* $Id: ORTEDomainMgr.c,v 0.0.0.1 2003/09/12
*
* DEBUG: section 29 Domain manager
- * AUTHOR: Petr Smolik petr.smolik@wo.cz
*
- * ORTE - OCERA Real-Time Ethernet http://www.ocera.org/
+ * -------------------------------------------------------------------
+ * ORTE
+ * Open Real-Time Ethernet
+ *
+ * Copyright (C) 2001-2006
+ * Department of Control Engineering FEE CTU Prague, Czech Republic
+ * http://dce.felk.cvut.cz
+ * http://www.ocera.org
+ *
+ * Author: Petr Smolik petr@smoliku.cz
+ * Advisor: Pavel Pisa
+ * Project Responsible: Zdenek Hanzalek
* --------------------------------------------------------------------
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
- *
+ *
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
- *
- */
+ *
+ */
-#include "orte.h"
+#include "orte_all.h"
/*****************************************************************************/
ORTEDomain *
ORTEDomainMgrCreate(int domain, ORTEDomainProp *prop,
- ORTEDomainAppEvents *events,Boolean suspended) {
+ ORTEDomainAppEvents *events, Boolean suspended)
+{
ORTEDomain *d;
- ObjectEntryOID *objectEntryOID;
- AppParams *appParams;
- CSTWriterParams cstWriterParams;
- CSTReaderParams cstReaderParams;
- char iflocal[MAX_INTERFACES*MAX_STRING_IPADDRESS_LENGTH];
- char sIPAddress[MAX_STRING_IPADDRESS_LENGTH];
- char sbuff[128];
- int i;
- u_int16_t port=0;
-
- debug(29,10) ("ORTEDomainMgrCreate: start\n");
- //Create domainApplication
- d=MALLOC(sizeof(ORTEDomain));
- if (!d) return NULL; //no memory
- //initialization local values
- d->domain=domain;
- d->taskRecvMetatraffic.terminate=ORTE_TRUE;
- d->taskSend.terminate=ORTE_TRUE;
- d->taskRecvMetatraffic.sock.port=0;
- d->taskSend.sock.port=0;
- //init structure objectEntry
- ObjectEntryHID_init_root_field(&d->objectEntry);
- pthread_rwlock_init(&d->objectEntry.objRootLock,NULL);
- htimerRoot_init_queue(&d->objectEntry);
- pthread_rwlock_init(&d->objectEntry.htimRootLock,NULL);
- sem_init(&d->objectEntry.htimSendSem, 0, 0);
-
- //create domainProp
- if (prop!=NULL) {
- memcpy(&d->domainProp,prop,sizeof(ORTEDomainProp));
- } else {
- ORTEDomainPropDefaultGet(&d->domainProp);
- }
-
- //print local IP addresses
- iflocal[0]=0;
- if (d->domainProp.IFCount) {
- for(i=0;i<d->domainProp.IFCount;i++)
- strcat(iflocal,IPAddressToString(d->domainProp.IFProp[i].ipAddress,sIPAddress));
- debug(29,2) ("ORTEDomainMgrCreate: localIPAddres(es) %s\n",iflocal);
- } else{
- debug(29,2) ("ORTEDomainMgrCreate: no activ interface card\n");
- }
- //DomainEvents
- if (events!=NULL) {
- memcpy(&d->domainEvents,events,sizeof(ORTEDomainAppEvents));
- } else {
- memset(&d->domainEvents,0,sizeof(ORTEDomainAppEvents));
- }
+ debug(29, 10) ("ORTEDomainMgrCreate: start\n");
- //local buffers
- d->mbRecvMetatraffic.cdrStream.buffer=
- (u_int8_t*)MALLOC(d->domainProp.recvBuffSize);
- d->mbRecvUserdata.cdrStream.buffer=NULL;
- d->mbSend.cdrStream.buffer=
- (u_int8_t*)MALLOC(d->domainProp.sendBuffSize);
- if ((!d->mbRecvMetatraffic.cdrStream.buffer) ||
- (!d->mbSend.cdrStream.buffer)) { //no memory
- FREE(d->mbRecvMetatraffic.cdrStream.buffer);
