virtual void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
{
UAVCAN_ASSERT(request.getTransferType() == TransferTypeServiceRequest);
ServiceResponseDataStructure<ResponseType> response;
if (coerceOrFallback<bool>(callback_, true))
{
UAVCAN_ASSERT(response.isResponseEnabled()); // Enabled by default
callback_(request, response);
}
else
{
handleFatalError("Srv serv clbk");
}
if (response.isResponseEnabled())
{
publisher_.setPriority(request.getPriority()); // Responding at the same priority.
const int res = publisher_.publish(response, TransferTypeServiceResponse, request.getSrcNodeID(),
request.getTransferID());
if (res < 0)
{
UAVCAN_TRACE("ServiceServer", "Response publication failure: %i", res);
publisher_.getNode().getDispatcher().getTransferPerfCounter().addError();
response_failure_count_++;
}
}
else
{
UAVCAN_TRACE("ServiceServer", "Response was suppressed by the application");
}
}
Entry& getEntry(NodeID node_id)
{
if (node_id.get() < 1 || node_id.get() > NodeID::Max)
{
handleFatalError("NodeInfoRetriever NodeID");
}
return entries_[node_id.get() - 1];
}
Entry& getEntry(NodeID node_id) const
{
if (node_id.get() < 1 || node_id.get() > NodeID::Max)
{
handleFatalError("NodeStatusMonitor NodeID");
}
return entries_[node_id.get() - 1];
}
void signal_handler(int sig) {
printf("Signal handler: %i\n", sig);
print_backtrace(true, true);
if(forkExecProc)
printf("This is a forkExec subprocess. I just quit.\n");
else if(origPid != getpid())
printf("This is a forked process. I just quit.\n");
else
handleFatalError("There was a fatal error.");
_exit(100 + sig);
}
virtual void handleReceivedDataStruct(ReceivedDataStructure<DataType_>& msg)
{
if (try_implicit_cast<bool>(callback_, true))
{
callback_(msg);
}
else
{
handleFatalError("Sub clbk");
}
}
CanIOManager::CanIOManager(ICanDriver& driver, IPoolAllocator& allocator, ISystemClock& sysclock,
std::size_t mem_blocks_per_iface)
: driver_(driver)
, sysclock_(sysclock)
, num_ifaces_(driver.getNumIfaces())
{
if (num_ifaces_ < 1 || num_ifaces_ > MaxCanIfaces)
{
handleFatalError("Num ifaces");
}
if (mem_blocks_per_iface == 0)
{
mem_blocks_per_iface = allocator.getNumBlocks() / (num_ifaces_ + 1U) + 1U;
}
UAVCAN_TRACE("CanIOManager", "Memory blocks per iface: %u, total: %u",
unsigned(mem_blocks_per_iface), unsigned(allocator.getNumBlocks()));
for (int i = 0; i < num_ifaces_; i++)
{
tx_queues_[i].construct<IPoolAllocator&, ISystemClock&, std::size_t>
(allocator, sysclock, mem_blocks_per_iface);
}
}
int main(int argc, char *argv[])
{
sys_argc = argc;
sys_argv = argv;
origPid = getpid();
#ifdef __APPLE__
extern void install_breakpoint_handlers();
install_breakpoint_handlers();
#endif
forkExecProc = haveArg("--forkExecProc");
bool shell = haveArg("--shell");
bool pyShell = haveArg("--pyshell");
bool pyExec = haveArg("--pyexec");
bool noLog = haveArg("--nolog");
bool help = haveArg("--help") || haveArg("-h");
bool beingDebugged = AmIBeingDebugged();
const char* logDisabledReason = NULL;
if(pyShell || pyExec || shell || forkExecProc || help) {} // be quiet
else if(beingDebugged) {
logDisabledReason = "debugger detected, not redirecting stdout/stderr";
}
else if(noLog) {
logDisabledReason = "not redirecting stdout/stderr";
}
else {
// current workaround to log stdout/stderr. see http://stackoverflow.com/questions/13104588/how-to-get-stdout-into-console-app
logEnabled = true;
printf("MusicPlayer: stdout/stderr goes to %s now\n", logFilename.c_str());
fflush(stdout);
int newFd = open(getTildeExpandedPath(logFilename).c_str(), O_WRONLY|O_APPEND|O_CREAT);
dup2(newFd, fileno(stdout));
dup2(newFd, fileno(stderr));
close(newFd);
//freopen(logFilename.c_str(), "a", stdout);
//freopen(logFilename.c_str(), "a", stderr);
stderr = stdout; // well, hack, ... I don't like two seperate buffers. just messes up the output
}
if(!forkExecProc) {
printf("%s", StartupStr);
install_signal_handler();
}
if(help) {
printf(
"Help: Available options:\n"
" --nolog : don't redirect stdout/stderr to log. also implied when run in debugger\n"
);
}
if(!logEnabled && logDisabledReason)
printf("%s\n", logDisabledReason);
std::string mainPyFilename = getResourcePath() + "/Python/main.py";
Py_SetProgramName(argv[0]);
if(!forkExecProc)
printf("Python version: %s, prefix: %s, main: %s\n", Py_GetVersion(), Py_GetPrefix(), mainPyFilename.c_str());
Py_Initialize();
PyEval_InitThreads();
addPyPath();
if(logEnabled) {
PySys_SetObject((char*)"stdout", PyFile_FromFile(stdout, (char*)"<stdout>", (char*)"w", fclose));
PySys_SetObject((char*)"stderr", PySys_GetObject((char*)"stdout"));
}
PySys_SetObject((char*)"MusicPlayerBin", PyString_FromString(argv[0]));
// Preload imp and thread. I hope to fix this bug: https://github.com/albertz/music-player/issues/8 , there was a crash in initthread which itself has called initimp
PyObject* m = NULL;
m = PyImport_ImportModule("imp");
Py_XDECREF(m);
m = PyImport_ImportModule("thread");
Py_XDECREF(m);
PySys_SetArgvEx(argc, argv, 0);
FILE* fp = fopen((char*)mainPyFilename.c_str(), "r");
if(fp)
PyRun_SimpleFile(fp, "main.py");
else
printf("Could not open main.py!\n");
if(!forkExecProc && !help && !pyShell && !pyExec && !shell) {
bool successStartup = checkStartupSuccess();
if(!successStartup) {
printf("Error at startup.\n");
handleFatalError("There was an error at startup.");
}
}
return 0;
}
/**
* Reports a fatal error that cannot be handled in Java.
*
* handleFatalError(Ljava/lang/Throwable;)V
*/
KNIEXPORT KNI_RETURNTYPE_VOID
Java_com_sun_midp_events_EventQueue_handleFatalError(void) {
handleFatalError();
}
