bool
Eager_Transport_Queueing_Strategy::timer_check (
const TAO::BufferingConstraint &buffering_constraint,
const ACE_Time_Value ¤t_deadline,
bool &set_timer,
ACE_Time_Value &new_deadline) const
{
set_timer = false;
if (!ACE_BIT_ENABLED (buffering_constraint.mode,
TAO::BUFFER_TIMEOUT))
{
return false;
}
// Compute the next deadline...
ACE_Time_Value const now = ACE_OS::gettimeofday ();
ACE_Time_Value timeout =
this->time_conversion (buffering_constraint.timeout);
new_deadline = now + timeout;
// Check if the new deadline is more stringent, or if the deadline
// has expired and thus must be reset anyway.
if (current_deadline > new_deadline
|| current_deadline < now)
{
set_timer = true;
}
// ... if there is no deadline we don't want to schedule output (the
// deadline will be set because set_timer is set to 1 in that case).
// If there is a deadline but but it has not been reached, we
// don't want to schedule any output either...
if (current_deadline == ACE_Time_Value::zero
|| current_deadline >= now)
{
return false;
}
if (TAO_debug_level > 6)
{
TAOLIB_DEBUG ((LM_DEBUG,
"TAO (%P|%t) - TAO_Eager_Buffering_Sync_Strategy::timer_check, "
"Now = %u, Current = %u, New = %u\n",
now.msec (), current_deadline.msec (),
new_deadline.msec ()));
}
return true;
}
int main()
{
ACE::init();
fprintf(stderr, "Starting timing test\n");
ACE_Time_Value now1,now2;
ACE_High_Res_Timer timer;
ACE_Profile_Timer profiler;
ACE_Time_Value sleep;
ACE_Time_Value elapsed;
double avErrors[wTimes];
int i,k;
for(i=0;i<wTimes;i++)
avErrors[i]=0;
for(i=0;i<iterations;i++)
{
double req;
double time;
for(k=0;k<wTimes;k++)
{
req=sleepT[k];
sleep.msec(sleepT[k]);
now1 = ACE_OS::gettimeofday ();
//ACE_OS::sleep(sleep);
usleep(sleep.sec()*1000000+sleep.usec()-1000);
now2 = ACE_OS::gettimeofday ();
time=(now2.sec()-now1.sec())*1000;
time+=(now2.usec()-now1.usec())/1000;
avErrors[k]+=fabs(req-time)/iterations;
fprintf(stderr, "*");
}
fprintf(stderr, "Completed %d out of %d\n", i+1, iterations);
}
for(i=0;i<wTimes;i++)
{
sleep.msec(sleepT[i]);
fprintf(stderr, "Req %us and %u[ms], average error %.3lf\n", (unsigned int)sleep.sec(), (unsigned int) sleep.usec()/1000, avErrors[i]);
}
ACE::fini();
}
int KSG_Reactor_Work_Thr::do_task2(KSG_Reactor_Scheduler::SERVER_HANDLER *handle)
{
int ret;
ACE_Time_Value estimated = ACE_OS::gettimeofday() - handle->request_time_;
long t = estimated.msec();
if(t > handle->request_->default_timeout())
{
// 更新业务处理完成时间
ACE_DEBUG((LM_ERROR,"对方请求已经等待超时...[%d]ms",handle->request_->default_timeout()));
// 通知句柄以处理完成
ret = -1;
}
else
{
ret = handle->request_->process_request(handle);
}
handle->mblk_->release();
handle->mblk_ = NULL;
if(ret == -1)
{
// 请求有问题，需要关闭
ACE_DEBUG((LM_TRACE,"发送应答失败，关闭请求[%08X]",handle->handle_));
//ACE_OS::closesocket(handle->handle_);
//this->schd_->reactor()->remove_handler(handle->handle_,ACE_Event_Handler::ALL_EVENTS_MASK);
this->schd_->close_error_socket(handle->handle_);
}
// 释放 handle
schd_->free_handle(handle);
// 更新业务处理完成时间
return ret;
}
/*\brief Receive single datagram
\note The function employes dgram_port and dgram_recv_timeout variables
\retval -1 if not received,
\retval 0 received a datagrams
*/
int run_receiver ()
{
ACE_DEBUG
((LM_INFO,
ACE_TEXT ("Receiving datagrams from port %d with timeout %d ms\n"),
dgram_port, dgram_recv_timeout.msec ()));
ACE_SOCK_Dgram socket;
ACE_INET_Addr remote ;
static char dgram_buffer[BUFSIZ];
if (socket.open (ACE_INET_Addr (dgram_port)) != -1)
if (socket.recv (dgram_buffer, sizeof (dgram_buffer),
remote, 0, &dgram_recv_timeout) > 0)
{
ACE_DEBUG ((LM_INFO, ACE_TEXT ("%C received\n"), dgram_buffer));
return 0;
}
else
{
ACE_ERROR_RETURN ((LM_ERROR, ACE_TEXT ("%p\n"),
ACE_TEXT ("Cannot receive datagrams")), -1);
}
else
{
ACE_ERROR_RETURN ((LM_ERROR,
ACE_TEXT ("%p: %d\n"),
ACE_TEXT ("Cannot open broadcast socket on port"), dgram_port), -1);
}
}
int handle_timeout (const ACE_Time_Value &tv, const void *)
{
ACE_DEBUG ((LM_DEBUG,
"Timeout! %f\n",
(double) (tv.msec () / 1000.)));
return 0;
}
int
ACE_WIN32_Proactor::handle_events (ACE_Time_Value &wait_time)
{
// Decrement <wait_time> with the amount of time spent in the method
ACE_Countdown_Time countdown (&wait_time);
return this->handle_events (wait_time.msec ());
}
int ACE_TMAIN (int, ACE_TCHAR *[])
{
Manager tp;
tp.activate ();
// Wait for a moment every time you send a message.
