GCC Code Coverage Report

Directory: ./
File: pdserv/src/lib/SessionTaskData.cpp
Date: 2025-11-02 04:09:49
Exec Total Coverage
Lines: 83 100 83.0%
Branches: 74 161 46.0%
Line Branch Exec Source
1 /*****************************************************************************
2 *
3 * Copyright 2010 - 2012 Richard Hacker (lerichi at gmx dot net)
4 * Florian Pose <fp@igh-essen.com>
5 *
6 * This file is part of the pdserv library.
7 *
8 * The pdserv library is free software: you can redistribute it and/or modify
9 * it under the terms of the GNU Lesser General Public License as published
10 * by the Free Software Foundation, either version 3 of the License, or (at
11 * your option) any later version.
12 *
13 * The pdserv library is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
15 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
16 * License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public License
19 * along with the pdserv library. If not, see <http://www.gnu.org/licenses/>.
20 *
21 ****************************************************************************/
22
23 #include "../Debug.h"
24 #include "../SessionTask.h"
25 #include "Main.h"
26 #include "SessionTaskData.h"
27 #include "ShmemDataStructures.h"
28 #include "Signal.h"
29
30 ////////////////////////////////////////////////////////////////////////////
31 299 SessionTaskData::SessionTaskData (PdServ::SessionTask *st,
32 const std::vector<Signal*>* signals,
33 299 struct Pdo *txMemBegin, const void *txMemEnd):
34 sessionTask(st),
35
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 299 task(const_cast<Task*>(static_cast<const Task*>(st->task))),
36 signals(signals),
37 598 txMemBegin(txMemBegin), txMemEnd(txMemEnd)
38 {
39 299 signalListId = 0;
40 299 pdoSize = 0;
41
42
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 299 signalPosition.resize(signals->size());
43
44
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 299 init();
45 299 }
46
47 ////////////////////////////////////////////////////////////////////////////
48 592 SessionTaskData::~SessionTaskData ()
49 {
50 296 for (SignalSet::const_iterator it = subscribedSet.begin();
51
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 296 it != subscribedSet.end(); it++) {
52 //log_debug("Auto unsubscribe from %s", (*it)->path.c_str());
53 ✗ static_cast<const PdServ::Signal*>(*it)->unsubscribe(sessionTask);
54 }
55 296 }
56
57 ////////////////////////////////////////////////////////////////////////////
58 // When this function exits, pdo
59 // * points to the end of the pdo list,
60 // * is a Data Pdo
61 // and its signalListId is valid
62 299 void SessionTaskData::init()
63 {
64
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 299 const Signal *signals[signalPosition.size()];
65 299 size_t nelem;
66
67 299 pdo = txMemBegin;
68 3 while (true) {
69 while (true) {
70 // Check whether pdo is valid
71
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 612 if (pdo < txMemBegin or pdo+1 >= txMemEnd) {
72 ✗ pdo = txMemBegin;
73 ✗ break;
74 }
75
76
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 457 if (!pdo->next) {
77 // At end of pdo list. Get the signal list and test
78 // whether ith is a data pdo and that the
79 // signalListId matches
80
81
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 302 task->getSignalList(signals, &nelem, &signalListId);
82
83
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 302 if (pdo->type != Pdo::Data
84
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 299 or pdo->signalListId != signalListId)
85 break;
86
87 // OK. Everything is fine
88 299 seqNo = pdo->seqNo;
89
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 299 loadSignalList(signals, nelem, signalListId);
90
91 log_debug("Session %p sync'ed: pdo=%p seqNo=%u"
92 " signalListId=%u",
93 this, (void *) pdo, seqNo, signalListId);
94
95 598 return;
96 }
97
98 155 pdo = pdo->next;
99 }
100
101 // Sleep for half task sample time in the hope that next time round
102 // there is a valid pdo
103
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 6 task->main->sleep(
104 6 std::max(50U, static_cast<unsigned>(500*task->sampleTime)));
105 299 }
106 }
107
108 ////////////////////////////////////////////////////////////////////////////
109 47 void SessionTaskData::subscribe(const Signal* s)
110 {
111
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 94 if (activeSet.find(s) != activeSet.end()
112
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 141 or (subscribedSet.insert(s).second
113
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 47 and s->task->subscribe(s, this, true)
114
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 47 and transferredSet.find(s) != transferredSet.end())) {
