int heartbeat_container_init_context(heartbeat_container* hc,
uint64_t window_size,
int log_fd,
heartbeat_window_complete* hwc_callback) {
if (heartbeat_container_init(hc, window_size)) {
return -1;
}
heartbeat_init(&hc->hb, window_size, hc->window_buffer, log_fd,
hwc_callback);
return 0;
}
static void
load_xcode(void)
{
FILE *fp;
int xcode_version;
int filemode;
initialize_colorize();
fprintf(stderr, "LOADING: %s\n", mudconf.hcode_db);
fp = my_open_file(mudconf.hcode_db, "rb", &filemode);
if (!fp) {
fprintf(stderr, "ERROR: %s not found.\n", mudconf.hcode_db);
return;
}
fread(&xcode_version, sizeof(xcode_version), 1, fp);
if (xcode_version != XCODE_MAGIC) {
fprintf(stderr,
"LOADING: %s (skipped xcodetree - version difference: 0x%08X vs 0x%08X)\n",
mudconf.hcode_db, xcode_version, XCODE_MAGIC);
return;
}
if (!load_btdb()) {
/* TODO: We could be more graceful about this... */
exit(EXIT_FAILURE);
}
rb_walk(xcode_tree, WALK_INORDER, load_update1, fp);
rb_walk(xcode_tree, WALK_INORDER, load_update2, NULL);
rb_walk(xcode_tree, WALK_INORDER, load_update3, NULL);
rb_walk(xcode_tree, WALK_INORDER, load_update4, NULL);
/* Read in autopilot data */
rb_walk(xcode_tree, WALK_INORDER, load_autopilot_data, NULL);
if (!feof(fp))
loadrepairs(fp);
my_close_file(fp, &filemode);
fprintf(stderr, "LOADING: %s (done)\n", mudconf.hcode_db);
#ifdef BT_ADVANCED_ECON
load_econdb();
#endif
heartbeat_init();
}
void gears_init(void)
{
int i;
for(i = 0; i < 7; i++)
motorPD[i] = 15;
/* Set Mystro MOTOR to outputs */
DDRD |= 0xfc; //Port D pins 2 - 7
/* Set Mystro DIGITAL to inputs */
DDRB &= 0xc0; //Port B pins 0 - 5
PORTB |= 0x3f; //Enable pull-ups on pins 0 - 5
/* Initialize Mystro ANALOG inputs */
adc_init(ADC_AVCC, ADC_8BIT);
/* Set interval for 10us */
heartbeat_init(100);
/* Turn on universal interrupts */
sei();
}
int main(int argc, char *argv[])
{
mmatic *mm = mmatic_create();
mmatic *mmtmp = mmatic_create();
struct mg *mg;
int i;
/*
* initialize and parse config
*/
mg = mmatic_zalloc(mm, sizeof(struct mg));
mg->mm = mm;
mg->mmtmp = mmtmp;
apply_defaults(mg);
/* get my id number from hostname */
fetch_myid(mg);
/* parse command line options */
if (parse_argv(mg, argc, argv))
return 1;
/* parse configuration file options */
if (mg->options.conf_file) {
if (parse_config(mg))
return 4;
}
/*
* config syntax looks OK, see if it is feasible
*/
/* initialize random number generator */
srand48(mg->options.myid);
/* init libevent */
mg->evb = event_init();
event_set_log_callback(libevent_log);
/* init stats structures so mgstats_aggregator_add() used somewhere below works */
mgstats_init(mg);
/* attach to raw interfaces */
if (mgi_init(mg, handle_packet) <= 0) {
dbg(0, "no available interfaces found\n");
return 2;
}
/* parse traffic file */
if (parse_traffic(mg))
return 3;
/*
* all OK, prepare to start
*/
/* synchronize time reference point on all nodes */
mgc_sync(mg);
/* schedule stats writing */
mgstats_start(mg);
/* attach global stats */
_stats_init(mg);
/* schedule heartbeat and disk sync signals */
heartbeat_init(mg);
sync_init(mg);
/* schedule the real work of this node: line generators */
for (i = 1; i < TRAFFIC_LINE_MAX; i++) {
if (!(mg->lines[i] && mg->lines[i]->my))
continue;
/* this will schedule first execution */
mgs_sleep(mg->lines[i], NULL);
mg->running++;
}
/* suppose last frame was received now */
gettimeofday(&mg->last, NULL);
/*
* start!
