source: flair-src/trunk/lib/FlairCore/src/ui_com.cpp@ 252

Last change on this file since 252 was 252, checked in by Sanahuja Guillaume, 6 years ago

change io_data CopyDate to RawRead
File size: 15.7 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", 2,16384*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 timeout=-1;
109 if (UDT::setsockopt(socket_fd, 0, UDT_SNDTIMEO, &timeout, sizeof(int)) != 0)
110 Err("UDT::setsockopt error (UDT_SNDTIMEO)\n");
111*/
112 bool blocking = true;
113 if (UDT::setsockopt(socket_fd, 0, UDT_SNDSYN, &blocking, sizeof(bool)) != 0)
114 Err("UDT::setsockopt error (UDT_SNDSYN)\n");
115
116 if (UDT::setsockopt(socket_fd, 0, UDT_RCVSYN, &blocking, sizeof(bool)) != 0)
117 Err("UDT::setsockopt error (UDT_RCVSYN)\n");
118 //#endif //__XENO__
119
120 Start();
121}
122
123ui_com::~ui_com() {
124//Printf("destruction ui_com\n");
125
126#ifdef __XENO__
127 is_running = false;
128
129 pthread_join(thread, NULL);
130
131 int status = rt_pipe_delete(&pipe);
132 if (status != 0) {
133 char errorMsg[256];
134 Err("rt_pipe_delete error (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
135 }
136#endif
137
138 SafeStop();
139
140 if (IsSuspended() == true)
141 Resume();
142
143 Join();
144
145 char buf=CLOSING_CONNECTION;
146 Send(&buf,1);
147
148 if (send_buffer != NULL)
149 free(send_buffer);
150 send_buffer = NULL;
151
152 //Printf("destruction ui_com ok\n");
153}
154
155void ui_com::Send(char *buf, ssize_t size,int ttl) {
156 if (connection_lost == true)
157 return;
158
159 char *tosend = buf;
160 ssize_t nb_write;
161
162 if (buf[0] == XML_HEADER) {
163 // cut xml header
164 tosend = strstr(buf, "<root");
165 size -= tosend - buf;
166 }
167
168#ifdef __XENO__
169 nb_write = rt_pipe_write(&pipe, tosend, size, P_NORMAL);
170
171 if (nb_write < 0) {
172 char errorMsg[256];
173 Err("rt_pipe_write error (%s)\n", strerror_r(-nb_write, errorMsg, sizeof(errorMsg)));
174 } else if (nb_write != size) {
175 Err("rt_pipe_write error %i/%i\n", nb_write, size);
176 }
177#else //__XENO__
178
179#ifdef COMPRESS_FRAMES
180 bool sendItCompressed = false;
181 if (buf[0] == XML_HEADER) {
182 sendItCompressed = true;
183 }
184
185 if (sendItCompressed) {
186 char *out;
187 ssize_t out_size;
188 if (compressBuffer(tosend, size, &out, &out_size, 9) == Z_OK) {
189 size = out_size;
190 nb_write = UDT::sendmsg(socket_fd, out, size,ttl, true);
191 free(out);
192 } else {
193 Warn("Compress error, sending it uncompressed\n");
194 sendItCompressed = false;
195 }
196 }
197
198 if (!sendItCompressed) {
199 nb_write = UDT::sendmsg(socket_fd, tosend, size, ttl, true);
200 }
201
202#else // COMPRESS_FRAMES
203 nb_write = UDT::sendmsg(socket_fd, tosend, size, ttl, true);
204#endif // COMPRESS_FRAMES
205 //Printf("write %i %i\n",nb_write,size);
206 if (nb_write < 0) {
207 Err("UDT::sendmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
208 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
209 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
210 connection_lost = true;
211 }
212 } else if (nb_write != size) {
213 Err("%s, code %i (%ld/%ld)\n", UDT::getlasterror().getErrorMessage(),
214 UDT::getlasterror().getErrorCode(), nb_write, size);
215 }
216#endif //__XENO__
217}
218
219ssize_t ui_com::Receive(char *buf, ssize_t buf_size) {
220 ssize_t bytesRead = UDT::recvmsg(socket_fd, buf, buf_size);
221
222 if (bytesRead < 0) {
223 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST) {
224 Err("UDT::recvmsg error (%s)\n", UDT::getlasterror().getErrorMessage());
225 connection_lost = true;
226 }
227 }
228
229 return bytesRead;
230}
231
232void ui_com::CheckConnection(void) {
233 int32_t val,len;
234
235 int result=UDT::getsockopt(socket_fd,0,UDT_STATE,&val,&len);
236 if (result < 0) {
237 Printf("UDT::getsockopt error (%s)\n", UDT::getlasterror().getErrorMessage());
238 }
239 // printf("opt: %i %i %i\n",result,val,len);
240}
241
242void ui_com::Run(void) {
243 // check endianness
244 char header;
245 if (IsBigEndian()) {
246 header = DATAS_BIG_ENDIAN;
247 Printf("System is big endian\n");
248 } else {
249 header = DATAS_LITTLE_ENDIAN;
250 Printf("System is little endian\n");
251 }
252
253#ifdef __XENO__
254 WarnUponSwitches(true);
255 printf("\n"); // a revoir pourquoi??
