uint8_t* ARSTREAM_ReaderTb_FrameCompleteCallback (eARSTREAM_READER_CAUSE cause, uint8_t *framePointer, uint32_t frameSize, int numberOfSkippedFrames, int isFlushFrame, uint32_t *newBufferCapacity, void *buffer)
{
uint8_t *retVal = NULL;
struct timespec now;
int dt;
buffer = buffer;
switch (cause)
{
case ARSTREAM_READER_CAUSE_FRAME_COMPLETE:
case ARSTREAM_READER_CAUSE_FRAME_INCOMPLETE:
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "Got a frame of size %d, at address %p (isFlush : %d)", frameSize, framePointer, isFlushFrame);
if (isFlushFrame != 0)
nbRead++;
if (numberOfSkippedFrames != 0)
{
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "Skipped %d frames", numberOfSkippedFrames);
if (numberOfSkippedFrames > 0)
{
nbSkipped += numberOfSkippedFrames;
nbSkippedSinceLast += numberOfSkippedFrames;
}
}
ARSTREAM_Reader_PercentOk = (100.f * nbRead) / (1.f * (nbRead + nbSkipped));
if (outFile != NULL)
{
fwrite (framePointer, 1, frameSize, outFile);
}
ARSAL_Time_GetTime(&now);
dt = ARSAL_Time_ComputeTimespecMsTimeDiff(&lastRecv, &now);
lastDt [currentIndexInDt] = dt;
currentIndexInDt ++;
currentIndexInDt %= NB_FRAMES_FOR_AVERAGE;
lastRecv.tv_sec = now.tv_sec;
lastRecv.tv_nsec = now.tv_nsec;
ARSTREAM_ReaderTb_SetBufferFree (framePointer);
retVal = ARSTREAM_ReaderTb_GetNextFreeBuffer (newBufferCapacity, 0);
break;
case ARSTREAM_READER_CAUSE_FRAME_TOO_SMALL:
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "Current buffer is to small for frame !");
retVal = ARSTREAM_ReaderTb_GetNextFreeBuffer (newBufferCapacity, 1);
break;
case ARSTREAM_READER_CAUSE_COPY_COMPLETE:
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "Copy complete in new buffer, freeing this one");
ARSTREAM_ReaderTb_SetBufferFree (framePointer);
break;
case ARSTREAM_READER_CAUSE_CANCEL:
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "Reader is closing");
ARSTREAM_ReaderTb_SetBufferFree (framePointer);
break;
default:
ARSAL_PRINT (ARSAL_PRINT_ERROR, __TAG__, "Unknown cause (probably a bug !)");
break;
}
return retVal;
}
void ARSAL_Print_DumpData(FILE *file, uint8_t tag, const void *data, size_t size, size_t sizeDump, const struct timespec *ts)
{
uint64_t timestampUS = 0;
struct timespec ts2;
struct {
uint8_t magic;
uint8_t tag;
uint8_t size[4];
uint8_t sizeDump[4];
uint8_t ts[6];
} header;
if (file == NULL || data == NULL)
return;
if (sizeDump == 0)
sizeDump = size;
if (ts == NULL)
ARSAL_Time_GetTime(&ts2);
else
ts2 = *ts;
timestampUS = (uint64_t)ts2.tv_sec * 1000 * 1000 + ts2.tv_nsec / 1000;
/* Setup header */
header.magic = '!';
header.tag = tag;
header.size[0] = size & 0xff;
header.size[1] = (size >> 8) & 0xff;
header.size[2] = (size >> 16) & 0xff;
header.size[3] = (size >> 24) & 0xff;
header.sizeDump[0] = sizeDump & 0xff;
header.sizeDump[1] = (sizeDump >> 8) & 0xff;
header.sizeDump[2] = (sizeDump >> 16) & 0xff;
header.sizeDump[3] = (sizeDump >> 24) & 0xff;
header.ts[0] = timestampUS & 0xff;