*/
dbg(0, "Starting\n");
event_base_dispatch(mg->evb);
/*******************************/
/*
* cleanup after end of libevent loop
*/
event_base_free(mg->evb);
mmatic_free(mg->mm);
mmatic_free(mg->mmtmp);
fflush(NULL);
sync();
return 0;
}
void *proc_diskspace_main(void *ptr) {
struct netdata_static_thread *static_thread = (struct netdata_static_thread *)ptr;
info("DISKSPACE thread created with task id %d", gettid());
if(pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED, NULL) != 0)
error("DISKSPACE: Cannot set pthread cancel type to DEFERRED.");
if(pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL) != 0)
error("DISKSPACE: Cannot set pthread cancel state to ENABLE.");
int vdo_cpu_netdata = config_get_boolean("plugin:proc", "netdata server resources", 1);
int update_every = (int)config_get_number(CONFIG_SECTION_DISKSPACE, "update every", localhost->rrd_update_every);
if(update_every < localhost->rrd_update_every)
update_every = localhost->rrd_update_every;
check_for_new_mountpoints_every = (int)config_get_number(CONFIG_SECTION_DISKSPACE, "check for new mount points every", check_for_new_mountpoints_every);
if(check_for_new_mountpoints_every < update_every)
check_for_new_mountpoints_every = update_every;
struct rusage thread;
usec_t duration = 0;
usec_t step = update_every * USEC_PER_SEC;
heartbeat_t hb;
heartbeat_init(&hb);
for(;;) {
duration = heartbeat_dt_usec(&hb);
/* usec_t hb_dt = */ heartbeat_next(&hb, step);
if(unlikely(netdata_exit)) break;
// --------------------------------------------------------------------------
// this is smart enough not to reload it every time
mountinfo_reload(0);
// --------------------------------------------------------------------------
// disk space metrics
struct mountinfo *mi;
for(mi = disk_mountinfo_root; mi; mi = mi->next) {
if(unlikely(mi->flags & (MOUNTINFO_IS_DUMMY | MOUNTINFO_IS_BIND)))
continue;
do_disk_space_stats(mi, update_every);
if(unlikely(netdata_exit)) break;
}
if(unlikely(netdata_exit)) break;
dictionary_get_all(dict_mountpoints, mount_point_cleanup, NULL);
if(vdo_cpu_netdata) {
static RRDSET *stcpu_thread = NULL, *st_duration = NULL;
static RRDDIM *rd_user = NULL, *rd_system = NULL, *rd_duration = NULL;
// ----------------------------------------------------------------
getrusage(RUSAGE_THREAD, &thread);
if(!stcpu_thread) {
stcpu_thread = rrdset_find_localhost("netdata.plugin_diskspace");
if(!stcpu_thread)
stcpu_thread = rrdset_create_localhost(
"netdata"
, "plugin_diskspace"
, NULL
, "diskspace"
, NULL
, "NetData Disk Space Plugin CPU usage"
, "milliseconds/s"
, 132020
, update_every
, RRDSET_TYPE_STACKED
);
rd_user = rrddim_add(stcpu_thread, "user", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
rd_system = rrddim_add(stcpu_thread, "system", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
}
else
rrdset_next(stcpu_thread);
rrddim_set_by_pointer(stcpu_thread, rd_user, thread.ru_utime.tv_sec * 1000000ULL + thread.ru_utime.tv_usec);
rrddim_set_by_pointer(stcpu_thread, rd_system, thread.ru_stime.tv_sec * 1000000ULL + thread.ru_stime.tv_usec);
rrdset_done(stcpu_thread);
// ----------------------------------------------------------------
if(!st_duration) {
st_duration = rrdset_find_localhost("netdata.plugin_diskspace_dt");
if(!st_duration)
st_duration = rrdset_create_localhost(
"netdata"
, "plugin_diskspace_dt"
, NULL
, "diskspace"
, NULL
, "NetData Disk Space Plugin Duration"
, "milliseconds/run"
, 132021
, update_every
, RRDSET_TYPE_AREA
);
rd_duration = rrddim_add(st_duration, "duration", NULL, 1, 1000, RRD_ALGORITHM_ABSOLUTE);
}
else
rrdset_next(st_duration);
rrddim_set_by_pointer(st_duration, rd_duration, duration);
rrdset_done(st_duration);
// ----------------------------------------------------------------
if(unlikely(netdata_exit)) break;
}
}
info("DISKSPACE thread exiting");
static_thread->enabled = 0;
pthread_exit(NULL);
return NULL;
}
void *proc_diskspace_main(void *ptr) {
netdata_thread_cleanup_push(diskspace_main_cleanup, ptr);
int vdo_cpu_netdata = config_get_boolean("plugin:proc", "netdata server resources", 1);
cleanup_mount_points = config_get_boolean(CONFIG_SECTION_DISKSPACE, "remove charts of unmounted disks" , cleanup_mount_points);
int update_every = (int)config_get_number(CONFIG_SECTION_DISKSPACE, "update every", localhost->rrd_update_every);
if(update_every < localhost->rrd_update_every)
update_every = localhost->rrd_update_every;
check_for_new_mountpoints_every = (int)config_get_number(CONFIG_SECTION_DISKSPACE, "check for new mount points every", check_for_new_mountpoints_every);