- FREE(d->mbSend.cdrStream.buffer);
- FREE(d);
+ d = ORTEDomainCreate(domain, prop, events, ORTE_TRUE);
+ if (!d)
return NULL;
- }
- d->mbRecvMetatraffic.cdrStream.bufferPtr=d->mbRecvMetatraffic.cdrStream.buffer;
- d->mbRecvMetatraffic.cdrStream.length=0;
- d->mbRecvUserdata.cdrStream.bufferPtr=d->mbRecvUserdata.cdrStream.buffer;
- d->mbRecvUserdata.cdrStream.length=0;
- d->mbSend.cdrStream.bufferPtr=d->mbSend.cdrStream.buffer;
- d->mbSend.cdrStream.length=0;
- //Sockets
- sock_init_udp(&d->taskRecvMetatraffic.sock);
- sock_init_udp(&d->taskSend.sock);
- if (d->domainProp.multicast.enabled) {
- Domain2PortMulticastMetatraffic(d->domain,port);
- } else {
- Domain2Port(d->domain,port);
- }
- sock_bind(&d->taskRecvMetatraffic.sock,port); //receiving port
- debug(29,2) ("ORTEDomainMgrCreate: bind on port(Recv): %u\n",
- d->taskRecvMetatraffic.sock.port);
- sock_bind(&d->taskSend.sock,0); //give me sending port
- debug(29,2) ("ORTEDomainAppCreate: bind on port(Send): %u\n",
- d->taskSend.sock.port);
- if (d->domainProp.multicast.enabled) {
- struct ip_mreq mreq;
- //ttl
- if(sock_setsockopt(&d->taskSend.sock,IP_MULTICAST_TTL,
- &d->domainProp.multicast.ttl,sizeof(d->domainProp.multicast.ttl))>=0) {
- debug(29,2) ("ORTEDomainAppCreate: ttl set on: %u\n",
- d->domainProp.multicast.ttl);
- }
- // join multicast group
- mreq.imr_multiaddr.s_addr=htonl(d->domainProp.multicast.ipAddress);
- mreq.imr_interface.s_addr=htonl(INADDR_ANY);
- if(sock_setsockopt(&d->taskRecvUserdata.sock,IP_ADD_MEMBERSHIP,
- (void *) &mreq, sizeof(mreq))>=0) {
- debug(29,2) ("ORTEDomainAppCreate: listening to mgroup %s\n",
- IPAddressToString(d->domainProp.multicast.ipAddress,sIPAddress));
- }
- }
- if ((d->taskRecvMetatraffic.sock.fd<0) || (d->taskSend.sock.fd<0) ||
- (port!=d->taskRecvMetatraffic.sock.port)) {
- printf("Error creating socket(s).\n");
- sock_cleanup(&d->taskRecvMetatraffic.sock);
- sock_cleanup(&d->taskSend.sock);
- FREE(d->mbRecvMetatraffic.cdrStream.buffer);
- FREE(d->mbSend.cdrStream.buffer);
- FREE(d);
- return NULL;
- }
-
- //Generates local GUID
- if (d->domainProp.IFCount>0)
- d->guid.hid=d->domainProp.IFProp[0].ipAddress;
- else
- d->guid.hid=StringToIPAddress("127.0.0.1");
- d->guid.aid=(d->taskSend.sock.port<<8)+MANAGER;
- d->guid.oid=OID_APP;
- debug(29,2) ("ORTEDomainMgrCreate: GUID: %#10.8x,%#10.8x,%#10.8x\n",
- d->guid.hid,d->guid.aid,d->guid.oid);
-
- //create HEADER of message for sending task
- RTPSHeaderCreate(d->mbSend.cdrStream.buffer,d->guid.hid,d->guid.aid);
- d->mbSend.cdrStream.bufferPtr=
- d->mbSend.cdrStream.buffer+RTPS_HEADER_LENGTH;
- d->mbSend.cdrStream.length=RTPS_HEADER_LENGTH;
- d->mbSend.needSend=ORTE_FALSE;
- d->mbSend.containsInfoReply=ORTE_FALSE;
-
- //Self object data & fellow managers object data
- appParams=(AppParams*)MALLOC(sizeof(AppParams));
- AppParamsInit(appParams);
- appParams->expirationTime=d->domainProp.baseProp.expirationTime;
- VENDOR_ID_OCERA(appParams->vendorId);
- appParams->hostId=d->guid.hid;
- appParams->appId=d->guid.aid;
- appParams->metatrafficUnicastPort=d->taskRecvMetatraffic.sock.port;