header.ts[1] = (timestampUS >> 8) & 0xff;
header.ts[2] = (timestampUS >> 16) & 0xff;
header.ts[3] = (timestampUS >> 24) & 0xff;
header.ts[4] = (timestampUS >> 32) & 0xff;
header.ts[5] = (timestampUS >> 40) & 0xff;
/* Write header and data without thread mix */
flockfile(file);
fwrite(&header, 1, sizeof(header), file);
fwrite(data, 1, sizeDump, file);
funlockfile(file);
}
int ARNETWORK_Sender_GetPing (ARNETWORK_Sender_t *senderPtr)
{
int retVal = -1;
ARSAL_Mutex_Lock (&(senderPtr->pingMutex));
if (senderPtr->isPingRunning == 1)
{
struct timespec now;
ARSAL_Time_GetTime(&now);
retVal = ARSAL_Time_ComputeTimespecMsTimeDiff (&(senderPtr->pingStartTime), &now);
}
if ((senderPtr->lastPingValue > retVal) ||
(senderPtr->lastPingValue == -1))
{
retVal = senderPtr->lastPingValue;
}
ARSAL_Mutex_Unlock (&(senderPtr->pingMutex));
return retVal;
}
void* ARNETWORK_Receiver_ThreadRun (void *data)
{
/** -- Manage the reception of the data on the Receiver' socket. -- */
/** local declarations */
ARNETWORK_Receiver_t *receiverPtr = data;
ARNETWORKAL_Frame_t frame ;
ARNETWORK_IOBuffer_t* outBufferPtrTemp = NULL;
eARNETWORK_ERROR error = ARNETWORK_OK;
eARNETWORKAL_MANAGER_RETURN result = ARNETWORKAL_MANAGER_RETURN_DEFAULT;
uint8_t ackSeqNumData = 0;
struct timespec now;
while (receiverPtr->isAlive)
{
/** wait a receipt */
if (receiverPtr->networkALManager->receive(receiverPtr->networkALManager) == ARNETWORKAL_MANAGER_RETURN_DEFAULT)
{
/** for each frame present in the receiver buffer */
result = receiverPtr->networkALManager->popFrame(receiverPtr->networkALManager, &frame);
while (result == ARNETWORKAL_MANAGER_RETURN_DEFAULT)
{
/* Special handling of internal frames */
if (frame.id < ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_MAX)
{
switch (frame.id)
{
case ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PING:
/* Ping, send the corresponding pong */
{
ARNETWORK_Sender_SendPong (receiverPtr->senderPtr, frame.dataPtr, frame.size - offsetof(ARNETWORKAL_Frame_t, dataPtr));
}
break;
case ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PONG:
/* Pong, tells the sender that we got a response */
{
struct timespec dataTime;
memcpy (&dataTime, frame.dataPtr, sizeof (struct timespec));
ARSAL_Time_GetTime(&now);
ARNETWORK_Sender_GotPingAck (receiverPtr->senderPtr, &dataTime, &now);
}
break;
default:
/* Do nothing as we don't know how to handle it */
break;
}
}
/** management by the command type */
switch (frame.type)
{
case ARNETWORKAL_FRAME_TYPE_ACK:
/** get the acknowledge sequence number from the data */
memcpy (&ackSeqNumData, frame.dataPtr, sizeof(uint8_t));
ARSAL_PRINT (ARSAL_PRINT_VERBOSE, ARNETWORK_RECEIVER_TAG, "[%p] - TYPE: ARNETWORKAL_FRAME_TYPE_ACK | SEQ:%d | ID:%d | SEQ ACK : %d", receiverPtr, receiverPtr, frame.seq, frame.id, ackSeqNumData);
/** transmit the acknowledgement to the sender */