256// sans ce printf, dans le simu_roll, le suspend ne fonctionne pas...
257#endif
258 // on attend d'avoir des choses à faire
259 Suspend();
260
261 while (!ToBeStopped()) {
262 size_t resume_id;
263 Time min = 0xffffffffffffffffULL;
264
265 // on recpuere l'id de la prochaine execution
266 send_mutex->GetMutex();
267 resume_id = resume_time.size();
268 for (size_t i = 0; i < resume_time.size(); i++) {
269 if (resume_time.at(i) < min && data_to_send.at(i)->IsEnabled() == true) {
270 min = resume_time.at(i);
271 resume_id = i;
272 }
273 }
274
275 // attente
276 if (resume_id < resume_time.size()) {
277 Time time = resume_time.at(resume_id);
278 uint16_t resume_period = data_to_send.at(resume_id)->SendPeriod();
279 send_mutex->ReleaseMutex();
280 // on dort jusqu'a la prochaine execution
281 SleepUntil(time);
282
283 // envoi des donnees
284 int offset = 3;
285 send_buffer[0] = header;
286 send_mutex->GetMutex();
287
288 for (size_t i = 0; i < data_to_send.size(); i++) {
289 if (data_to_send.at(i)->SendPeriod() == resume_period &&
290 data_to_send.at(i)->IsEnabled() == true) {
291 data_to_send.at(i)->CopyDatas(send_buffer + offset);
292 offset += data_to_send.at(i)->SendSize();
293 }
294 }
295 if (offset != 3) {
296 memcpy(&send_buffer[1], &resume_period, sizeof(uint16_t));
297 //printf("send %i %i %i %x %x\n",resume_period,offset,sizeof(uint16_t),send_buffer,&send_buffer[1]);
298 // for(int i=0;i<offset;i++) printf("%x ",send_buffer[i]);
299 // printf("\n");
300 Send(send_buffer, offset,resume_period);
301 }
302
303 // on planifie la prochaine execution
304 for (size_t i = 0; i < data_to_send.size(); i++) {
305 if (data_to_send.at(i)->SendPeriod() == resume_period) {
306 resume_time.at(i) += data_to_send.at(i)->SendPeriod() * 1000000;
307 }
308 }
309 send_mutex->ReleaseMutex();
310 //Printf("%i %lld\n",resume_period,GetTime()/1000000);
311 } else {
312 send_mutex->ReleaseMutex();
313 // rien a faire, suspend
314 //Printf("rien a faire suspend\n");
315 Suspend();
316 //Printf("wake\n");
317 // on planifie la prochaine execution
318 Time time = GetTime();
319 send_mutex->GetMutex();
320 for (size_t i = 0; i < data_to_send.size(); i++) {
321 resume_time.at(i) =
322 time + (Time)data_to_send.at(i)->SendPeriod() * 1000000;
323 }
324 send_mutex->ReleaseMutex();
325 }
326 }
327}
328#ifdef __XENO__
329void *ui_com::user_thread(void *arg) {
330 int pipe_fd = -1;
331 string devname;
332 char *buf = NULL;
333 ui_com *caller = (ui_com *)arg;
334 int rv;
335 fd_set set;
336 struct timeval timeout;
337 ssize_t nb_read, nb_write;
338
339 buf = (char *)malloc(NRT_PIPE_SIZE);
340 if (buf == NULL) {
341 caller->Err("malloc error\n");
342 }
343
344 devname = NRT_PIPE_PATH + getFrameworkManager()->ObjectName() + "-" +
345 caller->ObjectName() + "-pipe";
346 while (pipe_fd < 0) {
347 pipe_fd = open(devname.c_str(), O_RDWR);
348 if (pipe_fd < 0 && errno != ENOENT) {
349 char errorMsg[256];
350 caller->Err("open pipe_fd error (%s)\n", strerror_r(errno, errorMsg, sizeof(errorMsg)));
351 }
352 usleep(1000);
353 }
354
355 while (1) {
356 FD_ZERO(&set); // clear the set
357 FD_SET(pipe_fd, &set); // add our file descriptor to the set
358
359 timeout.tv_sec = 0;
360 timeout.tv_usec = SELECT_TIMEOUT_MS * 1000;
