/**************************************************************
* constructor/destructor
**************************************************************/
u_service
u_serviceNew(
const c_char *uri,
c_long timeout,
const c_char *name,
const c_char *extendedStateName,
u_serviceKind kind,
v_qos qos)
{
u_domain domain;
v_kernel kk;
v_service ks;
v_serviceManager sm;
u_service s;
u_result r;
os_result osr;
c_bool serviceTermHandlerRequired = FALSE;
ks = NULL;
r = u_domainOpen(&domain, uri, timeout);
if (r != U_RESULT_OK) {
OS_REPORT_1(OS_ERROR,"u_serviceNew",0,
"Failure to open the kernel - return code %d", r);
return NULL;
}
s = NULL;
if (domain != NULL) {
r = u_entityWriteClaim(u_entity(domain),(v_entity*)(&kk));
if (r == U_RESULT_OK) {
assert(kk);
sm = v_getServiceManager(kk);
if (sm != NULL) {
#ifndef INTEGRITY
if (lockPages(kk, name)) {
osr = os_procMLockAll(OS_MEMLOCK_CURRENT|OS_MEMLOCK_FUTURE);
} else {
osr = os_resultSuccess;
}
if (osr == os_resultSuccess) {
#endif
switch(kind){
case U_SERVICE_DDSI:
case U_SERVICE_DDSIE:
case U_SERVICE_NETWORKING:
ks = v_service(v_networkingNew(sm, name,
extendedStateName,
(v_participantQos)qos));
serviceTermHandlerRequired = TRUE;
break;
case U_SERVICE_DURABILITY:
ks = v_service(v_durabilityNew(sm, name,
extendedStateName,
(v_participantQos)qos));
serviceTermHandlerRequired = TRUE;
break;
case U_SERVICE_CMSOAP:
ks = v_service(v_cmsoapNew(sm, name,
extendedStateName,
(v_participantQos)qos));
serviceTermHandlerRequired = TRUE;
break;
case U_SERVICE_RNR:
ks = v_service(v_rnrNew(sm, name,
extendedStateName,
(v_participantQos)qos));
serviceTermHandlerRequired = TRUE;
break;
case U_SERVICE_DBMSCONNECT:
case U_SERVICE_INCOGNITO:
ks = v_serviceNew(sm, name,
extendedStateName,
(v_participantQos)qos, NULL);
serviceTermHandlerRequired = TRUE;
break;
case U_SERVICE_SPLICED:
break;
default:
OS_REPORT(OS_WARNING,"u_serviceNew",0,
"Failed to start an unknown service kind");
break;
}
} else {
OS_REPORT(OS_ERROR,"u_serviceNew",0,
"Failed to lock memory pages for current process");
}
/* Install the service signal handlers if spliced is not within this
* same process. i.e. only do this if each service is in its own
* process so signal handlers won't interfere */
if (serviceTermHandlerRequired && !u_splicedInProcess()) {
os_procSetTerminationHandler(serviceTermHandler);
}
#ifndef INTEGRITY
} else {
OS_REPORT(OS_ERROR,"u_serviceNew",0,
"Failed to retrieve the Service Manager");
}
#endif
if (ks != NULL) {
s = u_entityAlloc(NULL,u_service,ks,TRUE);
r = u_serviceInit(s, kind, domain);
if (r != U_RESULT_OK) {
OS_REPORT_1(OS_ERROR,"u_serviceNew",0,
"Failed to initialize service: %s", name);
u_serviceFree(s);
s = NULL;
}
callbackService = s;
(void) os_signalHandlerSetExceptionCallback(u__serviceExceptionCallbackWrapper);
} else {
OS_REPORT(OS_WARNING,"u_serviceNew",0,
"Failed to retrieve the Service Manager");
}
r = u_entityRelease(u_entity(domain));
}
}
return s;
}
int
main(
int argc,
char* argv[])
{
int result = 0;
v_participantQos participantQos;
u_result uresult;
os_boolean success;
v_subscriberQos subscriberQos;
c_time resolution;
c_base base;
v_kernel kernel;
/* Necessary to initialize the user layer. Do this just once per process.*/
mlv_init ();
uresult = u_userInitialise();
mlv_setforreal (1);
if(uresult == U_RESULT_OK){
/* Allocate default participant qos*/
participantQos = u_participantQosNew(NULL);
{
os_mutexAttr mattr;
os_mutexAttrInit (&mattr);
mattr.scopeAttr = OS_SCOPE_PRIVATE;
os_mutexInit (&gluelock, &mattr);
}
if(participantQos){
if(argc > 1){
SERVICE_NAME = argv[1];
}
if(argc > 2){
SERVICE_URI = argv[2];
}
/*create participant*/
participant = u_participant(u_serviceNew(
SERVICE_URI, 0, SERVICE_NAME,
NULL,
U_SERVICE_NETWORKING,
(v_qos)participantQos));
if(participant){
struct cfgst *cfgst;
ddsi2_participant_gid = u_entityGid (u_entity (participant));