error = ARNETWORK_Sender_AckReceived (receiverPtr->senderPtr, ARNETWORK_Manager_IDAckToIDInput (receiverPtr->networkALManager, frame.id), ackSeqNumData);
if (error != ARNETWORK_OK)
{
switch (error)
{
case ARNETWORK_ERROR_IOBUFFER_BAD_ACK:
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARNETWORK_RECEIVER_TAG, "[%p] Bad acknowledge, error: %s", receiverPtr, ARNETWORK_Error_ToString (error));
break;
default:
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_RECEIVER_TAG, "[%p] Acknowledge received, error: %s", receiverPtr, ARNETWORK_Error_ToString (error));
break;
}
}
break;
case ARNETWORKAL_FRAME_TYPE_DATA:
ARSAL_PRINT (ARSAL_PRINT_VERBOSE, ARNETWORK_RECEIVER_TAG, "[%p] - TYPE: ARNETWORKAL_FRAME_TYPE_DATA | SEQ:%d | ID:%d", receiverPtr, frame.seq, frame.id);
/** push the data received in the output buffer targeted */
outBufferPtrTemp = receiverPtr->outputBufferPtrMap[frame.id];
if (outBufferPtrTemp != NULL)
{
/** lock the IOBuffer */
error = ARNETWORK_IOBuffer_Lock(outBufferPtrTemp);
if(error == ARNETWORK_OK)
{
int accept = ARNETWORK_IOBuffer_ShouldAcceptData (outBufferPtrTemp, frame.seq);
if (accept > 0)
{
error = ARNETWORK_Receiver_CopyDataRecv(receiverPtr, outBufferPtrTemp, &frame);
}
else if (accept == 0)
{
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARNETWORK_RECEIVER_TAG, "[%p] Received a retry for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
else
{
ARSAL_PRINT (ARSAL_PRINT_WARNING, ARNETWORK_RECEIVER_TAG, "[%p] Received an old frame for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
/** unlock the IOBuffer */
ARNETWORK_IOBuffer_Unlock(outBufferPtrTemp);
if(error != ARNETWORK_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_RECEIVER_TAG, "[%p] data received, error: %s", receiverPtr, ARNETWORK_Error_ToString (error));
}
}
}
break;
case ARNETWORKAL_FRAME_TYPE_DATA_LOW_LATENCY:
ARSAL_PRINT (ARSAL_PRINT_VERBOSE, ARNETWORK_RECEIVER_TAG, "[%p] - TYPE: ARNETWORKAL_FRAME_TYPE_DATA_LOW_LATENCY | SEQ:%d | ID:%d", receiverPtr, frame.seq, frame.id);
/** push the data received in the output buffer targeted */
outBufferPtrTemp = receiverPtr->outputBufferPtrMap[frame.id];
if (outBufferPtrTemp != NULL)
{
/** lock the IOBuffer */
error = ARNETWORK_IOBuffer_Lock(outBufferPtrTemp);
if(error == ARNETWORK_OK)
{
int accept = ARNETWORK_IOBuffer_ShouldAcceptData (outBufferPtrTemp, frame.seq);
if (accept > 0)
{
error = ARNETWORK_Receiver_CopyDataRecv(receiverPtr, outBufferPtrTemp, &frame);
}
else if (accept == 0)
{
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARNETWORK_RECEIVER_TAG, "[%p] Received a retry for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
else
{
ARSAL_PRINT (ARSAL_PRINT_WARNING, ARNETWORK_RECEIVER_TAG, "[%p] Received an old frame for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
/** unlock the IOBuffer */
ARNETWORK_IOBuffer_Unlock(outBufferPtrTemp);
if(error != ARNETWORK_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_RECEIVER_TAG, "[%p] data received, error: %s", receiverPtr, ARNETWORK_Error_ToString (error));