361
362 rv = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
363
364 if (rv == -1) {
365 if (caller->is_running == false &&
366 UDT::getlasterror().getErrorCode() == CUDTException::ETIMEOUT)
367 break; // timeout
368 if (UDT::getlasterror().getErrorCode() != CUDTException::ETIMEOUT)
369 caller->Err("epoll_wait, %s, code %i\n",
370 UDT::getlasterror().getErrorMessage(),
371 UDT::getlasterror().getErrorCode());
372 } else if (rv == 0) {
373 // printf("timeout\n"); // a timeout occured
374 if (caller->is_running == false)
375 break;
376
377 } else {
378 nb_read = read(pipe_fd, buf, NRT_PIPE_SIZE);
379 buf[nb_read] = 0;
380// printf("envoi\n%s\n",buf);
381
382#ifdef COMPRESS_FRAMES
383 char *out;
384 ssize_t out_size;
385
386 if (buf[0] == XML_HEADER) {
387 if (compressBuffer(buf, nb_read, &out, &out_size, 9) == Z_OK) {
388 nb_read = out_size;
389 nb_write = UDT::sendmsg(caller->socket_fd, out, out_size, -1, true);
390 free(out);
391 } else {
392 caller->Warn("Compress error, sending it uncompressed\n");
393 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
394 }
395 } else {
396 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
397 }
398#else
399 nb_write = UDT::sendmsg(caller->socket_fd, buf, nb_read, -1, true);
400#endif
401
402 if (nb_write < 0) {
403 caller->Err("UDT::sendmsg error (%s)\n",
404 UDT::getlasterror().getErrorMessage());
405 if (UDT::getlasterror().getErrorCode() == CUDTException::ECONNLOST ||
406 UDT::getlasterror().getErrorCode() == CUDTException::EINVSOCK) {
407 caller->connection_lost = true;
408 }
409 } else if (nb_write != nb_read) {
410 caller->Err("UDT::sendmsg error %i/%i\n", nb_write, nb_read);
411 }
412 }
413 }
414
415 close(pipe_fd);
416 if (buf != NULL)
417 free(buf);
418 pthread_exit(0);
419}
420#endif
421
422int ui_com::compressBuffer(char *in, ssize_t in_size, char **out,
423 ssize_t *out_size, int level) {
424 int ret, flush;
425 unsigned have;
426 z_stream strm;
427
428 /* allocate deflate state */
429 strm.zalloc = Z_NULL;
430 strm.zfree = Z_NULL;
431 strm.opaque = Z_NULL;
432 ret = deflateInit(&strm, level);
433 if (ret != Z_OK)
434 return ret;
435
436 *out = (char *)malloc(COMPRESS_CHUNK);
437 if (!(*out))
438 return Z_BUF_ERROR;
439
440 strm.next_in = (unsigned char *)in;
441 strm.avail_out = COMPRESS_CHUNK;
442 strm.next_out = (unsigned char *)*out;
443 strm.avail_in = in_size;
444 flush = Z_FINISH;
445
446 ret = deflate(&strm, flush); /* no bad return value */
447 if (ret == Z_STREAM_ERROR) {
448 free(*out);
449 return ret;
450 }
451
452 have = COMPRESS_CHUNK - strm.avail_out;
453 *out_size = have;
454 // printf("%i -> %i\n",in_size,have);
455 /* clean up and return */
456 (void)deflateEnd(&strm);
457
458 if (strm.avail_out != 0) {
459 return Z_OK;
460 } else {
461 return Z_STREAM_ERROR;
462 }
463}
464
465int ui_com::uncompressBuffer(unsigned char *in, ssize_t in_size,
466 unsigned char **out, ssize_t *out_size) {
467 int ret;
468 // unsigned have;
469 z_stream strm;
470
471 /* allocate inflate state */
472 strm.zalloc = Z_NULL;
473 strm.zfree = Z_NULL;
474 strm.opaque = Z_NULL;
475 strm.avail_in = 0;
476 strm.next_in = Z_NULL;
477 ret = inflateInit(&strm);
478 if (ret != Z_OK)
479 return ret;
480
