aruna::comm::anonymous_namespace{comm.cpp} Namespace Reference

Functions
void	set_status (status_t status)
	set the comm status More...
err_t	transmit (transmitpackage_t transmitpackage)
	Transmit a package. More...
void *	transmissionQueueHandeler (void *)
	Tramsmission handeler. More...
Link *	getDriver ()
	get the driver More...
std::tuple< Link *, err_t >	pickDriver ()
	pick the best available driver More...
void	setDriver (Link &driver)
	set the driver More...
unsigned int	rateDriver (Link &driver)
	rate the driver on speed, errors, active connection, realtime, connection type etc. More...
void *	_selectDriverTask (void *)
	pick a new best driver, dont call directly will delete your process. More...
void	selectDriverTask ()
	start a task to select a driver, does not block. More...
void *	receiveHandeler (void *)
	Task to handle incomming connections. More...
bool	register_log ()

Variables
static log::channel_t *	log
pthread_t	transmissionQueueHandeler_thread_handeler
pthread_t	receiveHandeler_thread_handeler
pthread_cond_t	out_buffer_not_empty
pthread_mutex_t	out_buffer_critical
std::queue< transmitpackage_t >	out_buffer
std::set< Link * >	driverCandidates
std::set< channel_t *, channel_t::compare_refrence >	channels
	all endpoints More...
status_t	status = status_t::STOPPED
	stores the comm status More...
Link *	driver
	stores the driver. More...

Function Documentation

_selectDriverTask()

void * aruna::comm::anonymous_namespace{comm.cpp}::_selectDriverTask

(

void *

)

pick a new best driver, dont call directly will delete your process.

Definition at line 194 of file comm.cpp.

                                         {
            auto dr = pickDriver();
            int pret = 0;
            if (std::get<1>(dr) == err_t::OK) {
                setDriver(*std::get<0>(dr));
            } else {
                log->error("Failed to pick new driver: %s", err_to_char.at(std::get<1>(dr)));
                comm::stop();
            }
            pthread_exit(&pret);
            return nullptr;
        }

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getDriver()

Link * aruna::comm::anonymous_namespace{comm.cpp}::getDriver

(

)

get the driver

Returns

ComdDriver object

Definition at line 154 of file comm.cpp.

                          {
            return driver;
        }

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pickDriver()

std::tuple< Link *, err_t > aruna::comm::anonymous_namespace{comm.cpp}::pickDriver

(

)

pick the best available driver

Returns

tuple 0: ComDriver best candidate object. 1: err_t. 1: NO_DRIVER if no driver can be found 1: OK if all is well

Definition at line 161 of file comm.cpp.

                                             {
//    bestpick initalisren omdat hij anders een lege terug kan geven.
            Link *bestPick = nullptr;
            unsigned int bestPickScore = 0;
            unsigned int s = 0;
            if (driverCandidates.empty())
                return std::make_tuple(bestPick, err_t::NO_DRIVER);
            for (auto driverCandidate : driverCandidates) {
                s = rateDriver(*driverCandidate);
                if (s > bestPickScore) {
                    bestPick = driverCandidate;
                    bestPickScore = s;
                }
//        TODO drivers die het niet zijn geworden moeten worden gedeleted.
            }
            return std::make_tuple(bestPick, err_t::OK);
        }

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rateDriver()

unsigned int aruna::comm::anonymous_namespace{comm.cpp}::rateDriver

(

Link &

driver

)

rate the driver on speed, errors, active connection, realtime, connection type etc.

Parameters

driver

Returns

rating of the driver. Higher is better.

Definition at line 179 of file comm.cpp.

                                              {
            unsigned int score = 0;
            err_t drivstrt = driver.startup_error;
            if (drivstrt != err_t::OK) {
                log->warning("driver failed to start: %s", err_to_char.at(drivstrt));
                return score;
            }
            if (!driver.is_connected())
                return score;
            else
                score += 15;
            score *= (int) driver.get_speed() / 100;

            return score;
        }

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receiveHandeler()

void * aruna::comm::anonymous_namespace{comm.cpp}::receiveHandeler

(

void *

)

Task to handle incomming connections.

Returns

the big void

Definition at line 220 of file comm.cpp.

                                       {
            uint16_t bytes_read = 0;
            uint8_t size = 0;
            uint8_t *buff;
            Link* driver;
//            TODO make it less busyloopy.
            while (1) {
                driver = getDriver();
//        read the size of the package
                bytes_read = driver->receive(&size, 1);
//                TODO if statement seems odd, `size = 1` should suffise.
                if (bytes_read && size >= 2) {
                    log->verbose("new incoming connection, size: %i", size);
                    buff = (uint8_t *) malloc(size);
                    buff[0] = size;
                    bytes_read = driver->receive(&buff[1], (size - 1));
                    log->dump(aruna::log::level_t::VERBOSE, buff, size);

                    incoming_connection(buff, size);
//            cleanup
                    free(buff);
                    size = 0;
                    bytes_read = 0;
                }
            }
        }

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register_log()

bool aruna::comm::anonymous_namespace{comm.cpp}::register_log

(

)

Definition at line 211 of file comm.cpp.

