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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright 2010 Richard Hacker (lerichi at gmx dot net) |
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* |
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* This file is part of the pdserv library. |
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* |
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* The pdserv library is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Lesser General Public License as published |
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* by the Free Software Foundation, either version 3 of the License, or (at |
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* your option) any later version. |
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* |
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* The pdserv library is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY |
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public |
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* License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the pdserv library. If not, see <http://www.gnu.org/licenses/>. |
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* |
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*****************************************************************************/ |
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#include "config.h" |
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#include "Server.h" |
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#include "Channel.h" |
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#include "Event.h" |
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#include "TimeSignal.h" |
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#include "StatSignal.h" |
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#include "Parameter.h" |
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#include "Session.h" |
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#include "../Main.h" |
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#include "../Task.h" |
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#include "../Signal.h" |
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#include "../ProcessParameter.h" |
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#include <cerrno> |
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#include <algorithm> |
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#include <commoncpp/tcp.h> |
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#include <log4cplus/loggingmacros.h> |
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using namespace MsrProto; |
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///////////////////////////////////////////////////////////////////////////// |
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✗ |
Server::Server(const PdServ::Main *main, const PdServ::Config &config): |
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main(main), |
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log(log4cplus::Logger::getInstance(LOG4CPLUS_TEXT("msr"))), |
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mutex(1) |
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{ |
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port = config["port"].toUInt(); |
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itemize = config["splitvectors"].toUInt(); |
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log_debug("port=%u", port); |
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DirectoryNode* baseDir = this; |
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if (config["pathprefix"]) |
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baseDir = create(config["pathprefix"].toString(main->name)); |
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for (size_t i = 0; i < main->numTasks(); ++i) |
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createChannels(baseDir, i); |
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createParameters(baseDir); |
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createEvents(); |
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start(); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::createChannels(DirectoryNode* baseDir, size_t taskIdx) |
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{ |
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const PdServ::Task *task = main->getTask(taskIdx); |
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Channel* c; |
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log4cplus::tostringstream msg; |
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LOG4CPLUS_TRACE(log, |
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LOG4CPLUS_TEXT("Create channels for task ") << taskIdx |
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<< LOG4CPLUS_TEXT(", Ts=") << task->sampleTime); |
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const PdServ::Task::Signals& signals = task->getSignals(); |
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// Reserve at least signal count and additionally 4 Taskinfo signals |
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channels.reserve(channels.size() + signals.size() + 4); |
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for (PdServ::Task::Signals::const_iterator it = signals.begin(); |
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it != signals.end(); it++) { |
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c = new Channel(*it, |
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channels.size(), (*it)->dtype, (*it)->dim, 0, 0); |
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char hidden; |
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if (itemize) |