ACE_Time_Value tv;
tv.msec (100);
ACE_Message_Block *mb = 0;
for (int i = 0; i < 30; i++)
{
ACE_NEW_RETURN
(mb, ACE_Message_Block(sizeof(int)), -1);
ACE_OS::memcpy (mb->wr_ptr (), &i, sizeof(int));
ACE_OS::sleep (tv);
// Add a new work item.
tp.putq (mb);
}
ACE_Thread_Manager::instance ()->wait ();
return 0;
}
/* \brief Just runs automatic tests
Function sends a number of datagrams, spawns child thread or process and
tries to receive at least one datagram.
\retval 0 datagram was received
\retval -1 datagram was not received
*/
int run_auto_test (const ACE_TCHAR *prog_name)
{
#if defined (ACE_HAS_PROCESS_SPAWN)
ACE_DEBUG ((LM_INFO, ACE_TEXT ("Running auto_tests in process mode\n")));
ACE_Process_Options opts;
pid_t child_pid;
opts.command_line (ACE_TEXT ("%s -p %d -t %d -a -r"),
prog_name, dgram_port, dgram_recv_timeout.msec ());
if ((child_pid = ACE_Process_Manager::instance ()->spawn (opts)) == -1)
ACE_ERROR_RETURN ((LM_ERROR, ACE_TEXT ("%p\n"), ACE_TEXT ("spawn_n()")), -1);
#elif defined (ACE_HAS_THREADS)
ACE_UNUSED_ARG (prog_name);
ACE_DEBUG ((LM_INFO, ACE_TEXT ("Running auto_tests in thread mode\n")));
if (ACE_Thread_Manager::instance ()->spawn (run_thread_receiver) == -1)
ACE_ERROR_RETURN ((LM_ERROR,
ACE_TEXT ("%p\n"),
ACE_TEXT ("spawn_n ()")), -1);
#else
ACE_ERROR_RETURN ((LM_ERROR,
ACE_TEXT ("Cannot run in auto_test mode without fork or threads.\n")),
-1);
#endif /* defined (ACE_HAS_PROCESS_SPAWN) */
ACE_DEBUG ((LM_INFO,
ACE_TEXT ("Sending datagrams on port %d in auto_test mode\n"),
dgram_port));
ACE_SOCK_Dgram_Bcast socket;
if (socket.open (ACE_Addr::sap_any) != -1)
{
// send datagrams until child finishes
while (1)
{
send_datagram (socket, dgrams_no--);
ACE_Time_Value child_timeout (1);
#if defined (ACE_HAS_PROCESS_SPAWN)
if (ACE_Process_Manager::instance ()->wait (child_pid,
child_timeout,
&receiver_exit_code) == child_pid)
break;
#else /* ACE_HAS_THREADS */
// sleep 1 second or wait for child thread
child_timeout += ACE_OS::gettimeofday () ;
if (ACE_Thread_Manager::instance ()->wait (&child_timeout) == 0)
break;
#endif
}
socket.close ();
ACE_DEBUG ((LM_INFO, ACE_TEXT ("Child finished with %d exit code\n"),
receiver_exit_code));
}
else
ACE_ERROR_RETURN ((LM_ERROR, ACE_TEXT ("%p\n"),
ACE_TEXT ("Cannot open broadcast socket")), -1);
return (receiver_exit_code);
}
int
ACE_TMAIN (int, ACE_TCHAR*[])
{
// Manage memory automagically.
ACE_Reactor_Impl *impl = new ACE_Msg_WFMO_Reactor;
auto_ptr<ACE_Reactor> reactor (new ACE_Reactor (impl, 1));
ACE_Reactor::instance (reactor.get ());
Event_Handler event_handler;
global_event_handler = &event_handler;
event_handler.iterations_ = 5;
int result =
ACE_Reactor::instance ()->register_handler (&event_handler,
event_handler.handle_.handle ());
ACE_ASSERT (result == 0);
ACE_Time_Value timeout (1);
result =
ACE_Utils::truncate_cast<int> (
::SetTimer (0, // handle of window for timer messages
0, // timer identifier
timeout.msec (), // time-out value
(TIMERPROC) &timer_callback)); // address of timer procedure
ACE_ASSERT (result != 0);
ACE_Reactor::run_event_loop ();
return 0;
}
bool LeafClientHandler::joinSiblingPeer(
int type,
UUIDPtr& uuid,
CellIDPtr& cellID,
CellIDPtr& parentCellID,
EndpointPtr& endpoint,
SAPInfoPtr& discoverySAP,
SAPInfoPtr& meshSAP,
SAPInfoPtr& ftSAP
) {
ACE_GUARD_RETURN(ACE_SYNCH_RECURSIVE_MUTEX, ace_mon, m_lock, false);
JoinMeshPacket *packet = 0;
UUIDPtr runtimeUUID;
m_mesh->getUUID(runtimeUUID);
if (m_debugLeafClientHandler) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)LeafClientHandler:joinSiblingPeer(): PEER(%s,%s)\n"),
runtimeUUID->toString().c_str(),
cellID->toString().c_str()));
}
UUIDPtr srcCellID(new CellID(*(m_cellID.get())));
UUIDPtr dstCellID(new CellID(*(m_cellID.get())));
packet = new JoinMeshPacket(m_uuid,
srcCellID,
runtimeUUID,
dstCellID,
0,
type,
uuid,
cellID,
parentCellID,
endpoint,
discoverySAP,
meshSAP,
ftSAP
);
RequestEngine<SthenoPacket*>::RequestPtr* request = sendRequest(packet, 0);
if (request == 0) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler:joinSiblingPeer() - Request failed\n")));
return 0;
}
//ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T)Before wait future\n");
ACE_Time_Value timeout = ACE_OS::gettimeofday();
ACE_Time_Value delta;
delta.msec(JOIN_CELL_TIMEOUT_MS);
timeout += delta;
list<SthenoPacket*>* results = request->get()->waitFuture(0);
ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T) LeafClientHandler:joinSiblingPeer() After future\n")));
if (results != 0 && results->size() > 0) {
JoinMeshReplyPacket* replyPacket = static_cast<JoinMeshReplyPacket*> (results->front());
bool status = replyPacket->getJoinResult();
ListHelper<SthenoPacket*>::deleteList(results);
return status;
} else {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler::joinSiblingPeer() - No response\n")));
}
return false;
}
void yarp::os::impl::fromDouble(ACE_Time_Value &v, double x,int unit) {
#ifdef YARP_HAS_ACE
v.msec(static_cast<int>(x*1000/unit+0.5));
#else
v.tv_usec = static_cast<int>(x*1000000/unit+0.5) % 1000000;
v.tv_sec = static_cast<int>(x/unit);
#endif
}
Miro::PanPositionIDL
PanTiltImpl::currentPosition()
{
Miro::PanPositionIDL position;
position.angle = actPosition;
position.accuracy = Miro::deg2Rad(3.);
if (prvPanning()) {
position.accuracy += max( Miro::deg2Rad(7.), accuracy );
#ifdef WEGOTIT
ACE_Time_Value delta = ACE_OS::gettimeofday() - timeLastSet;
position.angle = lastPosition;
position.accuracy = Miro::deg2Rad(10.);
double blur = Miro::deg2Rad(0.04 * delta.msec());
int t_msec = (int)fabs((nextPosition - lastPosition) * 300);
// sind wir noch in der Bewegung?
