uORBDeviceMaster.cpp

/****************************************************************************
 *
 *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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#include "uORBDeviceMaster.hpp"
#include "uORBDeviceNode.hpp"
#include "uORBManager.hpp"
#include "uORBUtils.hpp"

#ifdef ORB_COMMUNICATOR
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */

#include <px4_sem.hpp>
#include <systemlib/px4_macros.h>

uORB::DeviceMaster::DeviceMaster()
{
	px4_sem_init(&_lock, 0, 1);
	_last_statistics_output = hrt_absolute_time();
}

uORB::DeviceMaster::~DeviceMaster()
{
	px4_sem_destroy(&_lock);
}

int
uORB::DeviceMaster::advertise(const struct orb_metadata *meta, int *instance, int priority)
{
	int ret = PX4_ERROR;

	char nodepath[orb_maxpath];

	/* construct a path to the node - this also checks the node name */
	ret = uORB::Utils::node_mkpath(nodepath, meta, instance);

	if (ret != PX4_OK) {
		return ret;
	}

	ret = PX4_ERROR;

	/* try for topic groups */
	const unsigned max_group_tries = (instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1;
	unsigned group_tries = 0;

	if (instance) {
		/* for an advertiser, this will be 0, but a for subscriber that requests a certain instance,
		 * we do not want to start with 0, but with the instance the subscriber actually requests.
		 */
		group_tries = *instance;

		if (group_tries >= max_group_tries) {
			return -ENOMEM;
		}
	}

	SmartLock smart_lock(_lock);

	do {
		/* if path is modifyable change try index */
		if (instance != nullptr) {
			/* replace the number at the end of the string */
			nodepath[strlen(nodepath) - 1] = '0' + group_tries;
			*instance = group_tries;
		}

		/* driver wants a permanent copy of the path, so make one here */
		const char *devpath = strdup(nodepath);

		if (devpath == nullptr) {
			return -ENOMEM;
		}

		/* construct the new node */
		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath, priority);

		/* if we didn't get a device, that's bad */
		if (node == nullptr) {
			free((void *)devpath);
			return -ENOMEM;
		}

		/* initialise the node - this may fail if e.g. a node with this name already exists */
		ret = node->init();

		/* if init failed, discard the node and its name */
		if (ret != PX4_OK) {
			delete node;

			if (ret == -EEXIST) {
				/* if the node exists already, get the existing one and check if
				 * something has been published yet. */
				uORB::DeviceNode *existing_node = getDeviceNodeLocked(meta, group_tries);

				if ((existing_node != nullptr) && !(existing_node->is_published())) {
					/* nothing has been published yet, lets claim it */
					existing_node->set_priority(priority);
					ret = PX4_OK;

				} else {
					/* otherwise: data has already been published, keep looking */
				}
			}

			/* also discard the name now */
			free((void *)devpath);

		} else {
			// add to the node map;.
			_node_list.add(node);
		}

		group_tries++;

	} while (ret != PX4_OK && (group_tries < max_group_tries));

	if (ret != PX4_OK && group_tries >= max_group_tries) {
		ret = -ENOMEM;
	}

	return ret;
}

void uORB::DeviceMaster::printStatistics(bool reset)
{
	hrt_abstime current_time = hrt_absolute_time();
	PX4_INFO("Statistics, since last output (%i ms):", (int)((current_time - _last_statistics_output) / 1000));
	_last_statistics_output = current_time;

	PX4_INFO("TOPIC, NR LOST MSGS");
	bool had_print = false;

	/* Add all nodes to a list while locked, and then print them in unlocked state, to avoid potential
	 * dead-locks (where printing blocks) */
	lock();
	DeviceNodeStatisticsData *first_node = nullptr;
	DeviceNodeStatisticsData *cur_node = nullptr;
	size_t max_topic_name_length = 0;
	int num_topics = 0;
	int ret = addNewDeviceNodes(&first_node, num_topics, max_topic_name_length, nullptr, 0);
	unlock();

	if (ret != 0) {
		PX4_ERR("addNewDeviceNodes failed (%i)", ret);
	}

	cur_node = first_node;

	while (cur_node) {
		if (cur_node->node->print_statistics(reset)) {
			had_print = true;
		}

		DeviceNodeStatisticsData *prev = cur_node;
		cur_node = cur_node->next;
		delete prev;
	}

	if (!had_print) {
		PX4_INFO("No lost messages");
	}
}

int uORB::DeviceMaster::addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics,
		size_t &max_topic_name_length, char **topic_filter, int num_filters)
{
	DeviceNodeStatisticsData *cur_node = nullptr;
	num_topics = 0;
	DeviceNodeStatisticsData *last_node = *first_node;

	if (last_node) {
		while (last_node->next) {
			last_node = last_node->next;
		}
	}

	for (const auto &node : _node_list) {

		++num_topics;

		//check if already added
		cur_node = *first_node;

		while (cur_node && cur_node->node != node) {
			cur_node = cur_node->next;
		}

		if (cur_node) {
			continue;
		}

		if (num_filters > 0 && topic_filter) {
			bool matched = false;

			for (int i = 0; i < num_filters; ++i) {
				if (strstr(node->get_meta()->o_name, topic_filter[i])) {
					matched = true;
				}
			}

			if (!matched) {
				continue;
			}
		}

		if (last_node) {
			last_node->next = new DeviceNodeStatisticsData();
			last_node = last_node->next;