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baseDir->traditionalPathInsert(c, (*it)->path, hidden); |
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else |
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baseDir->pathInsert(c, (*it)->path); |
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c->hidden = hidden == 'c' or hidden == 'k' or hidden == 1; |
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channels.push_back(c); |
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if (itemize) |
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createChildren(c); |
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} |
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DirectoryNode* taskInfo = create("Taskinfo"); |
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std::ostringstream os; |
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os << taskIdx; |
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DirectoryNode* t = taskInfo->create(os.str()); |
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c = new TimeSignal(task, channels.size()); |
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channels.push_back(c); |
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t->insert(c, "TaskTime"); |
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c = new StatSignal(task, StatSignal::ExecTime, channels.size()); |
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channels.push_back(c); |
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t->insert(c, "ExecTime"); |
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c = new StatSignal(task, StatSignal::Period, channels.size()); |
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channels.push_back(c); |
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t->insert(c, "Period"); |
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c = new StatSignal(task, StatSignal::Overrun, channels.size()); |
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channels.push_back(c); |
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t->insert(c, "Overrun"); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::createEvents () |
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{ |
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LOG4CPLUS_TRACE(log, |
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LOG4CPLUS_TEXT("Create events")); |
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const PdServ::Main::Events mainEvents = main->getEvents(); |
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this->events.reserve(mainEvents.size()); |
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for (PdServ::Main::Events::const_iterator it = mainEvents.begin(); |
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it != mainEvents.end(); ++it) |
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this->events.push_back(new Event(*it)); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::createParameters(DirectoryNode* baseDir) |
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{ |
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LOG4CPLUS_TRACE(log, |
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LOG4CPLUS_TEXT("Create parameters")); |
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const PdServ::Main::ProcessParameters& mainParam = main->getParameters(); |
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parameters.reserve(parameters.size() + mainParam.size()); |
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PdServ::Main::ProcessParameters::const_iterator it; |
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for (it = mainParam.begin(); it != mainParam.end(); ++it) { |
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Parameter* p = new Parameter(*it, |
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parameters.size(), (*it)->dtype, (*it)->dim, 0, 0); |
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char hidden; |
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if (itemize) |
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baseDir->traditionalPathInsert(p, (*it)->path, hidden); |
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else |
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baseDir->pathInsert(p, (*it)->path); |
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p->hidden = hidden == 'p' or hidden == 1; |
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parameters.push_back(p); |
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parameterMap[*it] = p; |
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if (itemize) |
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createChildren(p); |
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} |
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// if (!root.find<Parameter>("/Taskinfo/Abtastfrequenz")) { |
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// } |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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Server::~Server() |
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{ |
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for (std::set<Session*>::iterator it = sessions.begin(); |
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it != sessions.end(); it++) |
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delete *it; |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::initial() |
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{ |
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LOG4CPLUS_INFO_STR(log, LOG4CPLUS_TEXT("Initializing MSR server")); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::final() |
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{ |
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LOG4CPLUS_INFO_STR(log, LOG4CPLUS_TEXT("Exiting MSR server")); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::run() |