if (delta < ACE_Time_Value(t_msec / 1000 , (t_msec % 1000) * 1000)) {
position.angle += (nextPosition - lastPosition) * (double)delta.msec() / (double)t_msec;
}
else {
position.angle = nextPosition;
blur *= 1 - (delta.msec() - t_msec) / 400;
}
position.accuracy += blur;
#endif
}
#ifdef LETSTILTAGAIN
if (!prvTilting())
position.ti(!prvTilting())
position.tiltvalue = nextPosition.tiltvalue;
else
position.tiltvalue = (lastPosition.panvalue <= nextPosition.panvalue)?
lastPosition.panvalue + (now - timeLastSet).msec() * params_.tiltRadPerMSec :
lastPosition.panvalue - (now - timeLastSet).msec() * params_.tiltRadPerMSec;
#endif
return position;
}
void
test_i::shutdown (CORBA::Long start_time)
{
ACE_Time_Value start (0);
start.msec (static_cast<long> (start_time)); // HPUX seems to require this cast
ACE_DEBUG ((LM_DEBUG, "server: Shutting down... (%dms)\n",
(ACE_OS::gettimeofday() - start).msec ()));
this->orb_->shutdown (0);
}
static void *
worker (void *)
{
for (int iterations = 1;
iterations <= n_iterations;
iterations++)
{
#if !defined (ACE_HAS_STHREADS) && !defined (ACE_HAS_POSIX_SEM)
ACE_Time_Value wait (0,
iterations * 1000 * 100); // Wait 'iter' msec
ACE_Time_Value tv = ACE_OS::gettimeofday () + wait;
if (s.acquire (tv))
++timeouts;
else
{
ACE_Time_Value diff = ACE_OS::gettimeofday ();
diff = diff - tv; // tv should have been reset to time acquired
if (diff.msec () > ACE_ALLOWED_SLACK)
{
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("Acquire fails time reset test\n")));
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT ("Diff btw now and returned time: %d ms\n"),
diff.msec ()));
test_result = 1;
}
// Hold the lock for a while.
ACE_OS::sleep (ACE_Time_Value (0,
(ACE_OS::rand () % 1000) * 1000));
s.release ();
}
#else
s.acquire ();
// Hold the lock for a while.
ACE_OS::sleep (ACE_Time_Value (0,
(ACE_OS::rand () % 1000) * 1000));
s.release ();
#endif /* ACE_HAS_STHREADS && ACE_HAS_POSIX_SEM */
ACE_Thread::yield ();
}
return 0;
}
bool
Client::flood_connection (ACE_Time_Value& tv)
{
// Block flushing currently blocks even on SYNC_DELAYED_BUFFERING
// so we can't use it to flood connections.
// Set the policy value.
// SYNC_DELAYED_BUFFERING is used to ensure that the tcp buffer gets filled before
// buffering starts.
Messaging::SyncScope sync_scope = TAO::SYNC_DELAYED_BUFFERING;
//Messaging::SyncScope sync_scope = Messaging::SYNC_NONE;
CORBA::Any sync_scope_any;
sync_scope_any <<= sync_scope;
CORBA::PolicyList policy_list (1);
policy_list.length (1);
policy_list[0] = orb_->create_policy
(Messaging::SYNC_SCOPE_POLICY_TYPE, sync_scope_any);
// Apply the policy at the object level
CORBA::Object_var obj = test_obj_->_set_policy_overrides
(policy_list, CORBA::SET_OVERRIDE);
Test_var mod_test_obj = Test::_narrow (obj.in ());
policy_list[0]->destroy ();
policy_list.length(0);
ACE_Auto_Array_Ptr<char> tmp (new char [2000000]);
char* msg = tmp.get();
ACE_OS::memset (msg,'A',1999999);
msg[1999999] = 0;
test_obj_->sleep (static_cast<CORBA::Long>(tv.sec())
, static_cast<CORBA::Long>(tv.msec()));
/* BLOCK flush startegy always has SYNC_WITH_TRANSPORT semantics.
Trying to flood a BLOCKed flushing connection can lead to a TIMEOUT
exception being thrown. This will close out the connection and
the whole flooding attempt fails. Therefore in BLOCK flushing case
don't attempt to flood (unless BLOCK flush accepts SYNC_WITH_TRANSPORT
semantics).