}
}
}
break;
case ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK:
ARSAL_PRINT (ARSAL_PRINT_VERBOSE, ARNETWORK_RECEIVER_TAG, "[%p] - TYPE: ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK | SEQ:%d | ID:%d", receiverPtr, frame.seq, frame.id);
/**
* push the data received in the output buffer targeted,
* save the sequence of the command and return an acknowledgement
*/
outBufferPtrTemp = receiverPtr->outputBufferPtrMap[frame.id];
if (outBufferPtrTemp != NULL)
{
/** lock the IOBuffer */
error = ARNETWORK_IOBuffer_Lock(outBufferPtrTemp);
if(error == ARNETWORK_OK)
{
/** OutBuffer->seqWaitAck used to save the last seq */
int accept = ARNETWORK_IOBuffer_ShouldAcceptData (outBufferPtrTemp, frame.seq);
if (accept > 0)
{
error = ARNETWORK_Receiver_CopyDataRecv(receiverPtr, outBufferPtrTemp, &frame);
}
else if (accept == 0)
{
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARNETWORK_RECEIVER_TAG, "[%p] Received a retry for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
else
{
ARSAL_PRINT (ARSAL_PRINT_WARNING, ARNETWORK_RECEIVER_TAG, "[%p] Received an old frame for buffer %d", receiverPtr, outBufferPtrTemp->ID);
}
/** unlock the IOBuffer */
ARNETWORK_IOBuffer_Unlock(outBufferPtrTemp);
// data are copied to the IOBuffer, send ACK
if (error == ARNETWORK_OK)
{
/** sending ack even if the seq is not correct */
error = ARNETWORK_Receiver_ReturnACK(receiverPtr, frame.id, frame.seq);
if(error != ARNETWORK_OK)
{
int level = ARSAL_PRINT_ERROR;
if (error == ARNETWORK_ERROR_BUFFER_SIZE)
{
level = ARSAL_PRINT_DEBUG;
}
ARSAL_PRINT(level, ARNETWORK_RECEIVER_TAG, "[%p] ReturnACK, error: %s", receiverPtr, ARNETWORK_Error_ToString(error));
}
}
else
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_RECEIVER_TAG, "[%p] data with ack received, error: %s", receiverPtr, ARNETWORK_Error_ToString (error));
}
}
}
break;
default:
ARSAL_PRINT (ARSAL_PRINT_WARNING, ARNETWORK_RECEIVER_TAG, "[%p] !!! command type: %d not known !!!", receiverPtr, frame.type);
break;
}
/** get the next frame*/
result = receiverPtr->networkALManager->popFrame(receiverPtr->networkALManager, &frame);
}
}
}
return NULL;
}
void* ARNETWORK_Sender_ThreadRun (void* data)
{
/** -- Manage the sending of the data on the sender' -- */
/** local declarations */
ARNETWORK_Sender_t *senderPtr = data;
int inputBufferIndex = 0;
ARNETWORK_IOBuffer_t *inputBufferPtrTemp = NULL; /**< pointer of the input buffer in processing */
eARNETWORK_ERROR error = ARNETWORK_OK;
int waitTimeMs = 0;
struct timespec now;
struct timespec sleepStart;
int sleepDurationMs = 0;
int timeDiffMs;
while (senderPtr->isAlive)
{
waitTimeMs = 500;
for (inputBufferIndex = 0; inputBufferIndex < senderPtr->numberOfInputBuff && waitTimeMs > 0; ++inputBufferIndex)
{
inputBufferPtrTemp = senderPtr->inputBufferPtrArr[inputBufferIndex];
error = ARNETWORK_IOBuffer_Lock(inputBufferPtrTemp);