115 ✗ activeSet.insert(s);
116 ✗ sessionTask->newSignal(s);
117 ✗ return;
118 }
119 }
120
121 ////////////////////////////////////////////////////////////////////////////
122 44 void SessionTaskData::unsubscribe(const Signal* s)
123 {
124
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 44 if (subscribedSet.erase(s)) {
125 44 activeSet.erase(s);
126 44 s->task->subscribe(s, this, false);
127 }
128 44 }
129
130 ////////////////////////////////////////////////////////////////////////////
131 23577 bool SessionTaskData::rxPdo (const struct timespec **time,
132 const PdServ::TaskStatistics **statistics)
133 {
134
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 23621 while (pdo->next) {
135 size_t n;
136
137 3906 pdo = pdo->next;
138
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 3906 if (pdo < txMemBegin or &pdo->data > txMemEnd) {
139 goto out;
140 }
141
142 3906 n = pdo->count;
143
144
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 3906 switch (pdo->type) {
145 44 case Pdo::SignalList:
146 {
147
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 44 const Signal *sp[signals->size()];
148
149
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 44 if (&pdo->signalIdx + n > txMemEnd) {
150 ✗ goto out;
151 }
152
153
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 96 for (size_t i = 0; i < n; ++i) {
154 52 size_t idx = (&pdo->signalIdx)[i];
155
156
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 52 if (idx >= signals->size())
157 ✗ goto out;
158
159 52 sp[i] = (*signals)[idx];
160 }
161
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 88 loadSignalList(sp, n, pdo->signalListId);
162 }
163
164 44 break;
165
166 3862 case Pdo::Data:
167
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 3862 if (&pdo->data + pdoSize >= txMemEnd
168
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 3862 or pdo->signalListId != signalListId
169
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 3862 or pdo->seqNo - seqNo != 1) {
170 log_debug("%p + %zu >= %p; %u != %u; %i != 1; %u %u %u",
171 (void *) &pdo->data, pdoSize, (void *) txMemEnd,
172 pdo->signalListId, signalListId,
173 pdo->seqNo - seqNo,
174 &pdo->data + pdoSize >= txMemEnd,
175 pdo->signalListId != signalListId,
176 pdo->seqNo - seqNo != 1
177 );
178 goto out;
179 }
180
181 3862 seqNo = pdo->seqNo;
182 3862 signalBuffer = &pdo->data;
183 3862 *time = &pdo->time;
184 3862 *statistics = &pdo->taskStatistics;
185
186 3862 return true;
187
188 ✗ default:
189 ✗ goto out;
190 }
191 }
192
193 19671 *time = &pdo->time;
194 19671 *statistics = &pdo->taskStatistics;
195
196 19671 return false;
197
198 ✗ out:
199 log_debug("Session %p out of sync.", this);
200 ✗ init();
201 ✗ return true;
202 }
203
204 ////////////////////////////////////////////////////////////////////////////
205 343 void SessionTaskData::loadSignalList(const Signal * const* sp, size_t n,
206 unsigned int id)
207 {
208 log_debug("Loading %zu signals with id %u", n, id);
209 // cout << __func__ << " n=" << n << " id=" << id;
210
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 343 std::fill(signalPosition.begin(), signalPosition.end(), ~0U);
211 343 transferredSet.clear();
212
213 343 signalListId = id;
214 343 pdoSize = 0;
215
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 396 for (size_t i = 0; i < n; ++i) {
216 53 signalPosition[sp[i]->index] = pdoSize;
217 53 pdoSize += sp[i]->memSize;
218 53 transferredSet.insert(sp[i]);
219
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 106 if (subscribedSet.find(sp[i]) != subscribedSet.end()
220
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 52 and int(signalListId - sp[i]->subscriptionId) >= 0
221
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 158 and activeSet.insert(sp[i]).second) {
222 47 sessionTask->newSignal(sp[i]);
223 }
224 // cout << ' ' << sp[i]->index << '(' << pdoSize << ')';
225 }
226 log_debug("pdosize=%zu", pdoSize);
227 // cout << endl;
228 343 }
229
230 ////////////////////////////////////////////////////////////////////////////
231 1181 const char *SessionTaskData::getValue(const PdServ::Signal *s) const
232 {
233 return
234
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 1181 signalBuffer + signalPosition[static_cast<const Signal*>(s)->index];
235 }
236
237 ////////////////////////////////////////////////////////////////////////////
238 ✗ const struct timespec *SessionTaskData::getTaskTime() const
239 {
240 ✗ return &pdo->time;
241 }
242
243 ////////////////////////////////////////////////////////////////////////////
244 ✗ const PdServ::TaskStatistics* SessionTaskData::getTaskStatistics() const
245 {
246 ✗ return &pdo->taskStatistics;
247 }
248