I've written a engine for the game "draughts" some time ago and now I want to write a program that communicates with two of those engines via some protocol. In the end I hope to have something similar to the UCI-protocol which is widely known among programmers of chess engines.
The engine is supposed to receive all the commands via stdin and sends it's response via stdout.
I've created some dummy engine to test this with some testing before the if-statement to see if the engine receives anything at all.
int main(){
std::cerr<<"MainEngine"<<std::endl;
while (!std::cin.eof()) {
std::string current;
std::getline(std::cin, current);
std::cerr<<"FromMain:"<<current<<std::endl;
if (current == "init") {
initialize();
std::cout << "ready" << "\n";
} else if (current == "hashSize") {
std::string hash;
std::getline(std::cin, hash);
setHashSize(1u << std::stoi(hash));
} else if (current == "position") {
std::string position;
std::getline(std::cin, position);
} else if (current == "move") {
std::string move;
std::getline(std::cin, move);
}
}
return 0
}
and here is my attempt at the communication-part using pipes
struct Interface {
enum State {
Idle, Ready, Searching
};
const int &engineRead1;
const int &engineRead2;
const int &engineWrite1;
const int &engineWrite2;
State oneState;
State twoState;
void initEngines();
void writeMessage(const int &pipe, const std::string &message);
void processInput(const int &readPipe);
Interface &operator<<(const std::string message);
};
void Interface::processInput(const int &readPipe) {
std::string message;
char c;
while ((read(readPipe, &c, sizeof(char))) != -1) {
if (c == '\n') {
break;
} else {
message += c;
}
}
if (message == "ready") {
std::cout << "ReadyEngine" << std::endl;
}
}
void Interface::writeMessage(const int &pipe, const std::string &message) {
write(pipe, (char *) &message.front(), sizeof(char) * message.size());
}
int main(int argl, const char **argc) {
int numEngines = 2;
int mainPipe[numEngines][2];
int enginePipe[numEngines][2];
for (auto i = 0; i < numEngines; ++i) {
pipe(mainPipe[i]);
pipe(enginePipe[i]);
auto pid = fork();
if (pid < 0) {
std::cerr << "Error" << std::endl;
exit(EXIT_FAILURE);
} else if (pid == 0) {
dup2(mainPipe[i][0], STDIN_FILENO);
close(enginePipe[i][1]);
dup2(enginePipe[i][1], STDOUT_FILENO);
close(mainPipe[i][0]);
execlp("./engine", "engine", NULL);
}
close(enginePipe[i][0]);
close(mainPipe[i][1]);
std::string message = "init\n";
Interface inter{enginePipe[0][0], enginePipe[1][0], mainPipe[0][1], mainPipe[1][1]};
inter.writeMessage(inter.engineWrite1, message);
inter.writeMessage(inter.engineWrite2, message);
int status;
for (int k = 0; k < numEngines; ++k) {
wait(&status);
}
}
}
I am creating two child-process one for each engine. In this test I simply send "init\n" to each of the engine and would expect the child processes to print "FromMain: init". However, I am only getting the output "MainEngine" from one of the child-processes.
This is my first attempt at using pipes and I dont know where I messed up. I would appreciate some tips/help on how to properly setup the communication part.
close(enginePipe[i][1]);
dup2(enginePipe[i][1], STDOUT_FILENO);
You're closing a pipe and then trying to dup it. This doesn't work.
close(enginePipe[i][0]);
close(mainPipe[i][1]);
std::string message = "init\n";
Interface inter{enginePipe[0][0], enginePipe[1][0], mainPipe[0][1], mainPipe[1][1]};
And you're closing these pipes then trying to use them too. And making inter with all of the pipes each iteration through, instead of each only once.
I'd advise you to do something simple with two processes and one pipe, before trying complicated things like this with three processes and four pipes.
Related
Here is what my program currently looks like. I have to add history functionality that gets stored in a file 'mysh.history'. Currently I expect my output to simply append each user command in my shell to the file.
first line of output
first line of output
It only appends the first input into the shell instance. I think my problem lies with my understanding of the fork() process but I'm not sure what is going on. Any suggestions?