- appParams->userdataUnicastPort=0; //Manager support only metatraffic
- if (d->domainProp.multicast.enabled) {
- //multicast
- for(i=0;i<d->domainProp.IFCount;i++)
- appParams->metatrafficMulticastIPAddressList[i]=d->domainProp.IFProp[i].ipAddress;
- appParams->metatrafficMulticastIPAddressCount=d->domainProp.IFCount;
- } else {
- //unicast
- if (d->domainProp.IFCount) {
- for(i=0;i<d->domainProp.IFCount;i++)
- appParams->unicastIPAddressList[i]=d->domainProp.IFProp[i].ipAddress;
- appParams->unicastIPAddressCount=d->domainProp.IFCount;
- } else {
- appParams->unicastIPAddressList[0]=StringToIPAddress("127.0.0.1");
- appParams->unicastIPAddressCount=1;
- }
- }
- //managerKeyList
- if (!d->domainProp.keys) {
- appParams->managerKeyList[0]=StringToIPAddress("127.0.0.1");
- for(i=0;i<d->domainProp.IFCount;i++)
- appParams->managerKeyList[i+1]=d->domainProp.IFProp[i].ipAddress;
- appParams->managerKeyCount=d->domainProp.IFCount+1;
- } else {
- appParams->managerKeyCount=i=0;
- while (getStringPart(d->domainProp.keys,':',i,sbuff)) {
- appParams->managerKeyList[appParams->managerKeyCount++]=
- StringToIPAddress(sbuff);
- }
- }
- d->appParams=appParams;
- //insert object, doesn't need to be locked
- d->objectEntryOID=objectEntryAdd(d,&d->guid,(void*)appParams);
- d->objectEntryOID->private=ORTE_TRUE;
-
- //CST objects
- // writerApplicationSelf (WAS)
- NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NTPTIME_ZERO(cstWriterParams.delayResponceTime);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_FALSE;
- CSTWriterInit(d,&d->writerApplicationSelf,d->objectEntryOID,
- OID_WRITE_APPSELF,&cstWriterParams,NULL);
- // add to WAS remote writer(s)
- i=0;
- while (getStringPart(d->domainProp.mgrs,':',i,sbuff)>0) {
- GUID_RTPS guid;
- IPAddress ipAddress=StringToIPAddress(sbuff);
- guid.hid=ipAddress;
- guid.aid=AID_UNKNOWN;
- guid.oid=OID_APP;
- if (!objectEntryFind(d,&guid)) {
- appParams=(AppParams*)MALLOC(sizeof(AppParams));
- AppParamsInit(appParams);
- appParams->hostId=guid.hid;
- appParams->appId=guid.aid;
- appParams->metatrafficUnicastPort=d->appParams->metatrafficUnicastPort;
- appParams->userdataUnicastPort=0; //Manager support only metatraffic
- appParams->unicastIPAddressList[0]=ipAddress;
- appParams->unicastIPAddressCount=1;
- objectEntryOID=objectEntryAdd(d,&guid,(void*)appParams);
- CSTWriterAddRemoteReader(d,&d->writerApplicationSelf,objectEntryOID,
- OID_READ_MGR);
- debug(29,2) ("ORTEDomainAppCreate: add fellow manager (%s)\n",
- IPAddressToString(ipAddress,sIPAddress));
- }
- }
- // readerManagers
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=iNtpTime; //RM cann't repeatly send ACKf
- cstReaderParams.fullAcknowledge=ORTE_FALSE; //never will send ACK
- CSTReaderInit(d,&d->readerManagers,d->objectEntryOID,
- OID_READ_MGR,&cstReaderParams,NULL);
- // readerApplications
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=d->domainProp.baseProp.repeatActiveQueryTime;
- cstReaderParams.fullAcknowledge=ORTE_TRUE;
- CSTReaderInit(d,&d->readerApplications,d->objectEntryOID,
