ethSender.cpp

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// -*- Mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
 
/*
 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
 * Author:  Alberto Cardellino, Marco Accame
 * email:   alberto.cardellino@iit.it, marco.accame@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
 
// --------------------------------------------------------------------------------------------------------------------
// - public interface
// --------------------------------------------------------------------------------------------------------------------
 
#include "ethSender.h"
 
 
 
// --------------------------------------------------------------------------------------------------------------------
// - external dependencies
// --------------------------------------------------------------------------------------------------------------------
 
 
//#include <yarp/os/SystemClock.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
using yarp::os::Log;
 
#include "ethManager.h"
 
 
// --------------------------------------------------------------------------------------------------------------------
// - pimpl: private implementation (see scott meyers: item 22 of effective modern c++, item 31 of effective c++
// --------------------------------------------------------------------------------------------------------------------
 
 
 
// --------------------------------------------------------------------------------------------------------------------
// - the class
// --------------------------------------------------------------------------------------------------------------------
 
 
// - class eth::EthSender
 
// -- class EthSender
// -- here is it code
 
using namespace eth;
 
EthSender::EthSender(int txrate) : PeriodicThread((double)txrate/1000.0, yarp::os::ShouldUseSystemClock::Yes, yarp::os::PeriodicThreadClock::Absolute)
{
    rateofthread = txrate;
    yDebug() << "EthSender is a PeriodicThread with txrate =" << rateofthread << "ms";
    yTrace();
 
#ifdef NETWORK_PERFORMANCE_BENCHMARK 
    /* We would like to verify if the receiver thread is ticked(running) every 1 millisecond, with a tollerance of 0.05 millisec.
       The m_perEvtVerifier object after 1 second, prints an istogram with values from 0 to 3 millisec with a step of 0.1 millisec
    */
 
    double txrate_sec=(double)txrate/1000; //txrate is in milliseconds
    m_perEvtVerifier.init(txrate_sec, 5*txrate_sec/100, 0.0, txrate_sec+0.002, 0.0001, 1, "Sender");
#endif
}
EthSender::EthSender(int txrate) : PeriodicThread((double)txrate/1000.0, yarp::os::ShouldUseSystemClock::Yes, yarp::os::PeriodicThreadClock::Absolute) {…}
 
EthSender::~EthSender()
{
 
}
EthSender::~EthSender() {…}
 
bool EthSender::config(ACE_SOCK_Dgram *pSocket, TheEthManager* _ethManager)
{
    yTrace();
    send_socket = pSocket;
    ethManager  = _ethManager;
 
    return true;
}
bool EthSender::config(ACE_SOCK_Dgram *pSocket, TheEthManager* _ethManager) {…}
 
bool EthSender::threadInit()
{
    yTrace() << "Do some initialization here if needed";
 
#if defined(__unix__)
    struct sched_param thread_param;
    thread_param.sched_priority = sched_get_priority_max(SCHED_FIFO)/2 - 1; // = 48
    pthread_setschedparam(pthread_self(), SCHED_FIFO, &thread_param);
#endif
 
    return true;
}
bool EthSender::threadInit() {…}
 
 
 
void EthSender::run()
{
    // by calling this metod of ethManager, we put protection vs concurrency internal to the class.
    // for tx we must protect the EthResource not being changed. they can be changed by a device such as
    // embObjMotionControl etc which adds or releases its resources.
    ethManager->Transmission();
 
#ifdef NETWORK_PERFORMANCE_BENCHMARK
    m_perEvtVerifier.tick(yarp::os::Time::now());
#endif
}
 
 
// - end-of-file (leave a blank line after)----------------------------------------------------------------------------