                            {
            static bool registerd = false;
            if (!registerd){
                log = new log::channel_t("comm");
                registerd = true;
            }
            return registerd;
        }

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selectDriverTask()

void aruna::comm::anonymous_namespace{comm.cpp}::selectDriverTask

(

)

start a task to select a driver, does not block.

Definition at line 207 of file comm.cpp.

                                {
            pthread_create(NULL, NULL, _selectDriverTask, NULL);
        }

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set_status()

void aruna::comm::anonymous_namespace{comm.cpp}::set_status

(

status_t

status

)

set the comm status

Parameters

status

new status

Definition at line 116 of file comm.cpp.

                                         {
            comm::status = status;
        }

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setDriver()

void aruna::comm::anonymous_namespace{comm.cpp}::setDriver

(

Link &

driver

)

set the driver

Parameters

driver

to use.

Definition at line 157 of file comm.cpp.

                                     {
            comm::driver = &driver;
        }

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transmissionQueueHandeler()

void * aruna::comm::anonymous_namespace{comm.cpp}::transmissionQueueHandeler

(

void *

)

Tramsmission handeler.

Do not call directly, blocks CPU.

Return values

None

Definition at line 133 of file comm.cpp.

                                                 {
            err_t transmit_msg = err_t::FAIL;
            while(1) {

                pthread_mutex_lock(&out_buffer_critical);
                while(out_buffer.empty()){
//                    TODO cond_wait after mutex_lock can cause a deadlock.
                    pthread_cond_wait(&out_buffer_not_empty, &out_buffer_critical);
                }
                transmit_msg = transmit(out_buffer.front());
                if (transmit_msg != err_t::OK) {
                    log->warning("transmit of: %d, to: %d, failed: %s", out_buffer.front().from_port, out_buffer.front().to_port,
                             err_to_char.at(transmit_msg));
                    log->dump(log::level_t::WARNING, out_buffer.front().data_transmitting, out_buffer.front().data_lenght);
                } else {
                    out_buffer.pop();
                }
                pthread_mutex_unlock(&out_buffer_critical);

            }
        }

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transmit()

err_t aruna::comm::anonymous_namespace{comm.cpp}::transmit

(

transmitpackage_t

transmitpackage

)

Transmit a package.

Parameters

transmitpackage

package to be transmitted

Returns

err_t.

• OK if success
• HARDWARE_ERR if the hardware layer failed

Definition at line 120 of file comm.cpp.

                                                          {
            err_t return_msg = err_t::OK;
            size_t send;
            uint8_t* data = (uint8_t*) malloc(transmitpackage.data_lenght + transmitpackage_t::HEADER_SIZE);

            transmitpackage_t::transmitpackage_to_binary(transmitpackage, data);
            send = getDriver()->transmit(data, transmitpackage.size);
            if (send != transmitpackage.size)
                return_msg = err_t::FAIL;
            free(data);
            return return_msg;
        }

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Variable Documentation

channels

std::set<channel_t*, channel_t::compare_refrence> aruna::comm::anonymous_namespace{comm.cpp}::channels

all endpoints

Definition at line 35 of file comm.cpp.

driver

Link* aruna::comm::anonymous_namespace{comm.cpp}::driver

stores the driver.

Definition at line 45 of file comm.cpp.

driverCandidates

std::set<Link *> aruna::comm::anonymous_namespace{comm.cpp}::driverCandidates

Definition at line 30 of file comm.cpp.

log

log::channel_t* aruna::comm::anonymous_namespace{comm.cpp}::log

static

Definition at line 23 of file comm.cpp.

out_buffer

std::queue<transmitpackage_t> aruna::comm::anonymous_namespace{comm.cpp}::out_buffer

Definition at line 29 of file comm.cpp.

out_buffer_critical

pthread_mutex_t aruna::comm::anonymous_namespace{comm.cpp}::out_buffer_critical

Definition at line 28 of file comm.cpp.

out_buffer_not_empty

pthread_cond_t aruna::comm::anonymous_namespace{comm.cpp}::out_buffer_not_empty

Definition at line 27 of file comm.cpp.

receiveHandeler_thread_handeler

pthread_t aruna::comm::anonymous_namespace{comm.cpp}::receiveHandeler_thread_handeler

Definition at line 26 of file comm.cpp.

status

status_t aruna::comm::anonymous_namespace{comm.cpp}::status = status_t::STOPPED

stores the comm status

Definition at line 40 of file comm.cpp.

transmissionQueueHandeler_thread_handeler

pthread_t aruna::comm::anonymous_namespace{comm.cpp}::transmissionQueueHandeler_thread_handeler

Definition at line 25 of file comm.cpp.