*/
if (flush_strategy_ != BLOCKING)
{
mod_test_obj->dummy_one_way (msg);
// attempt again to flood connection.
ACE_Time_Value tv_tmp (2);
orb_->perform_work (tv_tmp);
}
return true;
}
static void *
worker (void *)
{
for (int iterations = 1;
iterations <= n_iterations;
iterations++)
{
//FUZZ: disable check_for_lack_ACE_OS
ACE_Time_Value wait (0,
iterations * 1000 * 100); // Wait 'iter' msec
//FUZZ: enable check_for_lack_ACE_OS
ACE_Time_Value tv = ACE_OS::gettimeofday () + wait;
if (evt.wait (&tv) == -1)
{
// verify that we have ETIME
if (ACE_OS::last_error() != ETIME)
{
ACE_ERROR ((LM_ERROR,
ACE_TEXT ("%p\n"),
ACE_TEXT ("Worker should be ETIME but is")));
}
else
++timeouts;
ACE_Time_Value diff = ACE_OS::gettimeofday ();
diff = diff - tv; // tv should have been reset to time acquired
long diff_msec = diff.msec ();
if (diff_msec > ACE_ALLOWED_SLACK)
{
ACE_ERROR ((LM_ERROR,
ACE_TEXT ("Acquire fails time reset test\n")));
ACE_ERROR ((LM_ERROR,
ACE_TEXT ("Diff btw now and returned time: %d ms; ")
ACE_TEXT ("%d allowed\n"),
(int)diff_msec,
(int)ACE_ALLOWED_SLACK));
test_result = 1;
}
// Hold the lock for a while.
ACE_OS::sleep (ACE_Time_Value (0,
(ACE_OS::rand () % 1000) * 1000));
evt.signal ();
}
ACE_Thread::yield ();
}
return 0;
}
/// @todo: rather than is_error, use pacing interval so it will be configurable
/// @todo: find some way to use batch buffering stratgy for sequence consumers.
void
TAO_Notify_Consumer::schedule_timer (bool is_error)
{
if (this->timer_id_ != -1)
{
return; // We only want a single timeout scheduled.
}
// don't schedule timer if there's nothing that can be done
if (this->is_suspended ())
{
return;
}
ACE_ASSERT (this->timer_.get() != 0);
// If we're scheduling the timer due to an error then we want to
// use the retry timeout, otherwise we'll assume that the pacing
// interval is sufficient for now.
ACE_Time_Value tv (DEFAULT_RETRY_TIMEOUT);
if (! is_error)
{
if (this->pacing_.is_valid ())
{
tv = ORBSVCS_Time::to_Time_Value (this->pacing_.value ());
}
}
if (DEBUG_LEVEL > 5)
{
ORBSVCS_DEBUG ((LM_DEBUG,
ACE_TEXT ("Consumer %d: scheduling pacing/retry for %dms.\n"),
static_cast<int> (this->proxy ()->id ()), tv.msec ()));
}
this->timer_id_ =
this->timer_->schedule_timer (this, tv, ACE_Time_Value::zero);
if (this->timer_id_ == -1)
{
ORBSVCS_ERROR ((LM_ERROR,
ACE_TEXT ("TAO_Notify_Consumer %d::schedule_timer () ")
ACE_TEXT ("Error scheduling timer.\n"),
static_cast<int> (this->proxy ()->id ())
));
}
if (this->is_suspended()) // double check to avoid race
{
this->cancel_timer();
}
}
int run_main (int argc, ACE_TCHAR *argv[])
{
// parse options and run in appropriate mode
int opt = 0;
int auto_test_recv = 0;
int result = 0;
ACE_Get_Opt opts (argc, argv, ACE_TEXT ("p:t:n:sra"));
while ((opt = opts ()) != -1)
switch (opt)
{
case 'a':
auto_test_recv = 1;
break;
case 's':
return (run_sender());
case 'r':
{
if (auto_test_recv)
{
ACE_START_TEST (ACE_TEXT ("SOCK_Dgram_Bcast_Test_Child"));
result = run_receiver ();
ACE_END_TEST;
return result;
}
return (run_receiver ());
}
case 'n':
dgrams_no = ACE_OS::atoi (opts.opt_arg ());
break;
case 't':
dgram_recv_timeout.msec (ACE_OS::atoi (opts.opt_arg ()));
break;
case 'p':
dgram_port = ACE_OS::atoi (opts.opt_arg ());
break;
default:
print_usage ();
return -1;
}
ACE_START_TEST (ACE_TEXT ("SOCK_Dgram_Bcast_Test"));
#ifndef ACE_LACKS_IOCTL
result = run_auto_test (argc > 0 ? argv[0] : ACE_TEXT ("SOCK_Dgram_Bcast_Test"));
#endif
ACE_END_TEST;
return result;
}
// this routine makes up the brains of the agent
// it knows only the MIB II system group set of variables for a get operation
int agent_impl::get_response(Vb& vb)
{
// these objects represent the MIB II system group per RFC 1213
static Oid sysDescr("1.3.6.1.2.1.1.1.0"),
sysObjectID("1.3.6.1.2.1.1.2.0"), sysUpTime("1.3.6.1.2.1.1.3.0"),
sysContact("1.3.6.1.2.1.1.4.0"), sysName("1.3.6.1.2.1.1.5.0"),
sysLocation("1.3.6.1.2.1.1.6.0"), sysServices("1.3.6.1.2.1.1.7.0");
Oid oid;
vb.get_oid(oid);
if (oid == sysDescr) {
OctetStr desc("ASNMP Prototype Agent 1.0");
vb.set_value(desc);
}
else if (oid == sysObjectID) { // the IANA gives assigns Enterprise Numbers