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{ |
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ost::TCPSocket *server = 0; |
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ost::tpport_t port = this->port ? this->port : 2345; |
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do { |
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try { |
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server = new ost::TCPSocket(ost::IPV4Address("0.0.0.0"), port); |
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} |
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catch (ost::Socket *s) { |
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long err = s->getSystemError(); |
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if (this->port or err != EADDRINUSE) { |
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LOG4CPLUS_ERROR(log, |
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LOG4CPLUS_TEXT("Socket failure on port ") << port |
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<< LOG4CPLUS_TEXT(": ") |
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<< LOG4CPLUS_C_STR_TO_TSTRING(::strerror(err))); |
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return; |
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} |
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LOG4CPLUS_DEBUG(log, |
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LOG4CPLUS_TEXT("Port ") << port |
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<< LOG4CPLUS_TEXT(" is busy")); |
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port++; |
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} |
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} while (!server); |
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LOG4CPLUS_INFO(log, LOG4CPLUS_TEXT("Server started on port ") << port); |
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while (server->isPendingConnection()) { |
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try { |
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LOG4CPLUS_TRACE_STR(log, |
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LOG4CPLUS_TEXT("New client connection")); |
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✗ |
Session *s = new Session(this, server); |
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ost::SemaphoreLock lock(mutex); |
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sessions.insert(s); |
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} |
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catch (ost::Socket *s) { |
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LOG4CPLUS_FATAL(log, |
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LOG4CPLUS_TEXT("Socket failure: ") |
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<< LOG4CPLUS_C_STR_TO_TSTRING( |
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::strerror(s->getSystemError()))); |
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} |
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} |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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void Server::broadcast(Session *s, const struct timespec& ts, |
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const std::string& action, const std::string &message) |
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{ |
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✗ |
ost::SemaphoreLock lock(mutex); |
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✗ |
for (std::set<Session*>::iterator it = sessions.begin(); |
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it != sessions.end(); it++) |
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(*it)->broadcast(s, ts, action, message); |
| 250 |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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✗ |
void Server::sessionClosed(Session *s) |
| 254 |
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{ |
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✗ |
ost::SemaphoreLock lock(mutex); |
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sessions.erase(s); |
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} |
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///////////////////////////////////////////////////////////////////////////// |
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✗ |
void Server::getSessionStatistics( |
| 261 |
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std::list<PdServ::SessionStatistics>& stats) const |
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{ |
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✗ |
ost::SemaphoreLock lock(mutex); |
| 264 |
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✗ |
for (std::set<Session*>::iterator it = sessions.begin(); |
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it != sessions.end(); it++) { |
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PdServ::SessionStatistics s; |
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(*it)->getSessionStatistics(s); |
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stats.push_back(s); |
| 269 |
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} |
| 270 |
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} |
| 271 |
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///////////////////////////////////////////////////////////////////////////// |
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✗ |
void Server::setAic(const Parameter *p) |
| 274 |
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{ |
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✗ |
ost::SemaphoreLock lock(mutex); |
| 276 |
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✗ |
