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 ARNETWORK_Sender_GotPingAck (ARNETWORK_Sender_t *senderPtr, struct timespec *startTime, struct timespec *endTime)
{
ARSAL_Mutex_Lock (&(senderPtr->pingMutex));
if ((senderPtr->isPingRunning == 1) &&
(ARSAL_Time_TimespecEquals (startTime, &(senderPtr->pingStartTime))))
{
senderPtr->lastPingValue = ARSAL_Time_ComputeTimespecMsTimeDiff (startTime, endTime);
senderPtr->isPingRunning = 0;
}
ARSAL_Mutex_Unlock (&(senderPtr->pingMutex));
}
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_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;
}