if(check_for_new_mountpoints_every < update_every)
check_for_new_mountpoints_every = update_every;
struct rusage thread;
usec_t duration = 0;
usec_t step = update_every * USEC_PER_SEC;
heartbeat_t hb;
heartbeat_init(&hb);
while(!netdata_exit) {
duration = heartbeat_dt_usec(&hb);
/* usec_t hb_dt = */ heartbeat_next(&hb, step);
if(unlikely(netdata_exit)) break;
// --------------------------------------------------------------------------
// this is smart enough not to reload it every time
mountinfo_reload(0);
// --------------------------------------------------------------------------
// disk space metrics
struct mountinfo *mi;
for(mi = disk_mountinfo_root; mi; mi = mi->next) {
if(unlikely(mi->flags & (MOUNTINFO_IS_DUMMY | MOUNTINFO_IS_BIND)))
continue;
do_disk_space_stats(mi, update_every);
if(unlikely(netdata_exit)) break;
}
if(unlikely(netdata_exit)) break;
if(dict_mountpoints)
dictionary_get_all(dict_mountpoints, mount_point_cleanup, NULL);
if(vdo_cpu_netdata) {
static RRDSET *stcpu_thread = NULL, *st_duration = NULL;
static RRDDIM *rd_user = NULL, *rd_system = NULL, *rd_duration = NULL;
// ----------------------------------------------------------------
getrusage(RUSAGE_THREAD, &thread);
if(unlikely(!stcpu_thread)) {
stcpu_thread = rrdset_create_localhost(
"netdata"
, "plugin_diskspace"
, NULL
, "diskspace"
, NULL
, "NetData Disk Space Plugin CPU usage"
, "milliseconds/s"
, "diskspace"
, NULL
, 132020
, update_every
, RRDSET_TYPE_STACKED
);
rd_user = rrddim_add(stcpu_thread, "user", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
rd_system = rrddim_add(stcpu_thread, "system", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
}
else
rrdset_next(stcpu_thread);
rrddim_set_by_pointer(stcpu_thread, rd_user, thread.ru_utime.tv_sec * 1000000ULL + thread.ru_utime.tv_usec);
rrddim_set_by_pointer(stcpu_thread, rd_system, thread.ru_stime.tv_sec * 1000000ULL + thread.ru_stime.tv_usec);
rrdset_done(stcpu_thread);
// ----------------------------------------------------------------
if(unlikely(!st_duration)) {
st_duration = rrdset_create_localhost(
"netdata"
, "plugin_diskspace_dt"
, NULL
, "diskspace"
, NULL
, "NetData Disk Space Plugin Duration"
, "milliseconds/run"
, "diskspace"
, NULL
, 132021
, update_every
, RRDSET_TYPE_AREA
);
rd_duration = rrddim_add(st_duration, "duration", NULL, 1, 1000, RRD_ALGORITHM_ABSOLUTE);
}
else
rrdset_next(st_duration);
rrddim_set_by_pointer(st_duration, rd_duration, duration);
rrdset_done(st_duration);
// ----------------------------------------------------------------
if(unlikely(netdata_exit)) break;
}
}
netdata_thread_cleanup_pop(1);
return NULL;
}
void *backends_main(void *ptr) {
netdata_thread_cleanup_push(backends_main_cleanup, ptr);
int default_port = 0;
int sock = -1;
BUFFER *b = buffer_create(1), *response = buffer_create(1);
int (*backend_request_formatter)(BUFFER *, const char *, RRDHOST *, const char *, RRDSET *, RRDDIM *, time_t, time_t, uint32_t) = NULL;
int (*backend_response_checker)(BUFFER *) = NULL;
// ------------------------------------------------------------------------
// collect configuration options
struct timeval timeout = {
.tv_sec = 0,
.tv_usec = 0
};
int enabled = config_get_boolean(CONFIG_SECTION_BACKEND, "enabled", 0);
const char *source = config_get(CONFIG_SECTION_BACKEND, "data source", "average");
const char *type = config_get(CONFIG_SECTION_BACKEND, "type", "graphite");
const char *destination = config_get(CONFIG_SECTION_BACKEND, "destination", "localhost");
backend_prefix = config_get(CONFIG_SECTION_BACKEND, "prefix", "netdata");
const char *hostname = config_get(CONFIG_SECTION_BACKEND, "hostname", localhost->hostname);
backend_update_every = (int)config_get_number(CONFIG_SECTION_BACKEND, "update every", backend_update_every);
int buffer_on_failures = (int)config_get_number(CONFIG_SECTION_BACKEND, "buffer on failures", 10);
long timeoutms = config_get_number(CONFIG_SECTION_BACKEND, "timeout ms", backend_update_every * 2 * 1000);
backend_send_names = config_get_boolean(CONFIG_SECTION_BACKEND, "send names instead of ids", backend_send_names);
charts_pattern = simple_pattern_create(config_get(CONFIG_SECTION_BACKEND, "send charts matching", "*"), NULL, SIMPLE_PATTERN_EXACT);
hosts_pattern = simple_pattern_create(config_get(CONFIG_SECTION_BACKEND, "send hosts matching", "localhost *"), NULL, SIMPLE_PATTERN_EXACT);
// ------------------------------------------------------------------------