// see ftp://ftp.isi.edu/in-notes/iana/assignments/enterprise-numbers
// for the official list of enterprise numbers. Then under this tree
// assign a unique subtree to identify this agent
Oid id("1.3.6.1.4.1.2533.9.1");
vb.set_value(id);
}
else if (oid == sysUpTime) {
ACE_Time_Value tv;
agent_clock_.elapsed_time (tv);
TimeTicks tt(tv.msec());
vb.set_value(tt);
}
else if (oid == sysContact) {
OctetStr contact("*****@*****.**");
vb.set_value(contact);
}
else if (oid == sysName) {
OctetStr fqdn("foo.org"); // extract this from the gethostbyname() TODO
vb.set_value(fqdn);
}
else if (oid == sysLocation) {
OctetStr loc("");
vb.set_value(loc);
}
else if (oid == sysServices) {
SnmpInt32 svcs(72);
vb.set_value(svcs);
}
else
return 1; // noSuchName
return 0;
}
bool LeafClientHandler::leftSiblingPeer(UUIDPtr& uuid, CellIDPtr& cellID) {
ACE_GUARD_RETURN(ACE_SYNCH_RECURSIVE_MUTEX, ace_mon, m_lock, false);
SthenoPacket *packet = 0;
if (m_debugLeafClientHandler) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)INFO: LeafClientHandler:leftSiblingPeer(): PEER(%s,%s)\n"),
uuid->toString().c_str(),
cellID->toString().c_str()));
}
UUIDPtr srcCellID(new CellID(m_cellID.get()));
UUIDPtr dstCellID(new CellID(m_cellID.get()));
UUIDPtr runtimeUUID;
m_mesh->getUUID(runtimeUUID);
packet = new LeaveMeshPacket(runtimeUUID,
srcCellID,
m_uuid,
dstCellID,
0,
uuid,
cellID);
RequestEngine<SthenoPacket*>::RequestPtr* request = sendRequest(packet, 0);
delete packet;
if (request == 0) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler:leftSiblingPeer() - Request failed\n")));
return 0;
}
//ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T)Before wait future\n");
ACE_Time_Value timeout = ACE_OS::gettimeofday();
ACE_Time_Value delta;
delta.msec(LEAVE_CELL_TIMEOUT_MS);
timeout += delta;
list<SthenoPacket*>* results = request->get()->waitFuture(0);
ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T) LeafClientHandler:leftSiblingPeer() After future\n")));
//ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T)After future\n");
if (results != 0 && results->size() > 0) {
LeaveMeshReplyPacket* replyPacket = static_cast<LeaveMeshReplyPacket*> (results->front());
bool status = replyPacket->getLeaveResult();
ListHelper<SthenoPacket*>::deleteList(results);
return status;
} else {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler::leftSiblingPeer() - No response\n")));
}
return false;
}
bool LeafClientHandler::updateInfo(InfoUpdatePtr& updateInfoPtr) {
ACE_GUARD_RETURN(ACE_SYNCH_RECURSIVE_MUTEX, ace_mon, m_lock, false);
SthenoPacket *packet = 0;
UUIDPtr srcCellID(new CellID(m_cellID.get()));
UUIDPtr dstCellID(new CellID(m_cellID.get()));
StreamSize ss;
updateInfoPtr->serialize(ss);
ByteOutputStream os(ss.total_length());
updateInfoPtr->serialize(os);
ACE_Message_Block* mb = new ACE_Message_Block(RDR::total_length(&os.start_, 0));
RDR::consolidate(mb, &os.start_);
UUIDPtr runtimeUUID;
m_mesh->getUUID(runtimeUUID);
UUIDPtr fid;
m_mesh->getFID(fid);
packet = new UpdateInfoPacket(runtimeUUID,
srcCellID,
m_uuid,
dstCellID,
0,
mb);
RequestEngine<SthenoPacket*>::RequestPtr* request = sendRequest(packet, 0);
delete packet;
if (request == 0) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler:updateInfo() - Request failed\n")));
return 0;
}
//ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T)Before wait future\n");
ACE_Time_Value timeout = ACE_OS::gettimeofday();
ACE_Time_Value delta;
delta.msec(JOIN_CELL_TIMEOUT_MS);
timeout += delta;
list<SthenoPacket*>* results = request->get()->waitFuture(0);
//ACE_DEBUG((LM_DEBUG,ACE_TEXT("(%t|%T)After future\n");
if (results != 0 && results->size() > 0) {
UpdateInfoReplyPacket* replyPacket = static_cast<UpdateInfoReplyPacket*> (results->front());
bool status = replyPacket->getUpdateResult();
ListHelper<SthenoPacket*>::deleteList(results);
return status;
} else {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: LeafClientHandler::updateInfo() - No response\n")));
}
return false;
}
int main(int argc, char *argv[])
{
int rc = 1;
// Initialize system log output.
Miro::Log::init(argc, argv);
// Initialize server daemon.