- OID_READ_APP,&cstReaderParams,NULL);
- // writerApplications
- NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=iNtpTime; //only WAS,WM can refresh csChange(s)
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_FALSE;
- CSTWriterInit(d,&d->writerApplications,d->objectEntryOID,
- OID_WRITE_APP,&cstWriterParams,NULL);
- // writerManagers
- NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_TRUE;
- CSTWriterInit(d,&d->writerManagers,d->objectEntryOID,
- OID_WRITE_MGR,&cstWriterParams,NULL);
-
- //add csChange for WAS
- appSelfParamChanged(d,ORTE_FALSE,ORTE_FALSE,ORTE_FALSE,ORTE_TRUE);
-
//Start threads
if (!suspended) {
- ORTEDomainStart(d,ORTE_TRUE,ORTE_FALSE,ORTE_TRUE);
+ ORTEDomainStart(d, /* domain */
+ ORTE_TRUE, /* recvUnicastMetarafficThread */
+ ORTE_FALSE, /* recvMulticastMetarafficThread */
+ ORTE_FALSE, /* recvUnicastUserdataThread */
+ ORTE_FALSE, /* recvMulticastUserdataThread */
+ ORTE_TRUE); /* sendThread */
}
- debug(29,10) ("ORTEDomainMgrCreate: finished\n");
+ debug(29, 10) ("ORTEDomainMgrCreate: finished\n");
return d;
}
/*****************************************************************************/
Boolean
-ORTEDomainMgrDestroy(ORTEDomain *d) {
-
- debug(29,10) ("ORTEDomainMgrDestroy: start\n");
- pthread_rwlock_wrlock(&d->objectEntry.objRootLock);
- pthread_rwlock_wrlock(&d->objectEntry.htimRootLock);
- appSelfParamChanged(d,ORTE_TRUE,ORTE_TRUE,ORTE_FALSE,ORTE_FALSE);
- pthread_rwlock_unlock(&d->objectEntry.htimRootLock);
- pthread_rwlock_unlock(&d->objectEntry.objRootLock);
- //Stoping threads
- if(!d->taskRecvMetatraffic.terminate) {
- d->taskRecvMetatraffic.terminate=ORTE_TRUE;
- ORTEDomainWakeUpReceivingThread(d,
- &d->taskSend.sock,d->taskRecvMetatraffic.sock.port);
- pthread_join(d->taskRecvMetatraffic.thread,NULL);
- }
- if (!d->taskSend.terminate) {
- d->taskSend.terminate=ORTE_TRUE;
- ORTEDomainWakeUpSendingThread(&d->objectEntry);
- pthread_join(d->taskSend.thread,NULL);
- }
- debug(29,8) ("ORTEDomainMgrDestroy: threads stoped and destroyed\n");
+ORTEDomainMgrDestroy(ORTEDomain *d)
+{
+ Boolean ret;
- objectEntryDump(&d->objectEntry);
-
- //Sockets
- sock_cleanup(&d->taskRecvMetatraffic.sock);
- sock_cleanup(&d->taskSend.sock);
+ debug(29, 10) ("ORTEDomainMgrDestroy: start\n");
- //Semas
- sem_destroy(&d->objectEntry.htimSendSem);
-
- //rwLocks
- pthread_rwlock_destroy(&d->objectEntry.objRootLock);
- pthread_rwlock_destroy(&d->objectEntry.htimRootLock);
+ ret = ORTEDomainDestroy(d, ORTE_TRUE);
- //CSTReaders and CSTWriters
- CSTReaderDelete(d,&d->readerManagers);
- CSTReaderDelete(d,&d->readerApplications);
- CSTWriterDelete(d,&d->writerManagers);
- CSTWriterDelete(d,&d->writerApplications);
- CSTWriterDelete(d,&d->writerApplicationSelf);
-
- //objects in objectsEntry
- objectEntryDeleteAll(d,&d->objectEntry);
-
- FREE(d->mbRecvMetatraffic.cdrStream.buffer);
- FREE(d->mbSend.cdrStream.buffer);
- FREE(d);
- debug(29,10) ("ORTEDomainMgrDestroy: finished\n");
- return ORTE_TRUE;
+ debug(29, 10) ("ORTEDomainMgrDestroy: finished\n");
+ return ret;
}
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