// validate configuration options
// and prepare for sending data to our backend
backend_options = backend_parse_data_source(source, backend_options);
if(timeoutms < 1) {
error("BACKEND: invalid timeout %ld ms given. Assuming %d ms.", timeoutms, backend_update_every * 2 * 1000);
timeoutms = backend_update_every * 2 * 1000;
}
timeout.tv_sec = (timeoutms * 1000) / 1000000;
timeout.tv_usec = (timeoutms * 1000) % 1000000;
if(!enabled || backend_update_every < 1)
goto cleanup;
// ------------------------------------------------------------------------
// select the backend type
if(!strcmp(type, "graphite") || !strcmp(type, "graphite:plaintext")) {
default_port = 2003;
backend_response_checker = process_graphite_response;
if((backend_options & BACKEND_SOURCE_BITS) == BACKEND_SOURCE_DATA_AS_COLLECTED)
backend_request_formatter = format_dimension_collected_graphite_plaintext;
else
backend_request_formatter = format_dimension_stored_graphite_plaintext;
}
else if(!strcmp(type, "opentsdb") || !strcmp(type, "opentsdb:telnet")) {
default_port = 4242;
backend_response_checker = process_opentsdb_response;
if((backend_options & BACKEND_SOURCE_BITS) == BACKEND_SOURCE_DATA_AS_COLLECTED)
backend_request_formatter = format_dimension_collected_opentsdb_telnet;
else
backend_request_formatter = format_dimension_stored_opentsdb_telnet;
}
else if (!strcmp(type, "json") || !strcmp(type, "json:plaintext")) {
default_port = 5448;
backend_response_checker = process_json_response;
if ((backend_options & BACKEND_SOURCE_BITS) == BACKEND_SOURCE_DATA_AS_COLLECTED)
backend_request_formatter = format_dimension_collected_json_plaintext;
else
backend_request_formatter = format_dimension_stored_json_plaintext;
}
else {
error("BACKEND: Unknown backend type '%s'", type);
goto cleanup;
}
if(backend_request_formatter == NULL || backend_response_checker == NULL) {
error("BACKEND: backend is misconfigured - disabling it.");
goto cleanup;
}
// ------------------------------------------------------------------------
// prepare the charts for monitoring the backend operation
struct rusage thread;
collected_number
chart_buffered_metrics = 0,
chart_lost_metrics = 0,
chart_sent_metrics = 0,
chart_buffered_bytes = 0,
chart_received_bytes = 0,
chart_sent_bytes = 0,
chart_receptions = 0,
chart_transmission_successes = 0,
chart_transmission_failures = 0,
chart_data_lost_events = 0,
chart_lost_bytes = 0,
chart_backend_reconnects = 0,
chart_backend_latency = 0;
RRDSET *chart_metrics = rrdset_create_localhost("netdata", "backend_metrics", NULL, "backend", NULL, "Netdata Buffered Metrics", "metrics", "backends", NULL, 130600, backend_update_every, RRDSET_TYPE_LINE);
rrddim_add(chart_metrics, "buffered", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_metrics, "lost", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_metrics, "sent", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
RRDSET *chart_bytes = rrdset_create_localhost("netdata", "backend_bytes", NULL, "backend", NULL, "Netdata Backend Data Size", "KB", "backends", NULL, 130610, backend_update_every, RRDSET_TYPE_AREA);
rrddim_add(chart_bytes, "buffered", NULL, 1, 1024, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_bytes, "lost", NULL, 1, 1024, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_bytes, "sent", NULL, 1, 1024, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_bytes, "received", NULL, 1, 1024, RRD_ALGORITHM_ABSOLUTE);
RRDSET *chart_ops = rrdset_create_localhost("netdata", "backend_ops", NULL, "backend", NULL, "Netdata Backend Operations", "operations", "backends", NULL, 130630, backend_update_every, RRDSET_TYPE_LINE);
rrddim_add(chart_ops, "write", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_ops, "discard", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_ops, "reconnect", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_ops, "failure", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
rrddim_add(chart_ops, "read", NULL, 1, 1, RRD_ALGORITHM_ABSOLUTE);
/*
* this is misleading - we can only measure the time we need to send data
* this time is not related to the time required for the data to travel to
* the backend database and the time that server needed to process them
*
* issue #1432 and https://www.softlab.ntua.gr/facilities/documentation/unix/unix-socket-faq/unix-socket-faq-2.html
*
RRDSET *chart_latency = rrdset_create_localhost("netdata", "backend_latency", NULL, "backend", NULL, "Netdata Backend Latency", "ms", "backends", NULL, 130620, backend_update_every, RRDSET_TYPE_AREA);
