orte/liborte/ORTEAppSendThread.c

   1 /*
   2  *  $Id: ORTEAppSendThread.c,v 0.0.0.1  2003/08/21
   3  *
   4  *  DEBUG:  section 24                  Sending thread
   5  *
   6  *  -------------------------------------------------------------------
   7  *                                ORTE
   8  *                      Open Real-Time Ethernet
   9  *
  10  *                      Copyright (C) 2001-2006
  11  *  Department of Control Engineering FEE CTU Prague, Czech Republic
  12  *                      http://dce.felk.cvut.cz
  13  *                      http://www.ocera.org
  14  *
  15  *  Author:              Petr Smolik    petr.smolik@wo.cz
  16  *  Advisor:             Pavel Pisa
  17  *  Project Responsible: Zdenek Hanzalek
  18  *  --------------------------------------------------------------------
  19  *
  20  *  This program is free software; you can redistribute it and/or modify
  21  *  it under the terms of the GNU General Public License as published by
  22  *  the Free Software Foundation; either version 2 of the License, or
  23  *  (at your option) any later version.
  24  *
  25  *  This program is distributed in the hope that it will be useful,
  26  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  27  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  28  *  GNU General Public License for more details.
  29  *
  30  */
  31
  32 #include "orte_all.h"
  33
  34 /*****************************************************************************/
  35 void ORTESendData(ORTEDomain *d,ObjectEntryAID *objectEntryAID,Boolean meta) {
  36   struct sockaddr_in  des;
  37   ObjectEntryOID      *object;
  38   AppParams           *appParams;
  39   int                 i;
  40   CDR_Codec           *cdrCodec=&d->taskSend.mb.cdrCodec;
  41   Port                port;
  42
  43   object=objectEntryAID->aobject;
  44   if (object) {
  45     appParams=(AppParams*)object->attributes;
  46     if (!ObjectEntryMulticast_is_empty(object)) {
  47       for(i=0;i<appParams->metatrafficMulticastIPAddressCount;i++) {
  48         des.sin_family=AF_INET;
  49         des.sin_addr.s_addr = htonl(appParams->metatrafficMulticastIPAddressList[i]);
  50         des.sin_port = htons((uint16_t)object->multicastPort);
  51         if (d->taskSend.mb.cdrCodecDirect) {
  52           sock_sendto (&d->taskSend.sock,
  53                        d->taskSend.mb.cdrCodecDirect->buffer,
  54                        d->taskSend.mb.cdrCodecDirect->wptr,
  55                        &des,
  56                        sizeof(des));
  57         } else {
  58           sock_sendto (&d->taskSend.sock,
  59                        cdrCodec->buffer,
  60                        cdrCodec->wptr,
  61                        &des,
  62                        sizeof(des));
  63         }
  64       }
  65     } else {
  66       for(i=0;i<appParams->unicastIPAddressCount;i++) {
  67         des.sin_family=AF_INET;
  68         des.sin_addr.s_addr = htonl(appParams->unicastIPAddressList[i]);
  69         if (meta) {
  70           port=appParams->metatrafficUnicastPort;
  71         } else {
  72           port=appParams->userdataUnicastPort;
  73         }
  74         des.sin_port = htons((uint16_t)port);
  75         if (d->taskSend.mb.cdrCodecDirect) {
  76           sock_sendto (&d->taskSend.sock,
  77                        d->taskSend.mb.cdrCodecDirect->buffer,
  78                        d->taskSend.mb.cdrCodecDirect->wptr,
  79                        &des,
  80                        sizeof(des));
  81         } else {
  82           sock_sendto (&d->taskSend.sock,
  83                        cdrCodec->buffer,
  84                        cdrCodec->wptr,
  85                        &des,
  86                        sizeof(des));
  87         }
  88       }
  89     }
  90   } else {
  91     debug(24,1) ("ORTEAppSendThread: no aobjectEntryOID connected to objectEntryAID!\n");
  92   }
  93   //prepare buffer for next sending
  94   cdrCodec->wptr=RTPS_HEADER_LENGTH;
  95   d->taskSend.mb.needSend=ORTE_FALSE;
  96   d->taskSend.mb.containsInfoReply=ORTE_FALSE;
  97   d->taskSend.mb.cdrCodecDirect=NULL;
  98 }
  99
 100 /*****************************************************************************/
 101 void ORTEAppSendThread(TaskProp *tp) {
 102   struct timespec     wtime;
 103   NtpTime             actTime,nextExpire,whenExpire,sleepingTime;
 104   int32_t             s,ms;
 105   ORTEDomain          *d=tp->d;
 106
 107   debug(24,10) ("ORTEAppSendThread: start\n");
 108   d->objectEntry.htimNeedWakeUp=ORTE_TRUE;
 109
 110   while (!tp->terminate) {
 111     actTime=getActualNtpTime();
 112
 113     pthread_rwlock_wrlock(&d->objectEntry.htimRootLock);
 114     if (htimerRoot_next_expire(&d->objectEntry,&nextExpire)==0) {
 115       NTPTIME_BUILD(whenExpire,300); //max time for sleeping (no. events)
 116       NtpTimeAdd(nextExpire,actTime,whenExpire);
 117     }
 118     pthread_rwlock_unlock(&d->objectEntry.htimRootLock);
 119     NtpTimeDisAssembToUs(wtime.tv_sec,wtime.tv_nsec,nextExpire);
 120     wtime.tv_nsec*=1000;  //conver to nano seconds
 121     NtpTimeSub(sleepingTime,nextExpire,actTime);
 122     NtpTimeDisAssembToMs(s,ms,sleepingTime);
 123     if (s<0) s=ms=0;
 124
 125     debug(24,4) ("ORTEAppSendThread: sleeping for %lis %lims\n",s,ms);
 126     if (!((wtime.tv_sec==0) && (wtime.tv_nsec==0))) {
 127       pthread_mutex_lock(&d->objectEntry.htimSendMutex);
 128       if (d->objectEntry.htimSendCondValue==0) {
 129         pthread_cond_timedwait(&d->objectEntry.htimSendCond,
 130                                &d->objectEntry.htimSendMutex,
 131                                &wtime);
 132       }
 133       d->objectEntry.htimSendCondValue=0;
 134       pthread_mutex_unlock(&d->objectEntry.htimSendMutex);
 135     }
 136
 137     debug(24,7) ("ORTEAppSendThread: fired\n");
 138     actTime=getActualNtpTime();
 139     pthread_rwlock_wrlock(&d->objectEntry.objRootLock);
 140     pthread_rwlock_wrlock(&d->objectEntry.htimRootLock);
 141     d->objectEntry.htimNeedWakeUp=ORTE_FALSE;
 142
 143     htimerRoot_run_expired(d,&actTime);
 144
 145     d->objectEntry.htimNeedWakeUp=ORTE_TRUE;
 146     pthread_rwlock_unlock(&d->objectEntry.htimRootLock);
 147     pthread_rwlock_unlock(&d->objectEntry.objRootLock);
 148   }
 149   debug(24,10) ("ORTEAppSendThread: finished\n");
 150   pthread_exit(NULL);
 151 }
 152