for (std::set<Session*>::iterator it = sessions.begin(); |
| 277 |
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✗ |
it != sessions.end(); it++) |
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✗ |
(*it)->setAIC(p); |
| 279 |
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} |
| 280 |
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///////////////////////////////////////////////////////////////////////////// |
| 282 |
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✗ |
void Server::parameterChanged(const PdServ::Parameter *mainParam, |
| 283 |
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size_t offset, size_t count) |
| 284 |
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{ |
| 285 |
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✗ |
const Parameter *p = find(mainParam); |
| 286 |
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| 287 |
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✗ |
ost::SemaphoreLock lock(mutex); |
| 288 |
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✗ |
for (std::set<Session*>::iterator it = sessions.begin(); |
| 289 |
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✗ |
it != sessions.end(); it++) |
| 290 |
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✗ |
(*it)->parameterChanged(p); |
| 291 |
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| 292 |
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✗ |
const Variable::List *children = p->getChildren(); |
| 293 |
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✗ |
if (!children) |
| 294 |
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✗ |
return; |
| 295 |
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| 296 |
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✗ |
for (Variable::List::const_iterator it = children->begin(); |
| 297 |
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✗ |
it != children->end(); ++it) { |
| 298 |
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✗ |
const Parameter *child = static_cast<const Parameter*>(*it); |
| 299 |
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✗ |
if (child->offset >= offset |
| 300 |
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✗ |
and (child->offset + child->memSize - 1 < offset + count)) { |
| 301 |
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✗ |
for (std::set<Session*>::iterator it = sessions.begin(); |
| 302 |
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✗ |
it != sessions.end(); it++) |
| 303 |
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✗ |
(*it)->parameterChanged(child); |
| 304 |
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} |
| 305 |
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} |
| 306 |
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} |
| 307 |
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| 308 |
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///////////////////////////////////////////////////////////////////////////// |
| 309 |
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✗ |
const Channel* Server::getChannel(size_t n) const |
| 310 |
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{ |
| 311 |
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✗ |
return n < channels.size() ? channels[n] : 0; |
| 312 |
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} |
| 313 |
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| 314 |
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///////////////////////////////////////////////////////////////////////////// |
| 315 |
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✗ |
const Server::Channels& Server::getChannels() const |
| 316 |
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{ |
| 317 |
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✗ |
return channels; |
| 318 |
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} |
| 319 |
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| 320 |
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///////////////////////////////////////////////////////////////////////////// |
| 321 |
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✗ |
const Parameter* Server::getParameter(size_t n) const |
| 322 |
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{ |
| 323 |
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✗ |
return n < parameters.size() ? parameters[n] : 0; |
| 324 |
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} |
| 325 |
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| 326 |
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///////////////////////////////////////////////////////////////////////////// |
| 327 |
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✗ |
const Server::Parameters& Server::getParameters() const |
| 328 |
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{ |
| 329 |
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✗ |
return parameters; |
| 330 |
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} |
| 331 |
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| 332 |
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///////////////////////////////////////////////////////////////////////////// |
| 333 |
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✗ |
const Parameter *Server::find( const PdServ::Parameter *p) const |
| 334 |
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{ |
| 335 |
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✗ |
return parameterMap.find(p)->second; |
| 336 |
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} |
| 337 |
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| 338 |
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///////////////////////////////////////////////////////////////////////////// |
| 339 |
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✗ |