Miro::Client client(argc, argv);
try {
// Reference to the server object
Miro::Kicker_var kicker = client.resolveName<Miro::Kicker>("Kicker");
std::cout << "Kicker test!" << std::endl
<< "Kick duration in msec (0 to quit): " << std::endl;
unsigned int duration;
while(std::cin >> duration &&
duration > 0) {
std::cout << "Kicker test!" << std::endl
<< "Kick duration in msec (0 to quit): " << std::endl;
ACE_Time_Value aT;
aT.msec(duration);
Miro::TimeIDL cT;
Miro::timeA2C(aT, cT);
MIRO_LOG_OSTR(LL_NOTICE,
"Entered kick duration: " <<
cT.sec << "sec " << cT.usec << "usec");
kicker->kick(cT);
duration = 0;
}
rc = 0;
}
catch (const Miro::EOutOfBounds & e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Out of bounds exception on serve:" << std::endl << e);
}
catch (const Miro::EDevIO & e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Device IO exception on server:" << std::endl << e);
}
catch (const CORBA::Exception & e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Uncaught CORBA exception:" << std::endl << e);
}
return rc;
}
int LibVidCap::video_capture_callback(vidcap_src* vc_src, void* user_data,
struct vidcap_capture_info* cap_info)
{
LibVidCap* lsn = static_cast<LibVidCap*>(user_data);
media::VideoFormat vidfmt = lsn->GetVideoCaptureFormat();
if(vidfmt.IsValid() && cap_info->video_data && cap_info->video_data_size)
{
ACE_Time_Value tm(cap_info->capture_time_sec, cap_info->capture_time_usec);
ACE_Time_Value diff = ACE_OS::gettimeofday() - tm;
ACE_UINT32 tm_msec = GETTIMESTAMP() - (ACE_UINT32)diff.msec();
media::VideoFrame vid_frm(const_cast<char*>(cap_info->video_data), cap_info->video_data_size,
vidfmt.width, vidfmt.height, vidfmt.fourcc, true);
vid_frm.timestamp = tm_msec;
lsn->DoVideoCaptureCallback(vid_frm);
}
return 0;
}
int KSG_Reactor_Work_Thr::do_task(KSG_Service_Handler *handle)
{
int ret;
ACE_Time_Value estimated = ACE_OS::gettimeofday() - handle->request_time_;
long t = estimated.msec();
if(t > handle->default_timeout())
{
// 更新业务处理完成时间
ACE_DEBUG((LM_ERROR,"对方请求已经等待超时...[%d]ms",handle->default_timeout()));
// 通知句柄以处理完成
handle->process_end();
if(!handle->closed())
handle->handle_close();
return -1;
}
ret = handle->process_request();
// 更新业务处理完成时间
handle->process_end();
return ret;
}
void
test_i::method (CORBA::ULong request_number,
CORBA::Long start_time,
const test::data &,
CORBA::ULong work)
{
ACE_Time_Value start (0);
// HPUX seems to require this cast
start.msec (static_cast<long> (start_time));
ACE_DEBUG ((LM_DEBUG,
"server:\t%d took\t%dms\n",
request_number,
(ACE_OS::gettimeofday () - start).msec ()));
// Time required to process this request. <work> is time units in
// milli seconds.
ACE_Time_Value work_time (0, work * 1000);
ACE_OS::sleep (work_time);
}
int ActuatorSvcHandler::open(void *arg) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%T)INFO: ActuatorSvcHandler::open\n")));
int ret = PacketChannel<SthenoStreamPacket, SthenoStreamHeader, //DiscoveryPacketFactory,
ACE_SOCK_Stream, ACE_MT_SYNCH>::open(arg);
if (ret == -1) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%T)INFO: ActuatorSvcHandler::open failed\n")));
return -1;
}
//ACE_Time_Value receiveTimeout(0, MAX_OPEN_TIMEOUT_MS * 1000);
ACE_Time_Value receiveTimeout;
receiveTimeout.msec(MAX_OPEN_TIMEOUT_MS);
SthenoStreamPacket* recvPacket = 0;
receivePacket(recvPacket, &receiveTimeout);
if (recvPacket == 0) {
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)INFO: ActuatorSvcHandler::open - no init packet\n")));
return -1;
}
switch (recvPacket->getPacketHeader()->getType()) {
case InitSessionPacket::INIT_SESSION_PACKET_OP:
{
InitSessionPacket* initSessionPacket = static_cast<InitSessionPacket*> (recvPacket);
m_pid = initSessionPacket->getUUID();
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)INFO: ActuatorSvcHandler::open - PID=%s\n"), m_pid->toString().c_str()));
m_fid = initSessionPacket->getFID();
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)INFO: ActuatorSvcHandler::open - OK PID=%s\n"), m_pid->toString().c_str()));
return 0;
}
default:
{
ACE_DEBUG((LM_DEBUG, ACE_TEXT("(%t|%T)ERROR: ActuatorSvcHandler::open() - processJoinCell packet not known, calling close()\n")));
close();
return -1;
}
}
}
void Player_Qos::write_ready( size_t len)
{
if( !start_qos_)
return;
//累计发送字节数
write_bytes_ += len;
//累计发送时间
ACE_Time_Value now =ACE_OS::gettimeofday();
now -= start_time_;
use_time_ += now.msec();
//满足统计要求
if( write_bytes_ >= CALCUATE_BYTES_WRITE)
{
ACE_UINT64 tv =use_time_*1024 / write_bytes_;
if( tv > ACE_Numeric_Limits<signed int>::max())
qos_quality_ =ACE_Numeric_Limits<signed int>::max();
else
qos_quality_ =(int)tv;
use_time_ =0;
write_bytes_ =0;
}
else if( use_time_ > 10000 && write_bytes_)
{
//如果超过10s还没有完成1k数据的发送也要进行计算
ACE_UINT64 tv =use_time_*1024 / write_bytes_;
if( tv > ACE_Numeric_Limits<signed int>::max())
qos_quality_ =ACE_Numeric_Limits<signed int>::max();
else
qos_quality_ =(int)tv;
}
start_qos_ =false;
}
pid_t
ACE_Process::wait (const ACE_Time_Value &tv,
ACE_exitcode *status)
{
#if defined (ACE_WIN32)
// Don't try to get the process exit status if wait failed so we can
// keep the original error code intact.
switch (::WaitForSingleObject (process_info_.hProcess,
tv.msec ()))
{
case WAIT_OBJECT_0:
// The error status of <GetExitCodeProcess> is nonetheless not
// tested because we don't know how to return the value.