481 *out = (unsigned char *)malloc(COMPRESS_CHUNK);
482 if (!(*out))
483 return Z_BUF_ERROR;
484
485 strm.avail_in = in_size;
486 strm.next_in = in;
487 strm.avail_out = COMPRESS_CHUNK;
488 strm.next_out = *out;
489
490 ret = inflate(&strm, Z_NO_FLUSH);
491 assert(ret != Z_STREAM_ERROR); /* state not clobbered */
492 switch (ret) {
493 case Z_NEED_DICT:
494 ret = Z_DATA_ERROR; /* and fall through */
495 case Z_DATA_ERROR:
496 case Z_MEM_ERROR:
497 (void)inflateEnd(&strm);
498 return ret;
499 }
500 // have = COMPRESS_CHUNK - strm.avail_out;
501
502 /* clean up and return */
503 (void)inflateEnd(&strm);
504 return ret == Z_STREAM_END ? Z_OK : Z_DATA_ERROR;
505}
506
507bool ui_com::ConnectionLost() { return connection_lost; }
508
509void ui_com::AddSendData(const SendData *obj) {
510 send_mutex->GetMutex();
511
512 resume_time.push_back(GetTime() + (Time)obj->SendPeriod() * 1000000);
513
514 // on resume en meme temps tout ceux qui ont la meme periode
515 for (size_t i = 0; i < data_to_send.size(); i++) {
516 if (data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
517 resume_time.at(resume_time.size() - 1) = resume_time.at(i);
518 break;
519 }
520 }
521
522 data_to_send.push_back(obj);
523
524 send_mutex->ReleaseMutex();
525}
526
527void ui_com::UpdateSendData(const SendData *obj) {
528 // le mutex est deja pris par l'appellant
529 size_t id, i;
530
531 // on recupere l'id
532 for (i = 0; i < data_to_send.size(); i++) {
533 if (data_to_send.at(i) == obj) {
534 id = i;
535 break;
536 }
537 }
538
539 // on resume en meme temps tout ceux qui ont la meme periode
540 for (i = 0; i < data_to_send.size(); i++) {
541 if (i == id)
542 continue;
543 if (data_to_send.at(i)->IsEnabled() == true &&
544 data_to_send.at(i)->SendPeriod() == obj->SendPeriod()) {
545 resume_time.at(id) = resume_time.at(i);
546 break;
547 }
548 }
549
550 // si aucun match, on planifie l'execution
551 if (i == data_to_send.size())
552 resume_time.at(id) = GetTime() + (Time)obj->SendPeriod() * 1000000;
553
554 if (IsSuspended() == true)
555 Resume();
556
557 return;
558}
559
560void ui_com::UpdateDataToSendSize(void) {
561 send_mutex->GetMutex();
562 send_size = 3; // id(1)+period(2)
563 for (size_t i = 0; i < data_to_send.size(); i++) {
564 if (data_to_send[i] != NULL)
565 send_size += data_to_send[i]->SendSize();
566 }
567
568 // send_buffer=(char*)realloc((void*)send_buffer,send_size*sizeof(char));
569 if (send_buffer != NULL)
570 free(send_buffer);
571 send_buffer = (char *)malloc(send_size * sizeof(char));
572 send_mutex->ReleaseMutex();
573}
574
575void ui_com::RemoveSendData(const SendData *obj) {
576 // printf("remove_data_to_send %i\n",data_to_send.size());
577
578 send_mutex->GetMutex();
579 // on recupere l'id
580 for (size_t i = 0; i < data_to_send.size(); i++) {
581 if (data_to_send.at(i) == obj) {
582 data_to_send.erase(data_to_send.begin() + i);
583 resume_time.erase(resume_time.begin() + i);
584 // printf("remove_data_to_send %i ok\n",data_to_send.size());
585 break;
586 }
587 }
588 send_mutex->ReleaseMutex();
589
590 return;
591}
592
593void ui_com::Block(void) { send_mutex->GetMutex(); }
594
595void ui_com::UnBlock(void) { send_mutex->ReleaseMutex(); }
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