[397] | 1 | /**
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| 2 | * \file ipc_receive.h
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| 3 | * \brief definition de classe
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| 4 | * \author {
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| 5 | * Sébastien Ambroziak
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| 6 | * Paul Sauvage
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| 7 | * }
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| 8 | * \version 0.1
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| 9 | * \date 5 novembre 2020
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| 10 | *
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| 11 | * Definitions de la classe IpcReceiver ainsi que ses méthodes.
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| 12 | * Cette classe permet de recevoir des structures ou des liste de structure par ipc
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| 13 | *
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| 14 | * La classe IpcReceiver utilise une template à 2 paramètres, T et N
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| 15 | * le paramètre T correspond au type de donnée que le receiver doit recevoir
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| 16 | * le paramètre N correspond au nombre d'élément du tableau d'élément de type T à recevoir
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| 17 | * si N = 0 la fonction receive() retourne directement un objet de type T
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| 18 | * si N > 0 la fonction receive() retourne un pointeur de type T et donc un tableau d'élément T de N éléments
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| 19 | *
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| 20 | * Le constructeur utilise 2 paramètres:
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| 21 | * Une chaîne de caractère contenant le nom du fichier ipc vers lequel lire les données
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| 22 | * Un entier correspond au numéro de canal Ipc
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| 23 | *
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| 24 | */
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| 25 |
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| 26 |
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| 27 |
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| 28 | #ifndef SHM_RECEIVE
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| 29 | #define SHM_RECEIVE
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| 30 |
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| 31 | #include "ipc_base.h"
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| 32 |
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| 33 | #include <functional>
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| 34 | #include <memory>
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| 35 | #include <iostream>
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| 36 | #include <stdio.h>
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| 37 | #include <type_traits>
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| 38 | #include <cstring>
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| 39 |
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| 40 | #include <sys/ipc.h>
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| 41 | #include <sys/msg.h>
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| 42 | #include <sys/shm.h>
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| 43 | #include <sys/stat.h>
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| 44 | #include <sys/types.h>
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| 45 | #include <sys/sem.h>
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| 46 | #include <sys/time.h>
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| 47 | #include <string>
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| 48 | #include <errno.h>
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| 49 |
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| 50 | using namespace std;
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| 51 | using namespace ipc::type;
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| 52 |
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| 53 | class ShmReceiverBase {
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| 54 | public:
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| 55 | ShmReceiverBase(size_t msg_size, const char* ipc_name, int proj_id=65){
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| 56 | cout << "Creating ShmReceiver" << endl;
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| 57 | system("mkdir -p /tmp/shmem");
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| 58 | system("chmod 777 /tmp/shmem");
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| 59 | string pathname = string("/tmp/shmem/") + string(ipc_name);
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| 60 | string command = string("> ") + pathname;
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| 61 | system(command.c_str());
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| 62 | command = string("chmod 666 ") + pathname;
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| 63 | system(command.c_str());
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| 64 |
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| 65 | key_t ipc_key = ftok(pathname.c_str(), proj_id); //crete unique key
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| 66 | cout << "clé ipc" << ipc_key << endl;
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| 67 |
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| 68 | _shmid = shmget(ipc_key, msg_size, 0666|IPC_CREAT); // shmget returns an identifier in shmid
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| 69 | cout << "Shm Id : " << _shmid << endl;
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| 70 |
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| 71 | _semid=semget(ipc_key,1,IPC_CREAT|0666);
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| 72 | cout << "Sem Id : " << _semid << endl;
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| 73 |
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| 74 | /*struct shmid_ds buf;
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| 75 | shmctl(_shmid, IPC_STAT,&buf);
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| 76 | buf.shm_perm.mode = (S_IRWXU|S_IRWXG|S_IRWXO);
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| 77 | shmctl(_shmid, IPC_SET,&buf);*/
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| 78 | }
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| 79 |
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| 80 | ~ShmReceiverBase(){
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| 81 | shmctl(_shmid, IPC_RMID, NULL); // destroy the shared memory
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| 82 | semctl(_semid, 0, IPC_RMID); // destroy semaphore
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| 83 | }
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| 84 |
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| 85 | protected:
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| 86 | int _shmid;
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| 87 | int _semid;
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| 88 | struct sembuf _semaphore;
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| 89 | };
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| 90 |
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| 91 | template <typename T>
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| 92 | class ShmReceiver : ShmReceiverBase {
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| 93 | public:
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| 94 | ShmReceiver(const char* ipc_name, int proj_id=65, bool auto_refresh = false): ShmReceiverBase(sizeof(ipc_message<T>), ipc_name, proj_id), _auto_refresh(auto_refresh) {}
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| 95 | ~ShmReceiver() = default;
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| 96 |
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| 97 | int receive(){
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| 98 | int return_value = 0;
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| 99 | _semaphore.sem_num=0;
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| 100 | _semaphore.sem_op=-1; //getMutex
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| 101 | semop(_semid,&_semaphore,1);
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| 102 |
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| 103 | if ((tmp.sec == _shm_ptr->data.stamp.sec) && (tmp.nanosec == _shm_ptr->data.stamp.nanosec)){
