#endif
133
134 SafeStop();
135
136 if (IsSuspended() == true)
137 Resume();
138
139 Join();
140
141 if (send_buffer != NULL)
142 free(send_buffer);
143 send_buffer = NULL;
144
145 // printf("destruction ui_com ok\n");
146}
147
148void ui_com::Send(char *buf, ssize_t size) {
149 if (connection_lost == true)
150 return;
151
152 char *tosend = buf;
153 ssize_t nb_write;
154
155 if (buf[0] == XML_HEADER) {
156 // cut xml header
157 tosend = strstr(buf, "<root");
158 size -= tosend - buf;
159 }
160
161#ifdef __XENO__
162 nb_write = rt_pipe_write(&pipe, tosend, size, P_NORMAL);
163
164 if (nb_write < 0) {
165 char errorMsg[256];
166 Err("rt_pipe_write error (%s)\n", strerror_r(-nb_write, errorMsg, sizeof(errorMsg)));
167 } else if (nb_write != size) {
168 Err("rt_pipe_write error %i/%i\n", nb_write, size);
169 }
170#else //__XENO__
171
172#ifdef COMPRESS_FRAMES
173 bool sendItCompressed = false;
174 if (buf[0] == XML_HEADER) {
175 sendItCompressed = true;
176 }
177
178 if (sendItCompressed) {
179 char *out;
180 ssize_t out_size;
181 if (compressBuffer(tosend, size, &out, &out_size, 9) == Z_OK) {
182 size = out_size;
183 nb_write = UDT::sendmsg(socket_fd, out, size, -1, true);
184 free(out);
185 } else {
186 Warn("Compress error, sending it uncompressed\n");
187 sendItCompressed = false;
188 }
189 }
190
191 if (!sendItCompressed) {
192 nb_write = UDT::sendmsg(socket_fd, tosend, size, -1, true);
193 }
194
195#else // COMPRESS_FRAMES
196 nb_write = UDT::sendmsg(socket_fd, tosend, size, -1, true);
197#endif // COMPRESS_FRAMES
198 // Printf("write %i %i\n",nb_write,size);
199 if (nb_write < 0) {
200 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
201 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
202 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
203 connection_lost = true;
204 }
205 } else if (nb_write != size) {
206 Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
207 UDT::getlasterror().getErrorCode(), nb_write, size);
208 }
209#endif //__XENO__
210}
211
212ssize_t ui_com::Receive(char *buf, ssize_t buf_size) {
213 ssize_t bytesRead = UDT::recvmsg(socket_fd, buf, buf_size);
214
215 if (bytesRead < 0) {
216 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST) {
217 Err("UDT::recvmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
218 connection_lost = true;
219 }
220 }
221
222 return bytesRead;
223}
224
225void ui_com::Run(void) {
226 // check endianness
227 char header;
228 if (IsBigEndian()) {
229 header = DATAS_BIG_ENDIAN;
230 Printf("System is big endian\n");
231 } else {
232 header = DATAS_LITTLE_ENDIAN;
233 Printf("System is little endian\n");
234 }
235
236#ifdef __XENO__
237 WarnUponSwitches(true);
238 printf("\n"); // a revoir pourquoi??
239// sans ce printf, dans le simu_roll, le suspend ne fonctionne pas...
240#endif
241 // on attend d'avoir des choses à faire
242 Suspend();
243
244 while (!ToBeStopped()) {
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 if (resume_time.at(i) < min && data_to_send.at(i)->IsEnabled() == true) {
253 min = resume_time.at(i);
254 resume_id = i;
255 }
256 }
257
258 // attente
259 if (resume_id < resume_time.size()) {
260 Time time = resume_time.at(resume_id);
261 uint16_t resume_period = data_to_send.at(resume_id)->SendPeriod();
262 send_mutex->ReleaseMutex();
263 // on dort jusqu'a la prochaine execution
264 SleepUntil(time);
265
266 // envoi des donnees
267 int offset = 3;
268 send_buffer[0] = header;
269 send_mutex->GetMutex();
270
271 for (size_t i = 0; i < data_to_send.size(); i++) {
272 if (data_to_send.at(i)->SendPeriod() == resume_period &&
273 data_to_send.at(i)->IsEnabled() == true) {
274 data_to_send.at(i)->CopyDatas(send_buffer + offset);
275 offset += data_to_send.at(i)->SendSize();
276 }
277 }
278 if (offset != 3) {
279 memcpy(&send_buffer[1], &resume_period, sizeof(uint16_t));
280 // printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
281 // for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
282 // printf("\n");
283 Send(send_buffer, offset);
284 }
285
286 // on planifie la prochaine execution
