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Code Issues Releases Wiki Activity

- migrate to rlink protocol version 4

Browse Source 
- Goals for rlink v4
    - 16 bit addresses (instead of 8 bit)
    - more robust encoding, support for error recovery at transport level
    - add features to reduce round trips
      - improved attention handling
      - new 'list abort' command
  - For further details see README_Rlink_V4.txt
- use own C++ based tcl shell tclshcpp instead of tclsh
This commit is contained in:
Walter F.J. Mueller
2014-12-20 16:39:52 +00:00
parent 093d540121
commit d87ac86f53
203 changed files with 9324 additions and 10881 deletions
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57
tools/src/librlink/RlinkPort.cpp
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@@ -1,6 +1,6 @@
// $Id: RlinkPort.cpp 492 2013-02-24 22:14:47Z mueller $
// $Id: RlinkPort.cpp 611 2014-12-10 23:23:58Z mueller $
//
// Copyright 2011-2013 by Walter F.J. Mueller <W.F.J.Mueller@gsi.de>
// Copyright 2011-2014 by Walter F.J. Mueller <W.F.J.Mueller@gsi.de>
//
// This program is free software; you may redistribute and/or modify it under
// the terms of the GNU General Public License as published by the Free
@@ -13,6 +13,10 @@
//
// Revision History:
// Date Rev Version Comment
// 2014-12-10 611 1.2.4 add time stamps for Read/Write for logs
// 2014-11-29 607 1.2.3 BUGFIX: fix time handling on RawRead()
// 2014-11-23 606 1.2.2 use Rtools::TimeOfDayAsDouble()
// 2014-08-22 584 1.2.1 use nullptr
// 2013-02-23 492 1.2 use RparseUrl
// 2013-02-22 491 1.1 use new RlogFile/RlogMsg interfaces
// 2013-02-10 485 1.0.5 add static const defs
@@ -26,14 +30,13 @@
/*!
\file
\version $Id: RlinkPort.cpp 492 2013-02-24 22:14:47Z mueller $
\version $Id: RlinkPort.cpp 611 2014-12-10 23:23:58Z mueller $
\brief Implemenation of RlinkPort.
*/
#include <errno.h>
#include <unistd.h>
#include <poll.h>
#include <sys/time.h>
#include <iostream>
@@ -42,6 +45,7 @@
#include "librtools/RosPrintBvi.hpp"
#include "librtools/Rexception.hpp"
#include "librtools/RlogMsg.hpp"
#include "librtools/Rtools.hpp"
#include "RlinkPort.hpp"
@@ -72,6 +76,8 @@ RlinkPort::RlinkPort()
fFdWrite(-1),
fspLog(),
fTraceLevel(0),
fTsLastRead(-1.),
fTsLastWrite(-1.),
fStats()
{
fStats.Define(kStatNPortWrite, "NPortWrite", "Port::Write() calls");
@@ -115,7 +121,7 @@ int RlinkPort::Read(uint8_t* buf, size_t size, double timeout, RerrMsg& emsg)
if (!IsOpen())
throw Rexception("RlinkPort::Read()","Bad state: port not open");
if (buf == 0)
throw Rexception("RlinkPort::Read()","Bad args: buf==NULL");
throw Rexception("RlinkPort::Read()","Bad args: buf==nullptr");
if (size == 0)
throw Rexception("RlinkPort::Read()","Bad args: size==0");
@@ -126,7 +132,7 @@ int RlinkPort::Read(uint8_t* buf, size_t size, double timeout, RerrMsg& emsg)
int irc = -1;
while (irc < 0) {
irc = read(fFdRead, (void*) buf, size);
irc = ::read(fFdRead, (void*) buf, size);
if (irc < 0 && errno != EINTR) {
emsg.InitErrno("RlinkPort::Read()", "read() failed : ", errno);
if (fspLog && fTraceLevel>0) fspLog->Write(emsg.Message(), 'E');
@@ -137,6 +143,12 @@ int RlinkPort::Read(uint8_t* buf, size_t size, double timeout, RerrMsg& emsg)
if (fspLog && fTraceLevel>0) {
RlogMsg lmsg(*fspLog, 'I');
lmsg << "port read nchar=" << RosPrintf(irc,"d",4);
double now = Rtools::TimeOfDayAsDouble();
if (fTsLastRead > 0.)
lmsg << " dt_rd=" << RosPrintf(now-fTsLastRead,"f",8,6);
if (fTsLastWrite > 0.)