#define MYSH_BUFFERSIZE 64
#define MYSH_DELIM " \t\n"
fstream file;
// custom function declarations
int mysh_exit(char **args);
int mysh_add_history(char **args);
int mysh_history(char **);
char byebye[] = "byebye";
char exit_program[] = "exit";
char history[] = "history";
// contains names of all custom shell commands implemented
char *lookup_str[] = {byebye, exit_program, history};
// holds references to all commands in lookup_str[]
// order or commands must match each other
int (*lookup_func[])(char **) = {
&mysh_exit,
&mysh_exit,
&mysh_history
};
/* custom shell commands implementations BEGIN*/
// Without the argument, it prints out the recently typed commands (with their
// arguments), in reverse order, with numbers
// If the argument ā-cā is passed, it clears the list of recently typed commands.
void clear_history()
{
file.close();
file.open("mysh.history", ios::trunc);
}
int mysh_add_history(char *line)
{
// if exists then append to the history
if (access("mysh.history", F_OK) == 0)
{
file.open("mysh.history", ios::app);
}
// otherwise create mysh.history and start writing
else
{
file.open("mysh.history", ios::out);
}
file << line << "\n";
return 0;
}
int mysh_history(char **)
{
return 0;
}
int mysh_exit(char **args)
{
return 0;
}
int num_commands()
{
return sizeof(lookup_str) / sizeof(char *);
}
/* custom shell functions END*/
/* main shell processes BEGIN*/
// returns the tokens (arguments) array after tokenizing line from mysh_read_line()
char **mysh_split_args(char *line)
{
int buffer_size = MYSH_BUFFERSIZE;
int current_pos = 0;
char **tokens = (char **)malloc(buffer_size * sizeof(char *));
char *tok;
if (!tokens)
{
printf("mysh: memory allocation error\n");
exit(EXIT_FAILURE);
}
tok = strtok(line, MYSH_DELIM);
while (tok != NULL)
{
tokens[current_pos] = tok;
current_pos++;
if (current_pos >= buffer_size)
{
buffer_size += MYSH_BUFFERSIZE;
tokens = (char **)realloc(tokens, buffer_size * sizeof(char *));
if (!tokens)
{
printf("mysh: memory allocation error\n");
exit(EXIT_FAILURE);
}
}
tok = strtok(NULL, MYSH_DELIM);
}
tokens[current_pos] = NULL;
return tokens;
}
// mysh_read_line allocates MYSH_BUFFER_SIZE of memory to the intial buffer
// it reallocates memory as needed with getLine() function
// returns line to be processed and tokenized by mysh_split_args()
char *mysh_read_line(void)
{
char *line = NULL;
size_t buffersize = 0;
// getLine() also needs to check for EOF after in the case of text files being read.
if (getline(&line, &buffersize, stdin) == -1)
{
if (feof(stdin))
{
exit(EXIT_SUCCESS);
}
else
{
printf("failed to read line\n");
exit(EXIT_FAILURE);
}
}
return line;
}
// args passed comes from mysh_split_args()
int mysh_launch_process(char **args)
{
pid_t pid;
pid_t wpid;
int state;
pid = fork();
// if we enter child process
if (pid == 0)
{
if (execvp(args[0], args) == -1)
{
printf("error in mysh\n");
}
exit(EXIT_FAILURE);
}
// forking failed
else if (pid < 0)
{
printf("error in mysh\n");
}
else
{
// if we enter parent process
do
{
wpid = waitpid(pid, &state, WUNTRACED);
} while (!WIFEXITED(state) && !WIFSIGNALED(state));
}
return 1;
}
// calls mysh_launch_process() and handles programs being called
int mysh_execute(char **args)
{
int i;
if (args[0] == NULL)
{
return 1;
}
for (i = 0; i < num_commands(); i++)
{
if (strcmp(args[0], lookup_str[i]) == 0)
{
if (strcmp(args[0], "history") == 0 && strcmp(args[1], "-c"))
{
clear_history();
}
return (*lookup_func[i])(args);
}
}
return mysh_launch_process(args);
}
void mysh_loop(void)
{
char *line;
char **args;
int state;
do
{
printf("# ");
line = mysh_read_line();
mysh_add_history(line);
args = mysh_split_args(line);
state = mysh_execute(args);
free(line);
free(args);
} while (state);
}
int main(int argc, char **argv)
{
// run main program loop
mysh_loop();
file.close();
return EXIT_SUCCESS;
}
/* main shell processes END*/```
I have created a wrapper library around QSerialPort. I want to communicate with my device. First, I send list command to my device and it should return list of commands supported by that device. However, while debugging my code, i observed that list command is being send to the device and device returns the proper response to it (i debugged using serial traffic sniffer Linux tools). However, i am not getting any response from my device using QSerialPort (while serial traffic sniffer tool was disable). I am unable to get it work after testing it several times.