rrddim_add(chart_latency, "latency", NULL, 1, 1000, RRD_ALGORITHM_ABSOLUTE);
*/
RRDSET *chart_rusage = rrdset_create_localhost("netdata", "backend_thread_cpu", NULL, "backend", NULL, "NetData Backend Thread CPU usage", "milliseconds/s", "backends", NULL, 130630, backend_update_every, RRDSET_TYPE_STACKED);
rrddim_add(chart_rusage, "user", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
rrddim_add(chart_rusage, "system", NULL, 1, 1000, RRD_ALGORITHM_INCREMENTAL);
// ------------------------------------------------------------------------
// prepare the backend main loop
info("BACKEND: configured ('%s' on '%s' sending '%s' data, every %d seconds, as host '%s', with prefix '%s')", type, destination, source, backend_update_every, hostname, backend_prefix);
usec_t step_ut = backend_update_every * USEC_PER_SEC;
time_t after = now_realtime_sec();
int failures = 0;
heartbeat_t hb;
heartbeat_init(&hb);
while(!netdata_exit) {
// ------------------------------------------------------------------------
// Wait for the next iteration point.
heartbeat_next(&hb, step_ut);
time_t before = now_realtime_sec();
debug(D_BACKEND, "BACKEND: preparing buffer for timeframe %lu to %lu", (unsigned long)after, (unsigned long)before);
// ------------------------------------------------------------------------
// add to the buffer the data we need to send to the backend
netdata_thread_disable_cancelability();
size_t count_hosts = 0;
size_t count_charts_total = 0;
size_t count_dims_total = 0;
rrd_rdlock();
RRDHOST *host;
rrdhost_foreach_read(host) {
if(unlikely(!rrdhost_flag_check(host, RRDHOST_FLAG_BACKEND_SEND|RRDHOST_FLAG_BACKEND_DONT_SEND))) {
char *name = (host == localhost)?"localhost":host->hostname;
if (!hosts_pattern || simple_pattern_matches(hosts_pattern, name)) {
rrdhost_flag_set(host, RRDHOST_FLAG_BACKEND_SEND);
info("enabled backend for host '%s'", name);
}
else {
rrdhost_flag_set(host, RRDHOST_FLAG_BACKEND_DONT_SEND);
info("disabled backend for host '%s'", name);
}
}
if(unlikely(!rrdhost_flag_check(host, RRDHOST_FLAG_BACKEND_SEND)))
continue;
rrdhost_rdlock(host);
count_hosts++;
size_t count_charts = 0;
size_t count_dims = 0;
size_t count_dims_skipped = 0;
const char *__hostname = (host == localhost)?hostname:host->hostname;
RRDSET *st;
rrdset_foreach_read(st, host) {
if(likely(backends_can_send_rrdset(backend_options, st))) {
rrdset_rdlock(st);
count_charts++;
RRDDIM *rd;
rrddim_foreach_read(rd, st) {
if (likely(rd->last_collected_time.tv_sec >= after)) {
chart_buffered_metrics += backend_request_formatter(b, backend_prefix, host, __hostname, st, rd, after, before, backend_options);
count_dims++;
}
else {
debug(D_BACKEND, "BACKEND: not sending dimension '%s' of chart '%s' from host '%s', its last data collection (%lu) is not within our timeframe (%lu to %lu)", rd->id, st->id, __hostname, (unsigned long)rd->last_collected_time.tv_sec, (unsigned long)after, (unsigned long)before);
count_dims_skipped++;
}
}
rrdset_unlock(st);
}
}
debug(D_BACKEND, "BACKEND: sending host '%s', metrics of %zu dimensions, of %zu charts. Skipped %zu dimensions.", __hostname, count_dims, count_charts, count_dims_skipped);
count_charts_total += count_charts;
count_dims_total += count_dims;
rrdhost_unlock(host);
}
rrd_unlock();
netdata_thread_enable_cancelability();
debug(D_BACKEND, "BACKEND: buffer has %zu bytes, added metrics for %zu dimensions, of %zu charts, from %zu hosts", buffer_strlen(b), count_dims_total, count_charts_total, count_hosts);
// ------------------------------------------------------------------------
chart_buffered_bytes = (collected_number)buffer_strlen(b);
// reset the monitoring chart counters
chart_received_bytes =
chart_sent_bytes =
chart_sent_metrics =
chart_lost_metrics =
chart_transmission_successes =
chart_transmission_failures =
chart_data_lost_events =
chart_lost_bytes =
chart_backend_reconnects =
chart_backend_latency = 0;
if(unlikely(netdata_exit)) break;
//fprintf(stderr, "\nBACKEND BEGIN:\n%s\nBACKEND END\n", buffer_tostring(b)); // FIXME
//fprintf(stderr, "after = %lu, before = %lu\n", after, before);
// prepare for the next iteration
// to add incrementally data to buffer
after = before;
// ------------------------------------------------------------------------
// if we are connected, receive a response, without blocking
if(likely(sock != -1)) {
errno = 0;
// loop through to collect all data
while(sock != -1 && errno != EWOULDBLOCK) {
buffer_need_bytes(response, 4096);