::GetExitCodeProcess (process_info_.hProcess,
&this->exit_code_);
if (status != 0)
*status = this->exit_code_;
return this->getpid ();
case WAIT_TIMEOUT:
errno = ETIME;
return 0;
default:
ACE_OS::set_errno_to_last_error ();
return -1;
}
#elif defined(ACE_LACKS_UNIX_SIGNALS)
if (tv == ACE_Time_Value::zero)
{
pid_t retv =
ACE_OS::waitpid (this->child_id_,
&this->exit_code_,
WNOHANG);
if (status != 0)
*status = this->exit_code_;
return retv;
}
if (tv == ACE_Time_Value::max_time)
# if defined (ACE_VXWORKS)
{
pid_t retv;
while ((retv = this->wait (status)) == ACE_INVALID_PID && errno == EINTR);
return retv;
}
# else
return this->wait (status);
# endif
pid_t pid = 0;
ACE_Time_Value sleeptm (1); // 1 msec
if (sleeptm > tv) // if sleeptime > waittime
sleeptm = tv;
ACE_Time_Value tmo (tv); // Need one we can change
for (ACE_Countdown_Time time_left (&tmo); tmo > ACE_Time_Value::zero ; time_left.update ())
{
pid = ACE_OS::waitpid (this->getpid (),
&this->exit_code_,
WNOHANG);
if (status != 0)
*status = this->exit_code_;
if (pid > 0 || pid == ACE_INVALID_PID)
break; // Got a child or an error - all done
// pid 0, nothing is ready yet, so wait.
// Do a (very) short sleep (only this thread sleeps).
ACE_OS::sleep (sleeptm);
}
return pid;
#else /* !ACE_WIN32 && !ACE_LACKS_UNIX_SIGNALS */
if (tv == ACE_Time_Value::zero)
{
pid_t retv =
ACE_OS::waitpid (this->child_id_,
&this->exit_code_,
WNOHANG);
if (status != 0)
*status = this->exit_code_;
return retv;
}
if (tv == ACE_Time_Value::max_time)
return this->wait (status);
// Need to wait but limited to specified time.
// Force generation of SIGCHLD, even though we don't want to
// catch it - just need it to interrupt the sleep below.
// If this object has a reactor set, assume it was given at
// open(), and there's already a SIGCHLD action set, so no
// action is needed here.
ACE_Sig_Action old_action;
ACE_Sig_Action do_sigchld ((ACE_SignalHandler)sigchld_nop);
do_sigchld.register_action (SIGCHLD, &old_action);
pid_t pid;
ACE_Time_Value tmo (tv); // Need one we can change
for (ACE_Countdown_Time time_left (&tmo); ; time_left.update ())
{
pid = ACE_OS::waitpid (this->getpid (),
&this->exit_code_,
WNOHANG);
if (status != 0)
*status = this->exit_code_;
if (pid > 0 || pid == ACE_INVALID_PID)
break; // Got a child or an error - all done
// pid 0, nothing is ready yet, so wait.
// Do a sleep (only this thread sleeps) til something
// happens. This relies on SIGCHLD interrupting the sleep.
// If SIGCHLD isn't delivered, we'll need to do something
// with sigaction to force it.
if (-1 == ACE_OS::sleep (tmo) && errno == EINTR)
continue;
// Timed out
pid = 0;
break;
}
// Restore the previous SIGCHLD action if it was changed.
old_action.register_action (SIGCHLD);
return pid;
#endif /* ACE_WIN32 */
}
void EthReceiver::run()
{
//attention: don't insert too prints because this function is called every 1 millisec
ACE_TCHAR address[64];
ethResources *ethRes;
ssize_t recv_size;
ACE_INET_Addr sender_addr;
char incoming_msg[RECV_BUFFER_SIZE];
int flags = 0;
static int countstat =0;
int num_pkt;
int myerr;
ACE_Time_Value recvTimeOut;
fromDouble(recvTimeOut, 0.01);
double myTestTimeout = recvTimeOut.sec() + (double)recvTimeOut.msec()/1000.0f;
countstat++;
if(countstat== MAX_COUNT_STAT)
{
double av, std, avUsed, stdUsed;
getEstPeriod (av, std);
getEstUsed (avUsed, stdUsed);
yDebug()<< "=== estPeriod: av=" <<av<<" std=" <<std;
yDebug()<< "===UsedPeriod: av=" <<avUsed<<" std=" <<stdUsed;
countstat = 0;
}
#ifdef _STATS_DEBUG_FOR_CYCLE_TIME_
for(int i=1; i<=9; i++)
{
stats[i].resetStat();
}
#endif
flags |= MSG_DONTWAIT;
while(num_pkt<MAX_NUM_PKT)
{
// per ogni msg ricevuto -1 visto come 65535!!