const Server::Events& Server::getEvents() const |
| 340 |
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{ |
| 341 |
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✗ |
return events; |
| 342 |
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} |
| 343 |
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| 344 |
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///////////////////////////////////////////////////////////////////////////// |
| 345 |
|
✗ |
void Server::createChildren(Variable* var) |
| 346 |
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{ |
| 347 |
|
✗ |
if (var->dim.isScalar() and var->dtype.isPrimary()) |
| 348 |
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✗ |
return; |
| 349 |
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|
| 350 |
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LOG4CPLUS_TRACE(log, |
| 351 |
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LOG4CPLUS_TEXT("Create children for ") |
| 352 |
|
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<< LOG4CPLUS_STRING_TO_TSTRING(var->variable->path)); |
| 353 |
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|
| 354 |
|
✗ |
if (var->dtype.isPrimary()) |
| 355 |
|
✗ |
createVectorChildren(var, var, std::string(), |
| 356 |
|
✗ |
var->dtype, var->dim, 0, 0); |
| 357 |
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else |
| 358 |
|
✗ |
createCompoundChildren(var, var, var->dtype, var->dim, 0, 0); |
| 359 |
|
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} |
| 360 |
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|
| 361 |
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///////////////////////////////////////////////////////////////////////////// |
| 362 |
|
✗ |
size_t Server::createVectorChildren (Variable* var, |
| 363 |
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DirectoryNode* dir, const std::string& name, |
| 364 |
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const PdServ::DataType& dtype, |
| 365 |
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const PdServ::DataType::DimType& dim, size_t dimIdx, size_t offset) |
| 366 |
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{ |
| 367 |
|
✗ |
if (dimIdx + 1 < dim.size()) { |
| 368 |
|
✗ |
if (!name.empty()) |
| 369 |
|
✗ |
dir = new DirectoryNode(dir, name); |
| 370 |
|
|
|
| 371 |
|
✗ |
size_t begin = offset; |
| 372 |
|
✗ |
for (size_t i = 0; i < dim[dimIdx]; ++i) { |
| 373 |
|
✗ |
std::ostringstream os; |
| 374 |
|
✗ |
os << i; |
| 375 |
|
✗ |
offset += createVectorChildren(var, dir, os.str(), |
| 376 |
|
|
dtype, dim, dimIdx + 1, offset); |
| 377 |
|
|
} |
| 378 |
|
|
|
| 379 |
|
✗ |
return offset - begin; |
| 380 |
|
|
} |
| 381 |
|
|
|
| 382 |
|
✗ |
if (!name.empty()) |
| 383 |
|
✗ |
dir = createChild(var, dir, name, dtype, dim.back(), offset); |
| 384 |
|
|
|
| 385 |
|
✗ |
if (!dim.isScalar()) { |
| 386 |
|
✗ |
for (size_t i = 0; i < dim.back(); ++i) { |
| 387 |
|
✗ |
std::ostringstream os; |
| 388 |
|
✗ |
os << i; |
| 389 |
|
✗ |
createChild(var, dir, os.str(), dtype, 1, offset); |
| 390 |
|
✗ |
offset += dtype.size; |
| 391 |
|
|
} |
| 392 |
|
|
} |
| 393 |
|
|
|
| 394 |
|
✗ |
return dim.back() * dtype.size; |
| 395 |
|
|
} |
| 396 |
|
|
|
| 397 |
|
|
///////////////////////////////////////////////////////////////////////////// |
| 398 |
|
✗ |
size_t Server::createCompoundChildren (Variable* var, |
| 399 |
|
|
DirectoryNode* dir, const PdServ::DataType& dtype, |
| 400 |
|
|
const PdServ::DataType::DimType& dim, size_t dimIdx, size_t offset) |
| 401 |
|
|
{ |
| 402 |
|
✗ |
if (dimIdx < dim.size() and !dim.isScalar()) { |
| 403 |
|
✗ |
size_t begin = offset; |
| 404 |
|
✗ |
for (size_t i = 0; i < dim[dimIdx]; ++i) { |
| 405 |
|
✗ |
std::ostringstream os; |
| 406 |
|
✗ |
os << i; |
| 407 |
|
✗ |
offset += createCompoundChildren( |
| 408 |
|
✗ |
var, new DirectoryNode(dir, os.str()), |
| 409 |
|
|
dtype, dim, dimIdx + 1, offset); |
| 410 |
|
|
} |
| 411 |
|
|
|
| 412 |
|
✗ |
return offset - begin; |
| 413 |
|
|
} |
| 414 |
|
|
|
| 415 |
|
✗ |
const PdServ::DataType::FieldList& fieldList = dtype.getFieldList(); |
| 416 |
|
✗ |
PdServ::DataType::FieldList::const_iterator it; |
| 417 |
|
✗ |
for (it = fieldList.begin(); it != fieldList.end(); ++it) { |
| 418 |
|
|
|
| 419 |
|
✗ |
if ( (*it)->type.isPrimary()) |
| 420 |
|
✗ |
createVectorChildren(var, dir, (*it)->name, |
| 421 |
|
✗ |
(*it)->type, (*it)->dim, 0, offset + (*it)->offset); |
| 422 |
|
|
else |
| 423 |
|
✗ |
createCompoundChildren(var, |
| 424 |
|
✗ |
new DirectoryNode(dir, (*it)->name), |
| 425 |
|
✗ |
(*it)->type, (*it)->dim, 0, offset + (*it)->offset); |
| 426 |
|
|
} |
| 427 |
|
|
|
| 428 |
|
✗ |
return dim.nelem * dtype.size; |
| 429 |
|
|
} |
| 430 |
|
|
|
| 431 |
|
|
///////////////////////////////////////////////////////////////////////////// |
| 432 |
|
✗ |
DirectoryNode* Server::createChild (Variable* var, |
| 433 |
|
|
DirectoryNode* dir, const std::string& name, |
| 434 |
|
|
const PdServ::DataType& dtype, size_t nelem, size_t offset) |
| 435 |
|
|
{ |
| 436 |
|
✗ |
Channel *c = dynamic_cast<Channel* >(var); |
| 437 |
|
✗ |
Parameter *p = dynamic_cast<Parameter*>(var); |
| 438 |
|
|
|
| 439 |
|
✗ |
if (c) { |
| 440 |
|
✗ |
c = new Channel(c->signal, channels.size(), dtype, |
| 441 |
|
✗ |
PdServ::DataType::DimType(1,&nelem), offset, c); |
| 442 |
|
✗ |
channels.push_back(c); |
| 443 |
|
✗ |
dir->insert(c, name); |
| 444 |
|
✗ |
return c; |
| 445 |
|
|
} |
| 446 |
|
|
|
| 447 |
|
✗ |
if (p) { |
| 448 |
|
✗ |
p = new Parameter(p->mainParam, parameters.size(), dtype, |
| 449 |
|
✗ |
PdServ::DataType::DimType(1,&nelem), offset, p); |
| 450 |
|
✗ |
parameters.push_back(p); |
| 451 |
|
✗ |
dir->insert(p, name); |
| 452 |
|
✗ |
return p; |
| 453 |
|
|
} |
| 454 |
|
|
|
| 455 |
|
✗ |
return 0; |
| 456 |
|
3 |
} |
| 457 |
|
|
|