ssize_t r = recv(sock, &response->buffer[response->len], response->size - response->len, MSG_DONTWAIT);
if(likely(r > 0)) {
// we received some data
response->len += r;
chart_received_bytes += r;
chart_receptions++;
}
else if(r == 0) {
error("BACKEND: '%s' closed the socket", destination);
close(sock);
sock = -1;
}
else {
// failed to receive data
if(errno != EAGAIN && errno != EWOULDBLOCK) {
error("BACKEND: cannot receive data from backend '%s'.", destination);
}
}
}
// if we received data, process them
if(buffer_strlen(response))
backend_response_checker(response);
}
// ------------------------------------------------------------------------
// if we are not connected, connect to a backend server
if(unlikely(sock == -1)) {
usec_t start_ut = now_monotonic_usec();
size_t reconnects = 0;
sock = connect_to_one_of(destination, default_port, &timeout, &reconnects, NULL, 0);
chart_backend_reconnects += reconnects;
chart_backend_latency += now_monotonic_usec() - start_ut;
}
if(unlikely(netdata_exit)) break;
// ------------------------------------------------------------------------
// if we are connected, send our buffer to the backend server
if(likely(sock != -1)) {
size_t len = buffer_strlen(b);
usec_t start_ut = now_monotonic_usec();
int flags = 0;
#ifdef MSG_NOSIGNAL
flags += MSG_NOSIGNAL;
#endif
ssize_t written = send(sock, buffer_tostring(b), len, flags);
chart_backend_latency += now_monotonic_usec() - start_ut;
if(written != -1 && (size_t)written == len) {
// we sent the data successfully
chart_transmission_successes++;
chart_sent_bytes += written;
chart_sent_metrics = chart_buffered_metrics;
// reset the failures count
failures = 0;
// empty the buffer
buffer_flush(b);
}
else {
// oops! we couldn't send (all or some of the) data
error("BACKEND: failed to write data to database backend '%s'. Willing to write %zu bytes, wrote %zd bytes. Will re-connect.", destination, len, written);
chart_transmission_failures++;
if(written != -1)
chart_sent_bytes += written;
// increment the counter we check for data loss
failures++;
// close the socket - we will re-open it next time
close(sock);
sock = -1;
}
}
else {
error("BACKEND: failed to update database backend '%s'", destination);
chart_transmission_failures++;
// increment the counter we check for data loss
failures++;
}
if(failures > buffer_on_failures) {
// too bad! we are going to lose data
chart_lost_bytes += buffer_strlen(b);
error("BACKEND: reached %d backend failures. Flushing buffers to protect this host - this results in data loss on back-end server '%s'", failures, destination);
buffer_flush(b);
failures = 0;
chart_data_lost_events++;
chart_lost_metrics = chart_buffered_metrics;
}
if(unlikely(netdata_exit)) break;
// ------------------------------------------------------------------------
// update the monitoring charts
if(likely(chart_ops->counter_done)) rrdset_next(chart_ops);
rrddim_set(chart_ops, "read", chart_receptions);
rrddim_set(chart_ops, "write", chart_transmission_successes);
rrddim_set(chart_ops, "discard", chart_data_lost_events);
rrddim_set(chart_ops, "failure", chart_transmission_failures);
rrddim_set(chart_ops, "reconnect", chart_backend_reconnects);
rrdset_done(chart_ops);
if(likely(chart_metrics->counter_done)) rrdset_next(chart_metrics);
rrddim_set(chart_metrics, "buffered", chart_buffered_metrics);
rrddim_set(chart_metrics, "lost", chart_lost_metrics);
rrddim_set(chart_metrics, "sent", chart_sent_metrics);
rrdset_done(chart_metrics);
if(likely(chart_bytes->counter_done)) rrdset_next(chart_bytes);
rrddim_set(chart_bytes, "buffered", chart_buffered_bytes);
rrddim_set(chart_bytes, "lost", chart_lost_bytes);
rrddim_set(chart_bytes, "sent", chart_sent_bytes);
rrddim_set(chart_bytes, "received", chart_received_bytes);
rrdset_done(chart_bytes);
/*
if(likely(chart_latency->counter_done)) rrdset_next(chart_latency);
rrddim_set(chart_latency, "latency", chart_backend_latency);
rrdset_done(chart_latency);
*/
getrusage(RUSAGE_THREAD, &thread);
if(likely(chart_rusage->counter_done)) rrdset_next(chart_rusage);
rrddim_set(chart_rusage, "user", thread.ru_utime.tv_sec * 1000000ULL + thread.ru_utime.tv_usec);
rrddim_set(chart_rusage, "system", thread.ru_stime.tv_sec * 1000000ULL + thread.ru_stime.tv_usec);
rrdset_done(chart_rusage);
if(likely(buffer_strlen(b) == 0))
chart_buffered_metrics = 0;
if(unlikely(netdata_exit)) break;
}
cleanup:
if(sock != -1)
close(sock);
buffer_free(b);
buffer_free(response);
netdata_thread_cleanup_pop(1);
return NULL;
}
int main (void)
{
// Configure pins to the default states.