287 for (size_t i = 0; i < data_to_send.size(); i++) {
288 if (data_to_send.at(i)->SendPeriod() == resume_period) {
289 resume_time.at(i) += data_to_send.at(i)->SendPeriod() * 1000000;
290 }
291 }
292 send_mutex->ReleaseMutex();
293 //Printf("%i %lld\n",resume_period,GetTime()/1000000);
294 } else {
295 send_mutex->ReleaseMutex();
296 // rien a faire, suspend
297 //Printf("rien a faire suspend\n");
298 Suspend();
299 //Printf("wake\n");
300 // on planifie la prochaine execution
301 Time time = GetTime();
302 send_mutex->GetMutex();
303 for (size_t i = 0; i < data_to_send.size(); i++) {
304 resume_time.at(i) =
305 time + (Time)data_to_send.at(i)->SendPeriod() * 1000000;
306 }
307 send_mutex->ReleaseMutex();
308 }
309 }
310}
311#ifdef __XENO__
312void *ui_com::user_thread(void *arg) {
313 int pipe_fd = -1;
314 string devname;
315 char *buf = NULL;
316 ui_com *caller = (ui_com *)arg;
317 int rv;
318 fd_set set;
319 struct timeval timeout;
320 ssize_t nb_read, nb_write;
321
322 buf = (char *)malloc(NRT_PIPE_SIZE);
323 if (buf == NULL) {
324 caller->Err("malloc error\n");
325 }
326
327 devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
328 caller->ObjectName() + "-pipe";
329 while (pipe_fd < 0) {
330 pipe_fd = open(devname.c_str(), O_RDWR);
331 if (pipe_fd < 0 && errno != ENOENT) {
332 char errorMsg[256];
333 caller->Err("open pipe_fd error (%s)\n", strerror_r(errno, errorMsg, sizeof(errorMsg)));
334 }
335 usleep(1000);
336 }
337
338 while (1) {
339 FD_ZERO(&set); // clear the set
340 FD_SET(pipe_fd, &set); // add our file descriptor to the set
341
342 timeout.tv_sec = 0;
343 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
344
345 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
346
347 if (rv == -1) {
348 if (caller->is_running == false &&
349 UDT::getlasterror().getErrorCode() == CUDTException::ETIMEOUT)
350 break; // timeout
351 if (UDT::getlasterror().getErrorCode() != CUDTException::ETIMEOUT)
352 caller->Err("epoll_wait, %s, code %i\n",
353 UDT::getlasterror().getErrorMessage(),
354 UDT::getlasterror().getErrorCode());
355 } else if (rv == 0) {
356 // printf("timeout\n"); // a timeout occured
357 if (caller->is_running == false)
358 break;
359
360 } else {
361 nb_read = read(pipe_fd, buf, NRT_PIPE_SIZE);
362 buf[nb_read] = 0;
363// printf("envoi\n%s\n",buf);
364
365#ifdef COMPRESS_FRAMES
366 char *out;
367 ssize_t out_size;
368
369 if (buf[0] == XML_HEADER) {
370 if (compressBuffer(buf, nb_read, &out, &out_size, 9) == Z_OK) {
371 nb_read = out_size;
372 nb_write = UDT::sendmsg(caller->socket_fd, out, out_size, -1, true);
373 free(out);
374 } else {
375 caller->Warn("Compress error, sending it uncompressed\n");
376 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
377 }
378 } else {
379 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
380 }
381#else
382 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
383#endif
384
385 if (nb_write < 0) {
386 caller->Err("UDT::sendmsg error (%s)\n",
387 UDT::getlasterror().getErrorMessage());
388 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
389 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
390 caller->connection_lost = true;
391 }
392 } else if (nb_write != nb_read) {
393 caller->Err("UDT::sendmsg error %i/%i\n", nb_write, nb_read);
394 }
395 }
396 }
397
398 close(pipe_fd);
399 if (buf != NULL)
400 free(buf);
401 pthread_exit(0);
402}
403#endif
404
405int ui_com::compressBuffer(char *in, ssize_t in_size, char **out,
406 ssize_t *out_size, int level) {
407 int ret, flush;
408 unsigned have;
409 z_stream strm;
410
411 /* allocate deflate state */
412 strm.zalloc = Z_NULL;
413 strm.zfree = Z_NULL;
414 strm.opaque = Z_NULL;
415 ret = deflateInit(&strm, level);
416 if (ret != Z_OK)
417 return ret;
418
419 *out = (char *)malloc(COMPRESS_CHUNK);
420 if (!(*out))
421 return Z_BUF_ERROR;
422
423 strm.next_in = (unsigned char *)in;
424 strm.avail_out = COMPRESS_CHUNK;
425 strm.next_out = (unsigned char *)*out;
426 strm.avail_in = in_size;
427 flush = Z_FINISH;
428