My Serial.h:
class Serial : public Print {
public:
Serial();
explicit Serial(const char *dev_path);
~Serial();
int begin(unsigned long baudrate);
int begin(unsigned long baudrate, uint8_t cfg);
void end(void);
int available(void) const;
bool availableForWrite(void) const;
void flush(void);
bool isError(void) const;
void reset(void);
unsigned long write(uint8_t c);
unsigned long write(uint8_t *p_data, unsigned long maxSize);
int read(void);
void close();
QSerialPort &getPort()
{
return *_p_port;
}
public slots:
void readyBe(void);
private:
QSerialPort *_p_port;
unsigned long _baudrate;
};
My Serial.cpp:
Serial::Serial()
{
_p_port = new QSerialPort();
if (_p_port == nullptr)
throw std::runtime_error("Can't allocate memory");
}
Serial::Serial(const char *dev_path)
{
_p_port = new QSerialPort(QString(dev_path), QApplication::instance());
if (_p_port == nullptr)
throw std::runtime_error("Can't allocate memory");
// _p_port->setPortName(QString(dev_path));
if (_p_port->open(QIODevice::ReadWrite) == false) {
throw std::runtime_error("Can't open the serial _p_port");
delete _p_port;
}
_p_port->setBaudRate(QSerialPort::Baud9600);
_p_port->setDataBits(QSerialPort::Data8);
_p_port->setParity(QSerialPort::NoParity);
_p_port->setStopBits(QSerialPort::OneStop);
_p_port->setFlowControl(QSerialPort::NoFlowControl);
}
Serial::~Serial()
{
if (_p_port != nullptr) {
end();
delete _p_port;
}
}
int Serial::begin(unsigned long baudrate)
{
if (_p_port->setBaudRate(baudrate, QSerialPort::AllDirections) == false)
return -1;
_baudrate = baudrate;
return 0;
}
void Serial::end()
{
if (_p_port->isOpen())
_p_port->close();
}
int Serial::available(void) const
{
int num_bytes = _p_port->bytesAvailable();
return num_bytes;
}
bool Serial::availableForWrite(void) const
{
if (_p_port->isWritable())
return true;
return false;
}
void Serial::flush()
{
_p_port->flush();
}
unsigned long Serial::write(uint8_t c)
{
if (_p_port->putChar(c))
return 1;
return 0;
}
unsigned long Serial::write(uint8_t *p_data, unsigned long maxSize)
{
return _p_port->write(reinterpret_cast<const char *>(p_data), (qint64)maxSize);
}
int Serial::read(void)
{
char c;
_p_port->getChar(&c);
return c;
}
void Serial::reset(void)
{
_p_port->clear(QSerialPort::AllDirections);
_p_port->clearError();
}
bool Serial::isError(void) const
{
if (_p_port->error() == QSerialPort::NoError)
return false;
return true;
}
And my main.cpp:
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow w;
// w.show();
Serial serial("ttyACM0");
if (serial.begin(115200))
std::cout << "Failed to set Baud rate" << std::endl;
std::cout << "Sending data" << std::endl;
// QObject::connect(&(serial.getPort()), SIGNAL(readyRead()), &serial, SLOT(readyBe()));
serial.print("list\r");
serial.flush();
while (true) {
while (true) {
while (serial.available() == 0) {
if (serial.isError()) {
std::cout << "Error" << std::endl;
// serial.reset();
}
}
char c = serial.read();
std::cout << c;
if (c == '\n')
break;
}
std::cout << std::endl;
}
return a.exec();
}
You've pretty much missed everything needed for this code to work: the event loop. I/O in real life is asynchronous. You can't just "read" from the port without having some means of getting informed when the data is available, and actually letting the asynchronous I/O requests get processed. Yes, there are some legacy APIs that let you do that, but they mostly lead to spaghetti code, wasted threads, and poor performance.
The while (serial.available() == 0) loop is a no-op. It does nothing to actually let the available() return any other value. All that available() does internally is read an integer member of a class. You never run any code that could update the value stored in that member. Even if you would convert this to serial.waitForReadyRead(), which does update the number of available bytes, you're still not spinning an event loop, and thus you won't be able to process timeouts, or react to any other events an application might need to react to. QIODevice::waitForReadyRead is only meant to do one thing: return when a readyRead signal would fire. It won't process any other events, and it's a crutch used to port blocking code and is not really meant for production use.