switch (inputBufferPtrTemp->dataType)
{
// Low latency : no wait if any data available
case ARNETWORKAL_FRAME_TYPE_DATA_LOW_LATENCY:
if ((error == ARNETWORK_OK) &&
(!ARNETWORK_RingBuffer_IsEmpty (inputBufferPtrTemp->dataDescriptorRBuffer)))
{
waitTimeMs = 0;
}
break;
// Acknowledged buffer :
// - If waiting an ack, wait time = time before ack timeout
// - If not waiting an ack and not empty, wait time = time before next send
case ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK:
if (error == ARNETWORK_OK)
{
if (ARNETWORK_IOBuffer_IsWaitAck(inputBufferPtrTemp))
{
if (inputBufferPtrTemp->ackWaitTimeCount < waitTimeMs)
{
waitTimeMs = inputBufferPtrTemp->ackWaitTimeCount;
}
}
else if (!ARNETWORK_RingBuffer_IsEmpty (inputBufferPtrTemp->dataDescriptorRBuffer))
{
if (inputBufferPtrTemp->waitTimeCount < waitTimeMs)
{
waitTimeMs = inputBufferPtrTemp->waitTimeCount;
}
}
}
break;
// All non Ack buffers
// -
default:
if ((error == ARNETWORK_OK) &&
(!ARNETWORK_RingBuffer_IsEmpty (inputBufferPtrTemp->dataDescriptorRBuffer)))
{
if (inputBufferPtrTemp->waitTimeCount < waitTimeMs)
{
waitTimeMs = inputBufferPtrTemp->waitTimeCount;
}
}
break;
}
ARNETWORK_IOBuffer_Unlock(inputBufferPtrTemp);
}
// Force a minimum wait time after an ARNetworkAL Overflow
if ((senderPtr->hadARNetworkALOverflowOnPreviousRun > 0) &&
(waitTimeMs < ARNETWORK_SENDER_WAIT_TIME_ON_ARNETWORKAL_OVERFLOW_MS))
{
waitTimeMs = ARNETWORK_SENDER_WAIT_TIME_ON_ARNETWORKAL_OVERFLOW_MS;
}
senderPtr->hadARNetworkALOverflowOnPreviousRun = 0;
ARSAL_Time_GetTime(&sleepStart);
if (waitTimeMs > 0)
{
if (waitTimeMs < senderPtr->minimumTimeBetweenSendsMs)
{
waitTimeMs = senderPtr->minimumTimeBetweenSendsMs;
}
ARSAL_Mutex_Lock (&(senderPtr->nextSendMutex));
ARSAL_Cond_Timedwait (&(senderPtr->nextSendCond), &(senderPtr->nextSendMutex), waitTimeMs);
ARSAL_Mutex_Unlock (&(senderPtr->nextSendMutex));
}
/** Process internal input buffers */
ARSAL_Time_GetTime(&now);
sleepDurationMs = ARSAL_Time_ComputeTimespecMsTimeDiff (&sleepStart, &now);
ARSAL_Mutex_Lock (&(senderPtr->pingMutex));
timeDiffMs = ARSAL_Time_ComputeTimespecMsTimeDiff (&(senderPtr->pingStartTime), &now);
/* Send only new pings if ping function is active (min time > 0) */
if (senderPtr->minTimeBetweenPings > 0)
{
int maxWaitTime = senderPtr->minTimeBetweenPings;
if (ARNETWORK_SENDER_PING_TIMEOUT_MS > maxWaitTime)
{
maxWaitTime = ARNETWORK_SENDER_PING_TIMEOUT_MS;
}
/* Send new ping if :
* -> DT > minTimeBetweenPings AND we're not waiting for a ping
* -> DT > maxWaitTime
*/
if (((senderPtr->isPingRunning == 0) &&
(timeDiffMs > senderPtr->minTimeBetweenPings)) ||
(timeDiffMs > maxWaitTime))
{
if (timeDiffMs > ARNETWORK_SENDER_PING_TIMEOUT_MS)
{
senderPtr->lastPingValue = -1;
}
inputBufferPtrTemp = senderPtr->inputBufferPtrMap[ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PING];
error = ARNETWORK_IOBuffer_Lock (inputBufferPtrTemp);
if (error == ARNETWORK_OK) {