lmsg << " dt_wr=" << RosPrintf(now-fTsLastWrite,"f",8,6);
fTsLastRead = now;
if (fTraceLevel>1) {
size_t ncol = (80-5-6)/(2+1);
for (int i=0; i<irc; i++) {
@@ -159,7 +171,7 @@ int RlinkPort::Write(const uint8_t* buf, size_t size, RerrMsg& emsg)
if (!IsOpen())
throw Rexception("RlinkPort::Write()","Bad state: port not open");
if (buf == 0)
throw Rexception("RlinkPort::Write()","Bad args: buf==NULL");
throw Rexception("RlinkPort::Write()","Bad args: buf==nullptr");
if (size == 0)
throw Rexception("RlinkPort::Write()","Bad args: size==0");
@@ -168,6 +180,12 @@ int RlinkPort::Write(const uint8_t* buf, size_t size, RerrMsg& emsg)
if (fspLog && fTraceLevel>0) {
RlogMsg lmsg(*fspLog, 'I');
lmsg << "port write nchar=" << RosPrintf(size,"d",4);
double now = Rtools::TimeOfDayAsDouble();
if (fTsLastRead > 0.)
lmsg << " dt_rd=" << RosPrintf(now-fTsLastRead,"f",8,6);
if (fTsLastWrite > 0.)
lmsg << " dt_wr=" << RosPrintf(now-fTsLastWrite,"f",8,6);
fTsLastWrite = now;
if (fTraceLevel>1) {
size_t ncol = (80-5-6)/(2+1);
for (size_t i=0; i<size; i++) {
@@ -181,7 +199,7 @@ int RlinkPort::Write(const uint8_t* buf, size_t size, RerrMsg& emsg)
while (ndone < size) {
int irc = -1;
while (irc < 0) {
irc = write(fFdWrite, (void*) (buf+ndone), size-ndone);
irc = ::write(fFdWrite, (void*) (buf+ndone), size-ndone);
if (irc < 0 && errno != EINTR) {
emsg.InitErrno("RlinkPort::Write()", "write() failed : ", errno);
if (fspLog && fTraceLevel>0) fspLog->Write(emsg.Message(), 'E');
@@ -216,7 +234,7 @@ bool RlinkPort::PollRead(double timeout)
int irc = -1;
while (irc < 0) {
irc = poll(fds, 1, ito);
irc = ::poll(fds, 1, ito);
if (irc < 0 && errno != EINTR)
throw Rexception("RlinkPort::PollRead()","poll() failed: rc<0: ", errno);
}
@@ -242,21 +260,17 @@ int RlinkPort::RawRead(uint8_t* buf, size_t size, bool exactsize,
fStats.Inc(kStatNPortRawRead);
tused = 0.;
struct timeval tval;
gettimeofday(&tval, 0);
double tbeg = double(tval.tv_sec) + 1.e-6*double(tval.tv_usec);
double trest = timeout;
double tnow = Rtools::TimeOfDayAsDouble();
double tend = tnow + timeout;
double tbeg = tnow;
size_t ndone = 0;
while (trest>0. && ndone<size) {
int irc = Read(buf+ndone, size-ndone, trest, emsg);
gettimeofday(&tval, 0);
double tend = double(tval.tv_sec) + 1.e-6*double(tval.tv_usec);
tused = tend - tbeg;
while (tnow < tend && ndone<size) {
int irc = Read(buf+ndone, size-ndone, tend-tnow, emsg);
tnow = Rtools::TimeOfDayAsDouble();
tused = tnow - tbeg;
if (irc <= 0) return irc;
if (!exactsize) break;
trest -= (tend-tbeg);
ndone += irc;
}
@@ -285,6 +299,7 @@ void RlinkPort::Dump(std::ostream& os, int ind, const char* text) const
os << bl << " fFdWrite: " << fFdWrite << endl;
os << bl << " fspLog: " << fspLog.get() << endl;
os << bl << " fTraceLevel: " << fTraceLevel << endl;
//FIXME_code: fTsLastRead, fTsLastWrite not yet in Dump (get formatter...)
fStats.Dump(os, ind+2, "fStats: ");
return;
}
@@ -295,7 +310,7 @@ void RlinkPort::Dump(std::ostream& os, int ind, const char* text) const
void RlinkPort::CloseFd(int& fd)
{
if (fd >= 0) {
close(fd);
::close(fd);
fd = -1;
}
return;