You should redesign your code to be asynchronous and driven by signals from QSerialPort. The work will then be done from within QCoreApplication::exec - you won't have a loop of your own. This inversion of control is critical for getting async I/O working.
See e.g. this answer for a very simple example of an async approach, and this answer for a more complete one.
I am using boost library to develop a asynchronous udp communication. A data received at the receiver side is being precessed by another thread. Then my problem is when I read the received data in another thread rather than the receiver thread it self it gives a modified data or updated data which is not the data that is supposed to be.
My code is working on unsigned character buffer array at sender side and receiver side. The reason is I need consider unsigned character buffer as a packet of data
e.g buffer[2] = Engine_start_ID
/* global buffer to store the incomming data
unsigned char received_buffer[200];
/*
global buffer accessed by another thread
which contains copy the received_buffer
*/
unsigned char read_hmi_buffer[200];
boost::mutex hmi_buffer_copy_mutex;
void udpComm::start_async_receive() {
udp_socket.async_receive_from(
boost::asio::buffer(received_buffer, max_length), remote_endpoint,
boost::bind(&udpComm::handle_receive_from, this,
boost::asio::placeholders::error,
boost::asio::placeholders::bytes_transferred));
}
/* the data received is stored in the unsigned char received_buffer data buffer*/
void udpComm::handle_receive_from(const boost::system::error_code& error,
size_t bytes_recvd) {
if (!error && bytes_recvd > 0) {
received_bytes = bytes_recvd;
hmi_buffer_copy_mutex.lock();
memcpy(&read_hmi_buffer[0], &received_buffer[0], received_bytes);
hmi_buffer_copy_mutex.unlock();
/*data received here is correct 'cus i printed in the console
checked it
*/
cout<<(int)read_hmi_buffer[2]<<endl;
}
start_async_receive();
}
/* io_service is running in a thread
*/
void udpComm::run_io_service() {
udp_io_service.run();
usleep(1000000);
}
The above code is the asynchronous udp communication running a thread
/* My second thread function is */
void thread_write_to_datalink()
{ hmi_buffer_copy_mutex.lock();
/* here is my problem begins*/
cout<<(int)read_hmi_buffer[2]<<endl;
hmi_buffer_copy_mutex.unlock();
/* all data are already changed */
serial.write_to_serial(read_hmi_buffer, 6);
}
/* threads from my main function
are as below */
int main() {
receive_from_hmi.start_async_receive();
boost::thread thread_receive_from_hmi(&udpComm::run_io_service,
&receive_from_hmi);
boost::thread thread_serial(&thread_write_to_datalink);
thread_serial.join();
thread_receive_from_hmi.join();
return 0;
}
/* The Serial_manager class contains functions for writting and reading from serial port*/
#include <iostream>
#include <boost/thread.hpp>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
using namespace boost::asio;
class Serial_manager {
public:
Serial_manager(boost::asio::io_service &serial_io_service,char *dev_name);
void open_serial_port();
void write_to_serial(void *data, int size);
size_t read_from_serial(void *data, int size);
void handle_serial_exception(std::exception &ex);
virtual ~Serial_manager();
void setDeviceName(char* deviceName);
protected:
io_service &port_io_service;
serial_port datalink_serial_port;
bool serial_port_open;
char *device_name;
};
void Serial_manager::setDeviceName(char* deviceName) {
device_name = deviceName;
}
Serial_manager::Serial_manager(boost::asio::io_service &serial_io_service,char *dev_name):
port_io_service(serial_io_service),
datalink_serial_port(serial_io_service) {
device_name = dev_name;
serial_port_open = false;
open_serial_port();
}
void Serial_manager::open_serial_port() {
bool temp_port_status = false;
bool serial_port_msg_printed = false;
do {
try {
datalink_serial_port.open(device_name);
temp_port_status = true;
} catch (std::exception &ex) {
if (!serial_port_msg_printed) {
std::cout << "Exception-check the serial port device "
<< ex.what() << std::endl;
serial_port_msg_printed = true;
}
datalink_serial_port.close();
temp_port_status = false;
}
} while (!temp_port_status);
serial_port_open = temp_port_status;
std::cout <<std::endl <<"serial port device opened successfully"<<std::endl;
datalink_serial_port.set_option(serial_port_base::baud_rate(115200));
datalink_serial_port.set_option(
serial_port_base::flow_control(
serial_port_base::flow_control::none));
datalink_serial_port.set_option(
serial_port_base::parity(serial_port_base::parity::none));
datalink_serial_port.set_option(
serial_port_base::stop_bits(serial_port_base::stop_bits::one));
datalink_serial_port.set_option(serial_port_base::character_size(8));
}
void Serial_manager::write_to_serial(void *data, int size) {
boost::asio::write(datalink_serial_port, boost::asio::buffer(data, size));
}
size_t Serial_manager::read_from_serial(void *data, int size) {
return boost::asio::read(datalink_serial_port, boost::asio::buffer(data, size));
}
void Serial_manager::handle_serial_exception(std::exception& ex) {
std::cout << "Exception-- " << ex.what() << std::endl;
std::cout << "Cannot access data-link, check the serial connection"
<< std::endl;
datalink_serial_port.close();
open_serial_port();
}
Serial_manager::~Serial_manager() {
// TODO Auto-generated destructor stub
}
I think my area of problem is about thread synchronization and notification and I will be happy if you help me. You should not worry about the sender it is works perfectly as I already checked it the data is received at the receiver thread. I hope you understand my question.