ARNETWORK_IOBuffer_AddData (inputBufferPtrTemp, (uint8_t *)&now, sizeof (now), NULL, NULL, 1);
ARNETWORK_IOBuffer_Unlock (inputBufferPtrTemp);
} else {
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_SENDER_TAG, "ARNETWORK_IOBuffer_Lock() failed; error: %s", ARNETWORK_Error_ToString (error));
}
senderPtr->pingStartTime.tv_sec = now.tv_sec;
senderPtr->pingStartTime.tv_nsec = now.tv_nsec;
senderPtr->isPingRunning = 1;
}
}
ARSAL_Mutex_Unlock (&(senderPtr->pingMutex));
for (inputBufferIndex = 0; inputBufferIndex < senderPtr->networkALManager->maxIds ; inputBufferIndex++)
{
inputBufferPtrTemp = senderPtr->inputBufferPtrMap[inputBufferIndex];
if (inputBufferPtrTemp != NULL)
{
ARNETWORK_Sender_ProcessBufferToSend (senderPtr, inputBufferPtrTemp, (waitTimeMs > 0) ? sleepDurationMs : 0);
}
}
senderPtr->networkALManager->send(senderPtr->networkALManager);
}
return NULL;
}
ARNETWORK_Sender_t* ARNETWORK_Sender_New (ARNETWORKAL_Manager_t *networkALManager, unsigned int numberOfInputBuffer, ARNETWORK_IOBuffer_t **inputBufferPtrArr, unsigned int numberOfInternalInputBuffer, ARNETWORK_IOBuffer_t **internalInputBufferPtrArr, ARNETWORK_IOBuffer_t **inputBufferPtrMap, int pingDelayMs)
{
/** -- Create a new sender -- */
/** local declarations */
ARNETWORK_Sender_t* senderPtr = NULL;
eARNETWORK_ERROR error = ARNETWORK_OK;
/** Create the sender */
senderPtr = malloc (sizeof (ARNETWORK_Sender_t));
if (senderPtr)
{
if(networkALManager != NULL)
{
senderPtr->networkALManager = networkALManager;
}
else
{
error = ARNETWORK_ERROR_BAD_PARAMETER;
}
if(error == ARNETWORK_OK)
{
senderPtr->isAlive = 1;
senderPtr->numberOfInputBuff = numberOfInputBuffer;
senderPtr->inputBufferPtrArr = inputBufferPtrArr;
senderPtr->numberOfInternalInputBuff = numberOfInternalInputBuffer;
senderPtr->internalInputBufferPtrArr = internalInputBufferPtrArr;
senderPtr->inputBufferPtrMap = inputBufferPtrMap;
senderPtr->minimumTimeBetweenSendsMs = ARNETWORK_SENDER_MILLISECOND;
senderPtr->isPingRunning = 0;
senderPtr->hadARNetworkALOverflowOnPreviousRun = 0;
if (pingDelayMs == 0)
{
senderPtr->minTimeBetweenPings = ARNETWORK_SENDER_MINIMUM_TIME_BETWEEN_PINGS_MS;
}
else
{
senderPtr->minTimeBetweenPings = pingDelayMs;
}
ARSAL_Time_GetTime(&(senderPtr->pingStartTime));
}
/* Create the mutex/condition */
if ( (error == ARNETWORK_OK) &&
(ARSAL_Mutex_Init (&(senderPtr->nextSendMutex)) != 0))
{
error = ARNETWORK_ERROR_NEW_BUFFER;
}
if ( (error == ARNETWORK_OK) &&
(ARSAL_Cond_Init (&(senderPtr->nextSendCond)) != 0))
{
error = ARNETWORK_ERROR_NEW_BUFFER;
}
if ( (error == ARNETWORK_OK) &&
(ARSAL_Mutex_Init (&(senderPtr->pingMutex)) != 0))
{
error = ARNETWORK_ERROR_NEW_BUFFER;
}
/** delete the sender if an error occurred */
if (error != ARNETWORK_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARNETWORK_SENDER_TAG, "error: %s", ARNETWORK_Error_ToString (error));
ARNETWORK_Sender_Delete (&senderPtr);
}
}
return senderPtr;
}