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| 104 | return_value = -1; //Donnée obsolète
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| 105 |
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| 106 | if(_auto_refresh == true){
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| 107 | refreshTime();
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| 108 | }
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| 109 | }
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| 110 | else{
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| 111 | tmp.sec = _shm_ptr->data.stamp.sec;
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| 112 | tmp.nanosec = _shm_ptr->data.stamp.nanosec;
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| 113 | memcpy(&_message, _shm_ptr, sizeof(ipc_message<T>)); //write message
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| 114 | }
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| 115 |
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| 116 | _semaphore.sem_num=0;
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| 117 | _semaphore.sem_op=1; //release mutex
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| 118 | semop(_semid,&_semaphore,1);
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| 119 |
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| 120 | return return_value;
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| 121 | }
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| 122 |
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| 123 | timestamp getTimestamp() const {
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| 124 | return _message.data.stamp;
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| 125 | }
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| 126 |
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| 127 | T getValue() const {return _message.data.value;}
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| 128 |
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| 129 | timestamp refreshTime(){
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| 130 | _message.time_now();
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| 131 | return _message.data.stamp;
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| 132 | }
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| 133 |
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| 134 |
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| 135 | protected:
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| 136 | timestamp tmp;
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| 137 | bool _auto_refresh;
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| 138 | ipc_message<T> *_shm_ptr = (ipc_message<T>*) shmat(_shmid,(void*)0, SHM_RDONLY); // shmat to attach to shared memory
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| 139 | ipc_message<T> _message;
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| 140 | bool _blocking;
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| 141 | };
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| 142 |
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| 143 | template <typename T>
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| 144 | class ShmReceiverTab : ShmReceiverBase {
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| 145 | public:
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| 146 | ShmReceiverTab(size_t N, const char* ipc_name, int proj_id=65, bool auto_refresh = false): ShmReceiverBase(sizeof(ipc_tab<T>) + sizeof(T)*(N-1), ipc_name, proj_id), _N(N), _auto_refresh(auto_refresh) {
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| 147 | _message = (ipc_tab<T>*) malloc(sizeof(ipc_tab<T>) + sizeof(T)*N);
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| 148 | }
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| 149 |
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| 150 | ~ShmReceiverTab() = default;
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| 151 |
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| 152 | int receive(){
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| 153 |
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| 154 | int return_value = 0;
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| 155 | _semaphore.sem_num=0;
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| 156 | _semaphore.sem_op=-1; //getMutex
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| 157 | semop(_semid,&_semaphore,1);
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| 158 |
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| 159 | if ((tmp.sec == _shm_ptr->data.stamp.sec) && (tmp.nanosec == _shm_ptr->data.stamp.nanosec)){
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| 160 | return_value = -1; //Donnée obsolète
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| 161 | if(_auto_refresh == true)
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| 162 | refreshTime();
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| 163 | }
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| 164 | else{
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| 165 | tmp.sec = _shm_ptr->data.stamp.sec;
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| 166 | tmp.nanosec = _shm_ptr->data.stamp.nanosec;
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| 167 | memcpy(_message, _shm_ptr, sizeof(ipc_tab<T>) + sizeof(T)*_N); //write message
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| 168 | }
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| 169 |
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| 170 | _semaphore.sem_num=0;
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| 171 | _semaphore.sem_op=1; //release mutex
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| 172 | semop(_semid,&_semaphore,1);
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| 173 |
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| 174 | return return_value;
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| 175 | }
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| 176 |
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| 177 | T getValue(size_t index) const {
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| 178 | return _message->data.values[index];
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| 179 | }
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| 180 |
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| 181 | const T* getValues() const {
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| 182 | return _message->data.values;
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| 183 | }
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| 184 |
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| 185 | timestamp getTimestamp() const {
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| 186 | return _message->data.stamp;
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| 187 | }
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| 188 |
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| 189 | size_t getN() const {return _N;}
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| 190 |
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| 191 | timestamp refreshTime(){
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| 192 | _message->time_now();
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| 193 | return _message->data.stamp;
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| 194 | }
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| 195 |
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| 196 | void setAll(T value) {
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| 197 | for (size_t i = 0; i < _N; i++)
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| 198 | {
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| 199 | _message->data.values[i] = value;
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| 200 | }
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| 201 | }
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| 202 |
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| 203 | protected:
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| 204 | timestamp tmp;
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| 205 | size_t _N;
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| 206 | bool _auto_refresh;
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| 207 | ipc_tab<T> *_message;
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| 208 | ipc_tab<T> *_shm_ptr = (ipc_tab<T>*) shmat(_shmid,(void*)0,SHM_RDONLY); // shmat to attach to shared memory
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| 209 |
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| 210 | };
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| 211 |
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| 212 | #endif |
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