Edit: Here is the modification.My whole idea here is to develop a simulation for the Manual flight control so according my design i have client application that sends commands through
udp communication. At the receiver side intended to use 3 threads. one thread receives input from sticks i.e void start_hotas() the second thread is a thread that receives commands from sender(client): void udpComm::run_io_service() and 3rd is the void thread_write_to_datalink().
/* a thread that listens for input from sticks*/
void start_hotas() {
Hotas_manager hotasobj;
__s16 event_value; /* value */
__u8 event_number; /* axis/button number */
while (1) {
hotasobj.readData_from_hotas();
event_number = hotasobj.getJoystickEvent().number;
event_value = hotasobj.getJoystickEvent().value;
if (hotasobj.isAxisPressed()) {
if (event_number == 0) {
aileron = (float) event_value / 32767;
} else if (event_number == 1) {
elevator = -(float) event_value / 32767;
} else if (event_number == 2) {
rudder = (float) event_value / 32767;
} else if (event_number == 3) {
brake_left = (float) (32767 - event_value) / 65534;
} else if (event_number == 4) {
} else if (event_number == 6) {
} else if (event_number == 10) {
} else if (event_number == 11) {
} else if (event_number == 12) {
}
} else if (hotasobj.isButtonPressed()) {
}
usleep(1000);
}
}
/*
* Hotas.h
*
* Created on: Jan 31, 2013
* Author: metec
*/
#define JOY_DEV "/dev/input/js0"
#include <iostream>
#include <boost/thread.hpp>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <linux/joystick.h>
bool message_printed = false;
bool message2_printed = false;
class Hotas_manager {
public:
Hotas_manager();
virtual ~Hotas_manager();
void open_hotas_device();
/*
*
* read from hotas input
* used to the updated event data and status of the joystick from the
* the file.
*
*/
void readData_from_hotas();
js_event getJoystickEvent() {
return joystick_event;
}
int getNumOfAxis() {
return num_of_axis;
}
int getNumOfButtons() {
return num_of_buttons;
}
bool isAxisPressed() {
return axis_pressed;
}
bool isButtonPressed() {
return button_pressed;
}
int* getAxis() {
return axis;
}
char* getButton() {
return button;
}
private:
int fd;
js_event joystick_event;
bool hotas_connected;
int num_of_axis;
int num_of_buttons;
int version;
char devName[80];
/*
* the the variables below indicates
* the state of the joystick.