recv_size = recv_socket->recv((void *) incoming_msg, RECV_BUFFER_SIZE, sender_addr, flags);
if(recv_size < 1)
{
//if i'm here socket input queue is empty
return;
}
ethManager->managerMutex.wait();
// new, reverse iterator
ethResRIt riterator, _rBegin, _rEnd;
_rBegin = ethResList->rbegin();
_rEnd = ethResList->rend();
ethManager->managerMutex.post();
if( recv_size > 60000)
{
yWarning() << "Huge message received " << recv_size;
}
#ifdef _STATS_DEBUG_FOR_CYCLE_TIME_
int board = getBoardNum(sender_addr);
// For statistic purpose
stats[board].tickStart();
#endif
//if i rec a pkt, then looking for the sender ems and parse the pkt
sender_addr.addr_to_string(address, 64);
riterator = _rBegin;
while(riterator != _rEnd)
{
ethRes = (*riterator);
if(ethRes->getRemoteAddress() == sender_addr)
{
if(recv_size > ethRes->getBufferSize())
{
yError() << "EthReceiver got a message of wrong size ( received" << recv_size << " bytes while buffer is" << ethRes->getBufferSize() << " bytes long)";
}
else
{
memcpy(ethRes->recv_msg, incoming_msg, recv_size);
ethRes->onMsgReception(ethRes->recv_msg, recv_size);
}
break;
}
riterator++;
}
#ifdef _STATS_DEBUG_FOR_CYCLE_TIME_
stats[board].tickEnd();
//compute statistics
if (stats[board].getIterations() == 2000)
{
double avEst=0;
double stdEst=0;
double avUsed=0;
double stdUsed=0;
stats[board].getEstPeriod(avEst, stdEst);
stats[board].getEstUsed(avUsed, stdUsed);
printf("EthReceiver Thread [%d] run %d times, est period: %.3lf, +-%.4lf[ms], est used: %.3lf, +-%.4lf[ms]\n", board, stats[board].getIterations(), avEst, stdEst, avUsed, stdUsed);
stats[board].resetStat();
}
double totUsed = 0;
if(board == 9)
{
for(int i=1; i<=9; i++)
{
totUsed += stats[i].getElapsed();
}
if(totUsed >= 0.95)
printf("**EthReceiver Thread: total used time to precess 9 ropframe is %f**\n", totUsed);
}
#endif
num_pkt++;
}
// yError() << "Exiting recv thread";
return;
}
void EthReceiver::run()
{
yTrace();
ACE_TCHAR address[64];
ethResources *ethRes;
ssize_t recv_size;
ACE_INET_Addr sender_addr;
char incoming_msg[RECV_BUFFER_SIZE];
bool recError = false;
bool allEmsInConfigstate = true; //if true means all ems are in config state
//yDebug() << "Starting udp RECV thread with prio "<< getPriority() << "\n";
ACE_Time_Value recvTimeOut;
fromDouble(recvTimeOut, 0.01);
#ifdef ETHRECEIVER_STATISTICS_ON
bool isFirst =true;
double last_time, curr_time, diff;
double before_rec, after_rec, diff_onRec;
double before_mutex, after_mutex, diff_onMutex;
int count;
#define count_max 5000
#endif
while(!isStopping())
{
#ifdef ETHRECEIVER_STATISTICS_ON
before_rec = yarp::os::Time::now();
#endif
//get pkt from socket: blocking call with timeout
recv_size = recv_socket->recv((void *) incoming_msg, RECV_BUFFER_SIZE, sender_addr, 0, &recvTimeOut);
#ifdef ETHRECEIVER_STATISTICS_ON
after_rec = yarp::os::Time::now();
diff_onRec = after_rec - before_rec;
stat_onRecFunc->add((diff_onRec*1000));
#endif
if(!isRunning())
{
continue; //i go to recv a new pkt and wait someone to stop me
}
#ifdef ETHRECEIVER_STATISTICS_ON
before_mutex = yarp::os::Time::now();
#endif
//take pointers to ems board list
ethManager->managerMutex.wait();
// new, reverse iterator
ethResRIt riterator, _rBegin, _rEnd;
_rBegin = ethResList->rbegin();
_rEnd = ethResList->rend();
ethManager->managerMutex.post();
#ifdef ETHRECEIVER_STATISTICS_ON
after_mutex = yarp::os::Time::now();
diff_onMutex = after_mutex - before_mutex;
stat_onMutex->add((diff_onMutex*1000));
#endif
//i get here because of timeout ot i received a pkt;in both cases i check if all boards are alive.In the meanwhile i check if all ems are in config state.
riterator = _rBegin;
bool allEmsInConfigstate = true;
double curr_time = yarp::os::Time::now();
while(riterator != _rEnd)
{
ethRes = (*riterator);
if(ethRes->isRunning())
{
ethRes->checkIsAlive(curr_time);
allEmsInConfigstate = true;
}
riterator++;
}
if(recv_size < 1)
{
//print error if have not already done and if one or more ems boards are in running state , so thy should sent pkt every 1 msec
if((!recError) &&(!allEmsInConfigstate))
{
//if i'm here, i exited from recv because of timeout
yError() << "EthReceiver: passed " <<recvTimeOut.msec() << " ms without receive a pkt!!";
recError = true;
}continue; //try to receive again
}
else
{
recError=false;
}
#ifdef ETHRECEIVER_STATISTICS_ON
if(isFirst)
{
last_time = yarp::os::Time::now();
isFirst = false;
}
else
{
curr_time = yarp::os::Time::now();
diff = curr_time - last_time;
stat->add((diff*1000));
if (diff> 0.006)
yError() <<"ethReceiver pass more 6 mill without activity!!! diff= "<< diff;
count++;
last_time = curr_time;
}
if(count == count_max)
{
yDebug()<< "ETHRECEIVER stat: avg=" << stat->mean()<< "ms std=" << stat->deviation()<< "ms min=" << stat->getMin() << "ms max=" << stat->getMax()<< "ms " ;
yDebug()<< "ETHRECEIVER stat_onRecFunc: avg=" << stat_onRecFunc->mean()<< "ms std=" << stat_onRecFunc->deviation()<< "ms min=" << stat_onRecFunc->getMin() << "ms max=" << stat_onRecFunc->getMax()<< "ms " ;
yDebug()<< "ETHRECEIVER stat_onMutex: avg=" << stat_onMutex->mean()<< "ms std=" << stat_onMutex->deviation()<< "ms min=" << stat_onMutex->getMin() << "ms max=" << stat_onMutex->getMax()<< "ms " ;
count = 0;
stat->clear();
stat_onRecFunc->clear();
stat_onMutex->clear();
}
#endif
//if i rec a pkt, then looking for the sender ems and parse the pkt
sender_addr.addr_to_string(address, 64);
riterator = _rBegin;
while(riterator != _rEnd)
{
ethRes = (*riterator);
if(ethRes->getRemoteAddress() == sender_addr)
{
if(recv_size > ethRes->getBufferSize())
{
yError() << "EthReceiver got a message of wrong size ( received" << recv_size << " bytes while buffer is" << ethRes->getBufferSize() << " bytes long)";
}
else
{
memcpy(ethRes->recv_msg, incoming_msg, recv_size);
ethRes->onMsgReception(ethRes->recv_msg, recv_size);
}
break;
}
riterator++;
}
}//while(!isStopping)
// yError() << "Exiting recv thread";
return;
}