429 ret = deflate(&strm, flush); /* no bad return value */
430 if (ret == Z_STREAM_ERROR) {
431 free(*out);
432 return ret;
433 }
434
435 have = COMPRESS_CHUNK - strm.avail_out;
436 *out_size = have;
437 // printf("%i -> %i\n",in_size,have);
438 /* clean up and return */
439 (void)deflateEnd(&strm);
440
441 if (strm.avail_out != 0) {
442 return Z_OK;
443 } else {
444 return Z_STREAM_ERROR;
445 }
446}
447
448int ui_com::uncompressBuffer(unsigned char *in, ssize_t in_size,
449 unsigned char **out, ssize_t *out_size) {
450 int ret;
451 // unsigned have;
452 z_stream strm;
453
454 /* allocate inflate state */
455 strm.zalloc = Z_NULL;
456 strm.zfree = Z_NULL;
457 strm.opaque = Z_NULL;
458 strm.avail_in = 0;
459 strm.next_in = Z_NULL;
460 ret = inflateInit(&strm);
461 if (ret != Z_OK)
462 return ret;
463
464 *out = (unsigned char *)malloc(COMPRESS_CHUNK);
465 if (!(*out))
466 return Z_BUF_ERROR;
467
468 strm.avail_in = in_size;
469 strm.next_in = in;
470 strm.avail_out = COMPRESS_CHUNK;
471 strm.next_out = *out;
472
473 ret = inflate(&strm, Z_NO_FLUSH);
474 assert(ret != Z_STREAM_ERROR); /* state not clobbered */
475 switch (ret) {
476 case Z_NEED_DICT:
477 ret = Z_DATA_ERROR; /* and fall through */
478 case Z_DATA_ERROR:
479 case Z_MEM_ERROR:
480 (void)inflateEnd(&strm);
481 return ret;
482 }
483 // have = COMPRESS_CHUNK - strm.avail_out;
484
485 /* clean up and return */
486 (void)inflateEnd(&strm);
487 return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
488}
489
490bool ui_com::ConnectionLost() { return connection_lost; }
491
492void ui_com::AddSendData(const SendData *obj) {
493 send_mutex->GetMutex();
494
495 resume_time.push_back(GetTime() + (Time)obj->SendPeriod() * 1000000);
496
497 // on resume en meme temps tout ceux qui ont la meme periode
498 for (size_t i = 0; i < data_to_send.size(); i++) {
499 if (data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
500 resume_time.at(resume_time.size() - 1) = resume_time.at(i);
501 break;
502 }
503 }
504
505 data_to_send.push_back(obj);
506
507 send_mutex->ReleaseMutex();
508}
509
510void ui_com::UpdateSendData(const SendData *obj) {
511 // le mutex est deja pris par l'appellant
512 size_t id, i;
513
514 // on recupere l'id
515 for (i = 0; i < data_to_send.size(); i++) {
516 if (data_to_send.at(i) == obj) {
517 id = i;
518 break;
519 }
520 }
521
522 // on resume en meme temps tout ceux qui ont la meme periode
523 for (i = 0; i < data_to_send.size(); i++) {
524 if (i == id)
525 continue;
526 if (data_to_send.at(i)->IsEnabled() == true &&
527 data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
528 resume_time.at(id) = resume_time.at(i);
529 break;
530 }
531 }
532
533 // si aucun match, on planifie l'execution
534 if (i == data_to_send.size())
535 resume_time.at(id) = GetTime() + (Time)obj->SendPeriod() * 1000000;
536
537 if (IsSuspended() == true)
538 Resume();
539
540 return;
541}
542
543void ui_com::UpdateDataToSendSize(void) {
544 send_mutex->GetMutex();
545 send_size = 3; // id(1)+period(2)
546 for (size_t i = 0; i < data_to_send.size(); i++) {
547 if (data_to_send[i] != NULL)
548 send_size += data_to_send[i]->SendSize();
549 }
550
551 // send_buffer=(char*)realloc((void*)send_buffer,send_size*sizeof(char));
552 if (send_buffer != NULL)
553 free(send_buffer);
554 send_buffer = (char *)malloc(send_size * sizeof(char));
555 send_mutex->ReleaseMutex();
556}
557
558void ui_com::RemoveSendData(const SendData *obj) {
559 // printf("remove_data_to_send %i\n",data_to_send.size());
560
561 send_mutex->GetMutex();
562 // on recupere l'id
563 for (size_t i = 0; i < data_to_send.size(); i++) {
564 if (data_to_send.at(i) == obj) {
565 data_to_send.erase(data_to_send.begin() + i);
566 resume_time.erase(resume_time.begin() + i);
567 // printf("remove_data_to_send %i ok\n",data_to_send.size());
568 break;
569 }
570 }
571 send_mutex->ReleaseMutex();
572
573 return;
574}
575
576void ui_com::Block(void) { send_mutex->GetMutex(); }
577
578void ui_com::UnBlock(void) { send_mutex->ReleaseMutex(); }
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