*/
int axis[30];
char button[30];
bool button_pressed;
bool axis_pressed;
};
Hotas_manager::Hotas_manager() {
// TODO Auto-generated constructor stub
hotas_connected = false;
open_hotas_device();
std::cout << "joystick device detected" << std::endl;
}
Hotas_manager::~Hotas_manager() {
// TODO Auto-generated destructor stub
}
void Hotas_manager::open_hotas_device() {
bool file_open_error_printed = false;
while (!hotas_connected) {
if ((fd = open(JOY_DEV, O_RDONLY)) > 0) {
ioctl(fd, JSIOCGAXES, num_of_axis);
ioctl(fd, JSIOCGBUTTONS, num_of_buttons);
ioctl(fd, JSIOCGVERSION, version);
ioctl(fd, JSIOCGNAME(80), devName);
/*
* NON BLOCKING MODE
*/
ioctl(fd, F_SETFL, O_NONBLOCK);
hotas_connected = true;
} else {
if (!file_open_error_printed) {
std::cout << "hotas device not detected. check "
"whether it is "
"plugged" << std::endl;
file_open_error_printed = true;
}
close(fd);
hotas_connected = false;
}
}
}
void Hotas_manager::readData_from_hotas() {
int result;
result = read(fd, &joystick_event, sizeof(struct js_event));
if (result > 0) {
switch (joystick_event.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
axis[joystick_event.number] = joystick_event.value;
axis_pressed = true;
button_pressed = false;
break;
case JS_EVENT_BUTTON:
button[joystick_event.number] = joystick_event.value;
button_pressed = true;
axis_pressed = false;
break;
}
message2_printed = false;
message_printed = false;
} else {
if (!message_printed) {
std::cout << "problem in reading the stick file" << std::endl;
message_printed = true;
}
hotas_connected = false;
open_hotas_device();
if (!message2_printed) {
std::cout << "stick re-connected" << std::endl;
message2_printed = true;
}
}
}
I updated the main function to run 3 threads .
int main() {
boost::asio::io_service receive_from_hmi_io;
udpComm receive_from_hmi(receive_from_hmi_io, 6012);
receive_from_hmi.setRemoteEndpoint("127.0.0.1", 6011);
receive_from_hmi.start_async_receive();
boost::thread thread_receive_from_hmi(&udpComm::run_io_service,
&receive_from_hmi);
boost::thread thread_serial(&thread_write_to_datalink);
boost::thread thread_hotas(&start_hotas);
thread_hotas.join();
thread_serial.join();
thread_receive_from_hmi.join();
return 0;
}
The void thread_write_to_datalink() also writes the data come from the hotas_manager(joysticks).
void thread_write_to_datalink() {
/*
* boost serial communication
*/
boost::asio::io_service serial_port_io;
Serial_manager serial(serial_port_io, (char*) "/dev/ttyUSB0");
cout << "aileron " << "throttle " << "elevator " << endl;
while (1) {
// commands from udp communication
serial.write_to_serial(read_hmi_buffer, 6);
// data come from joystick inputs
//cout << aileron<<" "<<throttle<<" "<<elevator<< endl;
memcpy(&buffer_manual_flightcontrol[4], &aileron, 4);
memcpy(&buffer_manual_flightcontrol[8], &throttle, 4);
memcpy(&buffer_manual_flightcontrol[12], &elevator, 4);
unsigned char temp;
try {
serial.write_to_serial(buffer_manual_flightcontrol, 32);
//serial.write_to_serial(buffer_manual_flightcontrol, 32);
} catch (std::exception& exp) {
serial.handle_serial_exception(exp);
}
try {
serial.write_to_serial(buffer_payloadcontrol, 20);
} catch (std::exception& exp) {
serial.handle_serial_exception(exp);
}
usleep(100000);
}
}
My question is how better can I design to synchronize these 3 threads. If your answer says you do not need to use 3 threads I need you to tell me how.
Let's back up a little bit from multi-threading, your program mixes synchronous and asynchronous operations. You don't need to do this, as it will only cause confusion. You can asynchronously write the buffer read from the UDP socket to the serial port. This can all be achieved with a single thread running the io_service, eliminating any concurrency concerns.
You will need to add buffer management to keep the data read from the socket in scope for the lifetime of the async_write for the serial port, study the async UDP server as an example. Also study the documentation, specifically the requirements for buffer lifetime in async_write
buffers
One or more buffers containing the data to be written.
Although the buffers object may be copied as necessary, ownership of
the underlying memory blocks is retained by the caller, which must
guarantee that they remain valid until the handler is called.
Once you have completed that design, then you can move to more advanced techniques such as a thread pool or multiple io_services.
You need to make your access to read_hmi_buffer synchronized.
Therefore you need a mutex (std::mutex, pthread_mutex_t, or the windows equivalent), to lock onto whenever a piece of code read or write in that buffer.
See this question for a few explanations on the concept and links to other tutorials.
I have a Linux file descriptor (from socket), and I want to read one line.
How to do it in C++?
I you are reading from a TCP socket you can't assume when the end of line will be reached.
Therfore you'll need something like that:
std::string line;
char buf[1024];
int n = 0;
while(n = read(fd, buf, 1024))
{
const int pos = std::find(buf, buf + n, '\n')
if(pos != std::string::npos)
{
if (pos < 1024-1 && buf[pos + 1] == '\n')
break;
}
line += buf;
}
line += buf;
Assuming you are using "\n\n" as a delimiter. (I didn't test that code snippet ;-) )
On a UDP socket, that is another story. The emiter may send a paquet containing a whole line. The receiver is garanted to receive the paquet as a single unit .. If it receives it , as UDP is not as reliable as TCP of course.