/*Notify kernel that I am initializing. */
u_serviceChangeState(u_service(participant),STATE_INITIALISING);
/*Start monitoring the splicedaemon state. I need to terminate if he says so*/
u_serviceWatchSpliceDaemon(
u_service(participant),
in_discoveryWatchSpliced,
&terminate);
if ((cfgst = config_init (participant, SERVICE_NAME)) != NULL)
{
unsigned rtps_flags = 0;
struct nn_servicelease *servicelease;
open_tracing_file ();
/* Dependencies between default values is not
handled automatically by the config processing
(yet) */
if (config.many_sockets_mode)
{
if (config.max_participants == 0)
config.max_participants = 100;
}
if (NN_STRICT_P)
{
/* Should not be sending invalid messages when strict */
config.respond_to_rti_init_zero_ack_with_invalid_heartbeat = 0;
config.acknack_numbits_emptyset = 1;
}
config_print_and_free_cfgst (cfgst);
servicelease = nn_servicelease_new (participant);
nn_servicelease_start_renewing (servicelease);
myNetworkId = getNetworkId ();
u_entityAction(u_entity(participant), resolveKernelService, NULL);
base = c_getBase(service);
kernel = v_object(service)->kernel;
rtps_init (base, kernel, config.domainId, config.participantIndex,
rtps_flags, config.networkAddressString, config.peers);
/* Initialize entity administration. */
success = in_entityAdminInit(participant);
if(success){
/*Create subscriber to receive client writers' messages.*/
subscriberQos = u_subscriberQosNew(NULL);
os_free(subscriberQos->partition);
subscriberQos->partition = NULL;
clientSubscriber = u_subscriberNew(
participant,
"clientSubscriber",
subscriberQos,
TRUE);
if(clientSubscriber){
/*Create networkReader to be able to receive client writers' messages.*/
clientReader = u_networkReaderNew(
clientSubscriber,
"clientReader",
NULL,
TRUE);
if(clientReader){
resolution.seconds = 0;
resolution.nanoseconds = 10 * 1000 * 1000; /*10 ms*/
/*Create network queue*/
uresult = u_networkReaderCreateQueue(
clientReader,
1000, 0, FALSE, FALSE,
resolution,
TRUE, &queueId,
"DDSi");
if(uresult == U_RESULT_OK){
struct builtin_datareader_set drset;
u_entityAction(u_entity(clientReader), resolveKernelReader, NULL);
uresult = create_builtin_readers (&drset, participant);
if (uresult == U_RESULT_OK)
{
u_serviceChangeState(u_service(participant),STATE_OPERATIONAL);
uresult = attachAndMonitor(participant, &drset);
if((uresult != U_RESULT_OK) &&
(uresult != U_RESULT_DETACHING))
{
nn_log (LC_ERROR, "Abnormal termination...\n");
result = -1;
} else {
nn_log (LC_INFO, "Deleting entities...\n");
}
destroy_builtin_readers (&drset);
} else {
nn_log (LC_FATAL, "Could not create subscription + readers for builtin topics.\n");
result = -1;
}
terminate = TRUE;
v_networkReaderTrigger(vclientReader, queueId);
os_threadWaitExit(clientWriterThread, NULL);
} else {
nn_log (LC_FATAL, "Could not create networkQueue.\n");
result = -1;
}
/*Clean up networkReader*/
os_mutexLock (&gluelock);
u_networkReaderFree(clientReader);
clientReader = NULL;
vclientReader = NULL;
os_mutexUnlock (&gluelock);
} else {
nn_log (LC_FATAL, "Could not create networkReader.\n");
result = -1;
}
/*Clean up subscriber*/
u_subscriberFree(clientSubscriber);
} else {
nn_log (LC_FATAL, "Could not create subscriber.\n");
result = -1;
}
/*Clean up entity administration*/
in_entityAdminDestroy();
} else {
nn_log (LC_FATAL, "Could not initialize entity adminstration.\n");
result = -1;
}
/* RTPS layer now defines types, cleanup before detaching */
rtps_term();
/*Notify kernel that I've terminated*/
u_serviceChangeState(u_service(participant),STATE_TERMINATED);
nn_servicelease_free (servicelease);
/*Delete participant*/
uresult = u_serviceFree(u_service(participant));
if(uresult != U_RESULT_OK){
nn_log (LC_FATAL, "Deletion of participant failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Initialization of configuration failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Could not create participant.\n");
