1 /**************************************************************************/
2 /* ---------------------------------------------------------------------- */
3 /* Copyright (C) 2006 - 2008 FRESCOR consortium partners: */
5 /* Universidad de Cantabria, SPAIN */
6 /* University of York, UK */
7 /* Scuola Superiore Sant'Anna, ITALY */
8 /* Kaiserslautern University, GERMANY */
9 /* Univ. Politécnica Valencia, SPAIN */
10 /* Czech Technical University in Prague, CZECH REPUBLIC */
12 /* Thales Communication S.A. FRANCE */
13 /* Visual Tools S.A. SPAIN */
14 /* Rapita Systems Ltd UK */
17 /* See http://www.frescor.org for a link to partners' websites */
19 /* FRESCOR project (FP6/2005/IST/5-034026) is funded */
20 /* in part by the European Union Sixth Framework Programme */
21 /* The European Union is not liable of any use that may be */
22 /* made of this code. */
25 /* This file is part of FORB (Frescor Object Request Broker) */
27 /* FORB is free software; you can redistribute it and/or modify it */
28 /* under terms of the GNU General Public License as published by the */
29 /* Free Software Foundation; either version 2, or (at your option) any */
30 /* later version. FORB is distributed in the hope that it will be */
31 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */
32 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */
33 /* General Public License for more details. You should have received a */
34 /* copy of the GNU General Public License along with FORB; see file */
35 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */
36 /* Cambridge, MA 02139, USA. */
38 /* As a special exception, including FORB header files in a file, */
39 /* instantiating FORB generics or templates, or linking other files */
40 /* with FORB objects to produce an executable application, does not */
41 /* by itself cause the resulting executable application to be covered */
42 /* by the GNU General Public License. This exception does not */
43 /* however invalidate any other reasons why the executable file might be */
44 /* covered by the GNU Public License. */
45 /**************************************************************************/
49 * @author Michal Sojka <sojkam1@fel.cvut.cz>
50 * @date Sun Oct 12 17:36:13 2008
52 * @brief Implementation of port manipulation functions.
61 #include <forb/config.h>
65 extern UL_LOG_CUST(ulogd_forb_port);
68 * Registers a new port in FORB and run receiver thread on it to
69 * receive FORB messages through this prot.
71 * @param forb Where to register the new port.
73 * @param port Port to register. The @c desc field should be
74 * initialized prior calling this function. The memory for @a port
75 * should be forb_malloced, since forb_free() is called on the port on
78 * @return Zero on success, FOSA error code on error.
80 int forb_register_port(forb_orb orb, forb_port_t *port)
83 forb_t *forb = forb_data(orb);
88 forb_port_peer_init_head(port);
90 fosa_mutex_lock(&forb->port_mutex);
91 forb_port_insert(forb, port);
92 fosa_mutex_unlock(&forb->port_mutex);
94 forb_syncobj_init(&port->hello, 0);
95 forb_syncobj_init(&port->reply_processed, 0);
97 FORB_CDR_codec_init_static(&port->codec, forb->orb);
98 if (!FORB_CDR_buffer_init(&port->codec, CONFIG_FORB_RECV_BUF_SIZE, 0)) {
102 ret = fosa_thread_create(&port->receiver_thread, NULL,
103 forb_iop_receiver_thread, port);
106 #ifndef CONFIG_FORB_PROTO_INET_DEFAULT
107 /* For reliability reasons, we do not use discovery protocol
108 * when INET is the default communication protocol. */
109 ret = fosa_thread_create(&port->discovery_thread, NULL,
110 forb_iop_discovery_thread, port);
115 #ifndef CONFIG_FORB_PROTO_INET_DEFAULT
118 /* FIXME: This is Aquosa specific - cancelation should be
120 pthread_cancel(port->receiver_thread.pthread_id);
121 pthread_cancel(port->discovery_thread.pthread_id);
123 pthread_join(port->receiver_thread.pthread_id, NULL);
124 pthread_join(port->discovery_thread.pthread_id, NULL);
127 FORB_CDR_codec_release_buffer(&port->codec);
129 fosa_mutex_lock(&forb->port_mutex);
130 forb_port_delete(forb, port);
131 fosa_mutex_unlock(&forb->port_mutex);
137 * Destroys the port and all resources associated with it.
141 void forb_destroy_port(forb_port_t *port)
143 forb_t *forb = port->forb;
146 port->finish = true; /* Exit all the threads */
148 /* FIXME: There is no FOSA API for thread cancelation. */
149 pthread_cancel(port->receiver_thread.pthread_id);
151 /* FIXME: Canceling discovery thread sometimes didn't
152 * work. The discovery thread stayed forever in the
153 * pthread_cond_timedwait(). */
154 //pthread_cancel(port->discovery_thread.pthread_id);
156 /* Sometimes, cancelation doesn't work and the
157 * discovery_thread hangs in pthread_cond_timedwait
159 forb_syncobj_signal(&port->hello);
161 pthread_join(port->receiver_thread.pthread_id, &thread_return);
162 pthread_join(port->discovery_thread.pthread_id, &thread_return);
164 if (port->desc.proto->port_destroy) {
165 port->desc.proto->port_destroy(port);
168 /* Because of no locking of port->peers, this must be called
169 * after receiver thread is stopped. */
170 forb_peer_delete_by_port(forb, port);
172 FORB_CDR_codec_release_buffer(&port->codec);
174 fosa_mutex_lock(&forb->port_mutex);
175 forb_port_delete(forb, port);
176 fosa_mutex_unlock(&forb->port_mutex);
178 /* TODO: reference counting */