Pseudocode:
char newline = '\n';
file fd;
initialize(fd);
string line;
char c;
while( newline != (c = readchar(fd)) ) {
line.append(c);
}
Something like that.
Here is a tested, quite efficient code:
bool ReadLine (int fd, string* line) {
// We read-ahead, so we store in static buffer
// what we already read, but not yet returned by ReadLine.
static string buffer;
// Do the real reading from fd until buffer has '\n'.
string::iterator pos;
while ((pos = find (buffer.begin(), buffer.end(), '\n')) == buffer.end ()) {
char buf [1025];
int n = read (fd, buf, 1024);
if (n == -1) { // handle errors
*line = buffer;
buffer = "";
return false;
}
buf [n] = 0;
buffer += buf;
}
// Split the buffer around '\n' found and return first part.
*line = string (buffer.begin(), pos);
buffer = string (pos + 1, buffer.end());
return true;
}
It's also useful to setup signal SIGPIPE ignoring in reading and writing (and handle errors as shown above):
signal (SIGPIPE, SIG_IGN);
Using C++ sockets library:
class LineSocket : public TcpSocket
{
public:
LineSocket(ISocketHandler& h) : TcpSocket(h) {
SetLineProtocol(); // enable OnLine callback
}
void OnLine(const std::string& line) {
std::cout << "Received line: " << line << std::endl;
// send reply here
{
Send( "Reply\n" );
}
}
};
And using the above class:
int main()
{
try
{
SocketHandler h;
LineSocket sock(h);
sock.Open( "remote.host.com", port );
h.Add(&sock);
while (h.GetCount())
{
h.Select();
}
}
catch (const Exception& e)
{
std::cerr << e.ToString() << std::endl;
}
}
The library takes care of all error handling.
Find the library using google or use this direct link: http://www.alhem.net/Sockets/
I've got the following two programs, one acting as a reader and the other as a writer. The writer seems to only send about 3/4 of the data correctly to be read by the reader. Is there any way to guarantee that all the data is being sent? I think I've got it set up so that it reads and writes reliably, but it still seems to miss 1/4 of the data.
Heres the source of the writer
#define pipe "/tmp/testPipe"
using namespace std;
queue<string> sproutFeed;
ssize_t r_write(int fd, char *buf, size_t size) {
char *bufp;
size_t bytestowrite;
ssize_t byteswritten;
size_t totalbytes;
for (bufp = buf, bytestowrite = size, totalbytes = 0;
bytestowrite > 0;
bufp += byteswritten, bytestowrite -= byteswritten) {
byteswritten = write(fd, bufp, bytestowrite);
if(errno == EPIPE)
{
signal(SIGPIPE,SIG_IGN);
}
if ((byteswritten) == -1 && (errno != EINTR))
return -1;
if (byteswritten == -1)
byteswritten = 0;
totalbytes += byteswritten;
}
return totalbytes;
}
void* sendData(void *thread_arg)
{
int fd, ret_val, count, numread;
string word;
char bufpipe[5];
ret_val = mkfifo(pipe, 0777); //make the sprout pipe
if (( ret_val == -1) && (errno != EEXIST))
{
perror("Error creating named pipe");
exit(1);
}
while(1)
{
if(!sproutFeed.empty())
{
string s;
s.clear();
s = sproutFeed.front();
int sizeOfData = s.length();
snprintf(bufpipe, 5, "%04d\0", sizeOfData);
char stringToSend[strlen(bufpipe) + sizeOfData +1];
bzero(stringToSend, sizeof(stringToSend));
strncpy(stringToSend,bufpipe, strlen(bufpipe));
strncat(stringToSend,s.c_str(),strlen(s.c_str()));
strncat(stringToSend, "\0", strlen("\0"));
int fullSize = strlen(stringToSend);
signal(SIGPIPE,SIG_IGN);
fd = open(pipe,O_WRONLY);
int numWrite = r_write(fd, stringToSend, strlen(stringToSend) );
cout << errno << endl;
if(errno == EPIPE)
{
signal(SIGPIPE,SIG_IGN);
}
if(numWrite != fullSize )
{
signal(SIGPIPE,SIG_IGN);
bzero(bufpipe, strlen(bufpipe));
bzero(stringToSend, strlen(stringToSend));
close(fd);
}
else
{
signal(SIGPIPE,SIG_IGN);
sproutFeed.pop();
close(fd);
bzero(bufpipe, strlen(bufpipe));
bzero(stringToSend, strlen(stringToSend));
}
}
else
{
if(usleep(.0002) == -1)
{
perror("sleeping error\n");
}
}
}
}
int main(int argc, char *argv[])
{
signal(SIGPIPE,SIG_IGN);