		} else {
			*first_node = last_node = new DeviceNodeStatisticsData();
		}

		if (!last_node) {
			return -ENOMEM;
		}

		last_node->node = node;

		size_t name_length = strlen(last_node->node->get_meta()->o_name);

		if (name_length > max_topic_name_length) {
			max_topic_name_length = name_length;
		}

		last_node->last_lost_msg_count = last_node->node->lost_message_count();
		last_node->last_pub_msg_count = last_node->node->published_message_count();
	}

	return 0;
}

#define CLEAR_LINE "\033[K"

void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
{
	bool print_active_only = true;
	bool only_once = false; // if true, run only once, then exit

	if (topic_filter && num_filters > 0) {
		bool show_all = false;

		for (int i = 0; i < num_filters; ++i) {
			if (!strcmp("-a", topic_filter[i])) {
				show_all = true;

			} else if (!strcmp("-1", topic_filter[i])) {
				only_once = true;
			}
		}

		print_active_only = only_once ? (num_filters == 1) : false; // print non-active if -a or some filter given

		if (show_all || print_active_only) {
			num_filters = 0;
		}
	}

	PX4_INFO_RAW("\033[2J\n"); //clear screen

	lock();

	if (_node_list.empty()) {
		unlock();
		PX4_INFO("no active topics");
		return;
	}

	DeviceNodeStatisticsData *first_node = nullptr;
	DeviceNodeStatisticsData *cur_node = nullptr;
	size_t max_topic_name_length = 0;
	int num_topics = 0;
	int ret = addNewDeviceNodes(&first_node, num_topics, max_topic_name_length, topic_filter, num_filters);

	/* a DeviceNode is never deleted, so it's save to unlock here and still access the DeviceNodes */
	unlock();

	if (ret != 0) {
		PX4_ERR("addNewDeviceNodes failed (%i)", ret);
	}

#ifdef __PX4_QURT //QuRT has no poll()
	only_once = true;
#else
	const int stdin_fileno = 0;

	struct pollfd fds;
	fds.fd = stdin_fileno;
	fds.events = POLLIN;
#endif
	bool quit = false;

	hrt_abstime start_time = hrt_absolute_time();

	while (!quit) {

#ifndef __PX4_QURT

		/* Sleep 200 ms waiting for user input five times ~ 1s */
		for (int k = 0; k < 5; k++) {
			char c;

			ret = ::poll(&fds, 1, 0); //just want to check if there is new data available

			if (ret > 0) {

				ret = ::read(stdin_fileno, &c, 1);

				if (ret) {
					quit = true;
					break;
				}
			}

			px4_usleep(200000);
		}

#endif

		if (!quit) {

			//update the stats
			hrt_abstime current_time = hrt_absolute_time();
			float dt = (current_time - start_time) / 1.e6f;
			cur_node = first_node;

			while (cur_node) {
				uint32_t num_lost = cur_node->node->lost_message_count();
				unsigned int num_msgs = cur_node->node->published_message_count();
				cur_node->pub_msg_delta = (num_msgs - cur_node->last_pub_msg_count) / dt;
				cur_node->lost_msg_delta = (num_lost - cur_node->last_lost_msg_count) / dt;
				cur_node->last_lost_msg_count = num_lost;
				cur_node->last_pub_msg_count = num_msgs;
				cur_node = cur_node->next;
			}

			start_time = current_time;


			PX4_INFO_RAW("\033[H"); // move cursor home and clear screen
			PX4_INFO_RAW(CLEAR_LINE "update: 1s, num topics: %i\n", num_topics);
			PX4_INFO_RAW(CLEAR_LINE "%-*s INST #SUB #MSG #LOST #QSIZE\n", (int)max_topic_name_length - 2, "TOPIC NAME");
			cur_node = first_node;

			while (cur_node) {

				if (!print_active_only || cur_node->pub_msg_delta > 0) {
					PX4_INFO_RAW(CLEAR_LINE "%-*s %2i %4i %4i %5i %i\n", (int)max_topic_name_length,
						     cur_node->node->get_meta()->o_name, (int)cur_node->node->get_instance(),
						     (int)cur_node->node->subscriber_count(), cur_node->pub_msg_delta,
						     (int)cur_node->lost_msg_delta, cur_node->node->get_queue_size());
				}

				cur_node = cur_node->next;
			}

			lock();
			ret = addNewDeviceNodes(&first_node, num_topics, max_topic_name_length, topic_filter, num_filters);
			unlock();

			if (ret != 0) {
				PX4_ERR("addNewDeviceNodes failed (%i)", ret);
			}

		}

		if (only_once) {
			quit = true;
		}
	}

	//cleanup
	cur_node = first_node;

	while (cur_node) {
		DeviceNodeStatisticsData *next_node = cur_node->next;
		delete cur_node;
		cur_node = next_node;
	}
}

#undef CLEAR_LINE

uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const char *nodepath)
{
	lock();

	for (uORB::DeviceNode *node : _node_list) {
		if (strcmp(node->get_devname(), nodepath) == 0) {
			unlock();
			return node;
		}
	}

	unlock();

	return nullptr;
}

uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const struct orb_metadata *meta, const uint8_t instance)
{
	lock();
	uORB::DeviceNode *node = getDeviceNodeLocked(meta, instance);
	unlock();

	//We can safely return the node that can be used by any thread, because
	//a DeviceNode never gets deleted.
	return node;
}

uORB::DeviceNode *uORB::DeviceMaster::getDeviceNodeLocked(const struct orb_metadata *meta, const uint8_t instance)
{
	for (uORB::DeviceNode *node : _node_list) {
		if ((strcmp(node->get_name(), meta->o_name) == 0) && (node->get_instance() == instance)) {
			return node;
		}
	}

	return nullptr;
}