config_pin_defaults();
// Initialize the watchdog module.
watchdog_init();
// First, initialize registers that control servo operation.
registers_init();
#if PWM_STD_ENABLED || PWM_ENH_ENABLED
// Initialize the PWM module.
pwm_init();
#endif
#if STEP_ENABLED
// Initialise the stepper motor
step_init();
#endif
// Initialize the ADC module.
adc_init();
// Initialise the Heartbeart
heartbeat_init();
// Initialize the PID algorithm module.
pid_init();
#if CURVE_MOTION_ENABLED
// Initialize curve motion module.
motion_init();
#endif
// Initialize the power module.
power_init();
#if PULSE_CONTROL_ENABLED
pulse_control_init();
#endif
#if BACKEMF_ENABLED
// Initialise the back emf module
backemf_init();
#endif
#if ALERT_ENABLED
//initialise the alert registers
alert_init();
#endif
// Initialize the TWI slave module.
twi_slave_init(banks_read_byte(POS_PID_BANK, REG_TWI_ADDRESS));
// Finally initialize the timer.
timer_set(0);
// Enable interrupts.
sei();
// Trigger the adc sampling hardware
adc_start(ADC_CHANNEL_POSITION);
// Wait until initial position value is ready.
while (!adc_position_value_is_ready());
#if CURVE_MOTION_ENABLED
// Reset the curve motion with the current position of the servo.
motion_reset(adc_get_position_value());
#endif
// Set the initial seek position and velocity.
registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, adc_get_position_value());
registers_write_word(REG_SEEK_VELOCITY_HI, REG_SEEK_VELOCITY_LO, 0);
// XXX Enable PWM and writing. I do this for now to make development and
// XXX tuning a bit easier. Constantly manually setting these values to
// XXX turn the servo on and write the gain values get's to be a pain.
#if PWM_STD_ENABLED || PWM_ENH_ENABLED
pwm_enable();
#endif
#if STEP_ENABLED
step_enable();
#endif
registers_write_enable();
// This is the main processing loop for the servo. It basically looks
// for new position, power or TWI commands to be processed.
for (;;)
{
static uint8_t emf_motor_is_coasting = 0;
// Is the system heartbeat ready?
if (heartbeat_is_ready())
{
static int16_t last_seek_position;
static int16_t wait_seek_position;
static int16_t new_seek_position;
// Clear the heartbeat flag
heartbeat_value_clear_ready();
#if PULSE_CONTROL_ENABLED
// Give pulse control a chance to update the seek position.
pulse_control_update();
#endif
#if CURVE_MOTION_ENABLED
// Give the motion curve a chance to update the seek position and velocity.
motion_next(10);
#endif
// General call support
// Check to see if we have the wait flag enabled. If so save the new position, and write in the
// old position until we get the move command
if (general_call_enabled())
{
//we need to wait for the go command before moving
if (general_call_wait())
{
// store the new position, but let the servo lock to the last seek position
wait_seek_position = (int16_t) registers_read_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO);
if (wait_seek_position != last_seek_position) // do we have a new position?