result = -1;
}
u_participantQosFree (participantQos);
} else {
nn_log (LC_FATAL, "Could not allocate participantQos.\n");
result = -1;
}
os_mutexDestroy (&gluelock);
/* Detach user layer */
mlv_setforreal (0);
uresult = u_userDetach();
mlv_fini ();
if(uresult != U_RESULT_OK){
nn_log (LC_FATAL, "Detachment of user layer failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Initialization of user layer failed.\n");
result = -1;
}
nn_log (LC_INFO, "Finis.\n");
/* Must be really late, or nn_log becomes unhappy -- but it should
be before os_osExit (which appears to be called from
u_userExit(), which is not called by u_userDetach but by an
exit handler, it appears.) */
config_fini ();
return result;
}
void
cms_serviceFree(
cms_service cms)
{
cms_client client;
c_iter clientCopy;
c_ulong i, size;
if(cms != NULL) {
if(cms->configuration != NULL) {
if(cms->configuration->verbosity >= 2) {
OS_REPORT(OS_INFO, CMS_CONTEXT, 0, "Terminating CMSOAP service...");
}
}
if(cms->uservice != NULL) {
u_serviceChangeState(cms->uservice, STATE_TERMINATING);
}
cms->terminate = TRUE;
if(cms->leaseThread != NULL) {
cms_threadFree(cms->leaseThread);
}
if(cms->garbageCollector != NULL) {
cms_threadFree(cms->garbageCollector);
}
if(cms->soap != NULL) {
cms->soap->attributes = NULL;
soap_destroy(cms->soap);
soap_end(cms->soap);
soap_done(cms->soap);
free(cms->soap);
}
if(cms->clients != NULL) {
os_mutexLock(&cms->clientMutex);
clientCopy = c_iterCopy(cms->clients);
os_mutexUnlock(&cms->clientMutex);
if(c_iterLength(cms->clients) > 0) {
if(cms->configuration->verbosity >= 2) {
OS_REPORT_1(OS_WARNING, CMS_CONTEXT, 0,
"Terminating CMSOAPService, but %d client(s) is/are still connected.",
c_iterLength(cms->clients));
}
}
size = c_iterLength(clientCopy);
for(i=0; i<size; i++) {
client = cms_client(c_iterObject(clientCopy, i));
cms_thread(client)->terminate = TRUE;
}
for(i=0; i<size; i++) {
client = cms_client(c_iterObject(clientCopy, i));
cms_clientFree(client);
}
c_iterFree(clientCopy);
os_mutexLock(&cms->clientMutex);
c_iterFree(cms->clients);
os_mutexUnlock(&cms->clientMutex);
os_mutexDestroy(&cms->clientMutex);
}
if(cms->configuration != NULL) {
if(cms->configuration->verbosity >= 4) {
OS_REPORT(OS_INFO, CMS_CONTEXT, 0, "CMSOAP service terminated.");
}
}
cms_configurationFree(cms->configuration);
if(cms->uservice != NULL) {
cmx_deregisterAllEntities();
u_serviceChangeState(cms->uservice, STATE_TERMINATED);
u_serviceFree(cms->uservice);
}
cmx_detach();
os_free(cms);
}
}
static void
nw_serviceMain(
const char *serviceName,
const char *URI)
{
u_serviceManager serviceManager;
os_time sleepTime;
os_result waitResult;
nw_termination terminate;
os_mutexAttr termMtxAttr;
os_condAttr termCvAttr;
c_bool fatal = FALSE;
v_duration leasePeriod;
terminate.terminate = FALSE;
os_mutexAttrInit( & termMtxAttr );
os_condAttrInit( & termCvAttr );
termMtxAttr.scopeAttr = OS_SCOPE_PRIVATE;
termCvAttr.scopeAttr = OS_SCOPE_PRIVATE;
os_mutexInit( &terminate.mtx, &termMtxAttr );
os_condInit( &terminate.cv, &terminate.mtx, &termCvAttr );
/* Create networking service with kernel */
service = u_serviceNew(URI, NW_ATTACH_TIMEOUT, serviceName, NULL,
U_SERVICE_NETWORKING, NULL);
/* Initialize configuration */
nw_configurationInitialize(service, serviceName, URI);
/* Ask service manager for splicedaemon state */
serviceManager = u_serviceManagerNew(u_participant(service));
/* Create the controller which starts the updating */
/* and calls the listener on a fatal error */
controller = nw_controllerNew(service,controller_onfatal,&fatal);
if (controller) {
os_procAtExit(on_exit_handler);
/* Start the actual engine */
NW_REPORT_INFO(1, "Networking started");
NW_TRACE(Mainloop, 1, "Networking started");
nw_controllerStart(controller);
/* Change state for spliced */