int x;
for(x = 0; x < 100; x++)
{
sproutFeed.push("All ships in the sea sink except for that blue one over there, that one never sinks. Most likley because it\'s blue and thats the mightiest colour of ship. Interesting huh?");
}
int rc, i , status;
pthread_t threads[1];
printf("Starting Threads...\n");
pthread_create(&threads[0], NULL, sendData, NULL);
rc = pthread_join(threads[0], (void **) &status);
}
Heres the source of the reader
#define pipe "/tmp/testPipe"
char dataString[50000];
using namespace std;
char *getSproutItem();
void* readItem(void *thread_arg)
{
while(1)
{
x++;
char *s = getSproutItem();
if(s != NULL)
{
cout << "READ IN: " << s << endl;
}
}
}
ssize_t r_read(int fd, char *buf, size_t size) {
ssize_t retval;
while (retval = read(fd, buf, size), retval == -1 && errno == EINTR) ;
return retval;
}
char * getSproutItem()
{
cout << "Getting item" << endl;
char stringSize[4];
bzero(stringSize, sizeof(stringSize));
int fd = open(pipe,O_RDONLY);
cout << "Reading" << endl;
int numread = r_read(fd,stringSize, sizeof(stringSize));
if(errno == EPIPE)
{
signal(SIGPIPE,SIG_IGN);
}
cout << "Read Complete" << endl;
if(numread > 1)
{
stringSize[numread] = '\0';
int length = atoi(stringSize);
char recievedString[length];
bzero(recievedString, sizeof(recievedString));
int numread1 = r_read(fd, recievedString, sizeof(recievedString));
if(errno == EPIPE)
{
signal(SIGPIPE,SIG_IGN);
}
if(numread1 > 1)
{
recievedString[numread1] = '\0';
cout << "DATA RECIEVED: " << recievedString << endl;
bzero(dataString, sizeof(dataString));
strncpy(dataString, recievedString, strlen(recievedString));
strncat(dataString, "\0", strlen("\0"));
close(fd);
return dataString;
}
else
{
return NULL;
}
}
else
{
return NULL;
}
close(fd);
}
int main(int argc, char *argv[])
{
int rc, i , status;
pthread_t threads[1];
printf("Starting Threads...\n");
pthread_create(&threads[0], NULL, readItem, NULL);
rc = pthread_join(threads[0], (void **) &status);
}
You are definitely using signals the wrong way. Threads are completely unnecessary here - at least in the code provided. String calculations are just weird. Get this book and do not touch the keyboard until you finished reading :)
The general method used to send data through named pipes is to tack on a header with the length of the payload. Then you read(fd, header_len); read(rd, data_len); Note the latter read() will need to be done in a loop until data_len is read or eof. Note also if you've multiple writers to a named pipe then the writes are atomic (as long as a reasonable size) I.E. multiple writers will not case partial messages in the kernel buffers.
It's difficult to say what is going on here. Maybe you are getting an error returned from one of your system calls? Are you sure that you are successfully sending all of the data?
You also appear to have some invalid code here:
int length = atoi(stringSize);
char recievedString[length];
This is a syntax error, since you cannot create an array on the stack using a non-constanct expression for the size. Maybe you are using different code in your real version?
Do you need to read the data in a loop? Sometimes a function will return a portion of the available data and require you to call it repeatedly until all of the data is gone.
Some system calls in Unix can also return EAGAIN if the system call is interrupted - you are not handling this case by the looks of things.
You are possibly getting bitten by POSIX thread signal handling semantics in your reader main thread.
The POSIX standard allows for a POSIX thread to receive the signal, not necessarily the thread you expect. Block signals where not wanted.
signal(SIG_PIPE,SIG_IGN) is your friend. Add one to reader main.
POSIX thread handling semantics, putting the POS into POSIX. ( but it does make it easier to implement POSIX threads.)
Examine the pipe in /tmp with ls ? is it not empty ?