{
new_seek_position = wait_seek_position;
registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, last_seek_position);
}
}
last_seek_position = registers_read_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO);
//check to make sure that we can start the move.
if (general_call_start() ||
( registers_read_byte(REG_GENERAL_CALL_GROUP_START) == banks_read_byte(CONFIG_BANK, REG_GENERAL_CALL_GROUP)))
{
// write the new position with the previously saved position
registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, new_seek_position);
general_call_start_wait_reset(); // reset the wait flag
general_call_start_reset(); // reset the start flag
}
}
#if BACKEMF_ENABLED
// Quick and dirty check to see if pwm is active. This is done to make sure the motor doesn't
// whine in the audible range while idling.
uint8_t pwm_a = registers_read_byte(REG_PWM_DIRA);
uint8_t pwm_b = registers_read_byte(REG_PWM_DIRB);
if (pwm_a || pwm_b)
{
// Disable PWM
backemf_coast_motor();
emf_motor_is_coasting = 1;
}
else
{
// reset the back EMF value to 0
banks_write_word(INFORMATION_BANK, REG_BACKEMF_HI, REG_BACKEMF_LO, 0);
emf_motor_is_coasting = 0;
}
#endif
#if ADC_ENABLED
// Trigger the adc sampling hardware. This triggers the position and temperature sample
adc_start(ADC_FIRST_CHANNEL);
#endif
}
// Wait for the samples to complete
#if TEMPERATURE_ENABLED
if (adc_temperature_value_is_ready())
{
// Save temperature value to registers
registers_write_word(REG_TEMPERATURE_HI, REG_TEMPERATURE_LO, (uint16_t)adc_get_temperature_value());
}
#endif
#if CURRENT_ENABLED
if (adc_power_value_is_ready())
{
// Get the new power value.
uint16_t power = adc_get_power_value();
// Update the power value for reporting.
power_update(power);
}
#endif
#if ADC_POSITION_ENABLED
if (adc_position_value_is_ready())
{
int16_t position;
// Get the new position value from the ADC module.
position = (int16_t) adc_get_position_value();
#else
if (position_value_is_ready())
{
int16_t position;
// Get the position value from an external module.
position = (int16_t) get_position_value();
#endif
int16_t pwm;
#if BACKEMF_ENABLED
if (emf_motor_is_coasting == 1)
{
uint8_t pwm_a = registers_read_byte(REG_PWM_DIRA);
uint8_t pwm_b = registers_read_byte(REG_PWM_DIRB);
// Quick and dirty check to see if pwm is active
if (pwm_a || pwm_b)
{
// Get the backemf sample.
backemf_get_sample();
// Turn the motor back on
backemf_restore_motor();
emf_motor_is_coasting = 0;
}
}
#endif
// Call the PID algorithm module to get a new PWM value.
pwm = pid_position_to_pwm(position);
#if ALERT_ENABLED
// Update the alert status registers and do any throttling
alert_check();
#endif
// Allow any alerts to modify the PWM value.
pwm = alert_pwm_throttle(pwm);
#if PWM_STD_ENABLED || PWM_ENH_ENABLED
// Update the servo movement as indicated by the PWM value.
// Sanity checks are performed against the position value.
pwm_update(position, pwm);
#endif
#if STEP_ENABLED
// Update the stepper motor as indicated by the PWM value.
// Sanity checks are performed against the position value.
step_update(position, pwm);
#endif
}
// Was a command recieved?
if (twi_data_in_receive_buffer())
{
// Handle any TWI command.
handle_twi_command();
}
// Update the bank register operations
banks_update_registers();
#if MAIN_MOTION_TEST_ENABLED
// This code is in place for having the servo drive itself between
// two positions to aid in the servo tuning process. This code
// should normally be disabled in config.h.
#if CURVE_MOTION_ENABLED
if (motion_time_left() == 0)
{
registers_write_word(REG_CURVE_DELTA_HI, REG_CURVE_DELTA_LO, 2000);
registers_write_word(REG_CURVE_POSITION_HI, REG_CURVE_POSITION_LO, 0x0100);
motion_append();
registers_write_word(REG_CURVE_DELTA_HI, REG_CURVE_DELTA_LO, 1000);
registers_write_word(REG_CURVE_POSITION_HI, REG_CURVE_POSITION_LO, 0x0300);
motion_append();
registers_write_word(REG_CURVE_DELTA_HI, REG_CURVE_DELTA_LO, 2000);
registers_write_word(REG_CURVE_POSITION_HI, REG_CURVE_POSITION_LO, 0x0300);
motion_append();
registers_write_word(REG_CURVE_DELTA_HI, REG_CURVE_DELTA_LO, 1000);
registers_write_word(REG_CURVE_POSITION_HI, REG_CURVE_POSITION_LO, 0x0100);
motion_append();
}
#else
{
// Get the timer.
uint16_t timer = timer_get();
// Reset the timer if greater than 800.
if (timer > 800) timer_set(0);
// Look for specific events.
if (timer == 0)
{
registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, 0x0100);
}
else if (timer == 400)
{
registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, 0x0300);
}
}
#endif
#endif
}
return 0;
}