u_serviceChangeState(service, STATE_INITIALISING);
u_serviceChangeState(service, STATE_OPERATIONAL);
/* Get sleeptime from configuration */
nw_retrieveLeaseSettings(&leasePeriod, &sleepTime);
/*sleepTime.tv_sec = 1; */
/* Loop until termination is requested */
u_serviceWatchSpliceDaemon(service, nw_splicedaemonListener,
&terminate);
os_mutexLock( &terminate.mtx );
while ((!(int)terminate.terminate) && (!(int)fatal) && (!(int)f_exit)) {
/* Assert my liveliness and the Splicedaemon's liveliness*/
u_serviceRenewLease(service, leasePeriod);
/* Check if anybody is still remotely interested */
nw_controllerUpdateHeartbeats(controller);
/* Wait before renewing again */
waitResult = os_condTimedWait( &terminate.cv, &terminate.mtx, &sleepTime );
if (waitResult == os_resultFail)
{
OS_REPORT(OS_CRITICAL, "nw_serviceMain", 0,
"os_condTimedWait failed - thread will terminate");
fatal = TRUE;
}
/* QAC EXPECT 2467; Control variable, terminate, not modified inside loop. That is correct, it is modified by another thread */
}
os_mutexUnlock( &terminate.mtx );
/* keep process here waiting for the exit processing */
while ((int)f_exit){os_nanoSleep(sleepTime);}
if (!(int)fatal ) {
leasePeriod.seconds = 20;
leasePeriod.nanoseconds = 0;
u_serviceRenewLease(service, leasePeriod);
u_serviceChangeState(service, STATE_TERMINATING);
nw_controllerStop(controller);
nw_controllerFree(controller);
controller = NULL;
NW_REPORT_INFO(1, "Networking stopped");
NW_TRACE(Mainloop, 1, "Networking stopped");
}
}
if (!(int)fatal ) {
nw_configurationFinalize();
/* Clean up */
u_serviceChangeState(service, STATE_TERMINATED);
u_serviceManagerFree(serviceManager);
u_serviceFree(service);
}
}
void
in_serviceMain(
const os_char* serviceName,
const os_char* uri)
{
u_service service;
in_config config;
in_result result;
u_serviceManager serviceManager;
in_controller controller;
v_duration leasePeriod;
os_time sleepTime;
os_boolean terminate = OS_FALSE;
in_connectivityAdmin admin;
assert(serviceName);
assert(uri);
/* Create networking service with kernel */
service = u_serviceNew(
uri,
IN_ATTACH_TIMEOUT,
serviceName,
NULL,
U_SERVICE_NETWORKING,
NULL);
assert(service);
/* Initialize configuration */
config = in_configGetInstance();
result = in_configConvertDomTree(config, uri, service);
if(result == IN_RESULT_OK)
{
/* Ask service manager for splicedaemon state */
serviceManager = u_serviceManagerNew(u_participant(service));
admin = in_connectivityAdminGetInstance();
/* Create the controller which starts the updating */
controller = in_controllerNew(service);
if (controller)
{
/* Start the actual engine */
IN_REPORT_INFO(1, "DDSI networking started");
IN_TRACE(Mainloop, 1, "DDSI networking started");
in_controllerStart(controller);
/* Change state for spliced */
u_serviceChangeState(service, STATE_INITIALISING);
u_serviceChangeState(service, STATE_OPERATIONAL);
/* Get sleeptime from configuration */
in_retrieveLeaseSettings(&leasePeriod, &sleepTime);
u_serviceRenewLease(service, leasePeriod);
/* Loop until termination is requested */
u_serviceWatchSpliceDaemon(
service,
in_splicedaemonListener,
&terminate);
/* terminate flag is modified by the splice deamon listener thread*/
while (!terminate)
{
/* Assert my liveliness and the Splicedaemon's liveliness */
u_serviceRenewLease(service, leasePeriod);
/* Wait before renewing again */
os_nanoSleep(sleepTime);
}
leasePeriod.seconds = 20;
u_serviceRenewLease(service, leasePeriod);
u_serviceChangeState(service, STATE_TERMINATING);
in_controllerStop(controller);
in_controllerFree(controller);
IN_REPORT_INFO(1, "DDSI networking stopped");
IN_TRACE(Mainloop, 1, "DDSI networking stopped");
}
u_serviceChangeState(service, STATE_TERMINATED);
u_serviceManagerFree(serviceManager);
in_objectFree(in_object(admin));
}
/* Clean up */
in_configFree(config);
u_serviceFree(service);
}
