#include <ucmdexe.h>

Inheritance diagram for UCmdExe:

Public Member Functions
bool	addFunction (UFunctionBase *function)

bool	addNewRessources (UFunctionBase *function)

bool	addResource (UResBase res, UFunctionBase owner)

void	closeClient (int clientIdx)

void	createBaseVar ()

bool	deleteFunction (UFunctionBase *function)

bool	doBashCmd (UServerInMsg msg, const char cmdStr)
	execute a command line command and return reply as help text. More...

bool	executeFunction (int functionIndex, UServerInMsg msg, void extra, bool aPush)

bool	executePushFunction (int functionIndex, UServerInMsg msg, void extra)

bool	executeScriptFile (const char *cfn, bool andWait, int forClient)

int	findFunctionIndex (UFunctionBase *function)

int	findFunctionOwner (const char *tagName)

int	getFuncCnt ()

double	getLoad ()

void *	getLoadedModuleRef (int functionIndex)

virtual bool	getStaticHelpList (char *list, const int listCnt)

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	handleAlive (UServerInMsg *msg)
	handles a command starting with the keyword 'alive'. More...

bool	handleMessagesThreadStart ()

bool	handleOneMessageFromQueue ()

bool	handleOneServerPushMessage ()

bool	handleShellCmd (UServerInMsg *msg)
	handles a command starting with the keyword 'do'. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	isModuleStatic (int moduleIndex)
	Test if the module with this index is loaded as static. More...

bool	isResourceOwner (const char ressID, UFunctionBase owner)

bool	isRxQueueEmpty ()

bool	isRxQueueFull ()

bool	isStopping ()

void	killServer (UServerInMsg *msg)

UFunctionBase *	loadFunctionModule (const char moduleFileName, char buff, int buffCnt, const char *aliasName)

virtual bool	loadStaticModule (const char moduleName, const char aliasName, char *why, const int whyCnt)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

bool	postCommand (int client, const char *command)

void	print (const char *preStr)

void	printRess (const char *preStr)

void	run ()

void	runIdle ()

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelpDone (UServerInMsg *msg)
	Send a help close tag The help close tag </help> if followed by a full tag with the message 'msg' tag name and the text "info=done". More...

bool	sendHelpStart (UServerInMsg msg, const char infoText)
	Send the open help tag Send open tag with one 'info' attribute with the provided string as value. Must be finished with a call to sendHelpDone(msg). More...

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (int clientIdx, const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsgAll (const char *message, bool lockedUser)

bool	sendText (UServerInMsg msg, const char text)

bool	sendWarning (UServerInMsg msg, const char warningText)

void	setName (const char *serverName)

void	setServer (UServerPort *socketServer)

void	setVerbose (bool value)

void	stop (bool andWait)

	UCmdExe ()

void	UCmdExeInit ()

bool	unloadAllModules ()

bool	unloadFunctionModule (const char *value)

void	updateLocalVar ()

virtual	~UCmdExe ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Public Member Functions inherited from UServerPushImplement
bool	addPushWatch (UServerPush *obj)
	Add an server push object to watch list. This is called by a combined resource-push object when the object is updated and thus a push command may need triggering. More...

void	event ()

int	getFunctionOwner (UServerInMsg *msg)

	UServerPushImplement ()

virtual	~UServerPushImplement ()

Static Public Member Functions
static const char *	getResClassID ()

Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Protected Member Functions
void	closeLogServer ()

virtual const char *	commandList ()

bool	handleQuit (UServerInMsg *msg)

bool	handleServerCommand (UServerInMsg *msg)

bool	handleServerPushCommand (UServerInMsg *msg)

virtual const char *	name ()

void	resourcesUpdate (int funcIdx)

void	resourcesUpdated ()

bool	sysModuleCmd (UServerInMsg *msg)

bool	sysServerHelp (UServerInMsg *msg)

bool	systemFunction (UServerInMsg *msg)

bool	unloadThisModule (int funcIdx)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Private Attributes
bool	callNotice
	should calls to plug-in functions be echo'ed to console (with time info) More...

char	currentMessage [MMS]

UFunctionBase *	func [MAX_FUNCTION_COUNT]

int	funcCnt

int	idleLoopCnt

UTime	idleStart
	start time for idle More...

double	idleTime
	seconds in idle state More...

bool	isIdle
	flag is true, when main thread is idle More...

ULogFile	logServer

UServerPushQueue	push

UResPool *	resPool

UServerPort *	server

const char *	servName

bool	stopping

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

UVariable *	varAlivePunkTime
	time to wait before punking silent clients More...

UVariable *	varAllowConnection
	pointer to allowConnection plag More...

UVariable *	varClients
	number of active clients More...

UVariable *	varIdle
	estimated load of server main thread More...

UVariable *	varLastClient
	number of last client connected More...

UVariable *	varLastClientSerial
	number of clients ever connected in this session More...

UVariable *	varOpen4connections
	is server open for connections More...

UVariable *	varPort
	port number for server More...

UVariable *	varQTvarUpdate
	time between update tests to QT gui More...

UVariable *	varTime
	pointer to allowConnection plag More...

bool	verboseMessages

double	wakeupSec
	time to wait before main thread i woken (to test for e.g. timed events) More...

double	wLoad

Static Private Attributes
static const int	MMS = MAX_MESSAGE_LENGTH_TO_CAM

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Protected Attributes inherited from UServerPushImplement
sem_t	actionFlag
	flag to be posted, when an event has happend More...

UServerPush *	pushWatch [MAX_PUSH_WATCH_CNT]

int	pushWatchCnt

ULock	pushWatchLock

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Reads receive queue and asks loaded functions to handle command.

Author: Christian Andersen

Constructor & Destructor Documentation

UCmdExe::UCmdExe ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UCmdExeInit(), and ~UCmdExe().

UCmdExe::~UCmdExe ( )

virtual

Destructor

References ULogFile::closeLog(), logServer, resPool, server, and stop().

Referenced by UCmdExe().

Member Function Documentation

bool UCmdExe::addFunction ( UFunctionBase * function )

Add one function object to server capabilities true if added (false if no more space).

References addNewRessources(), findFunctionOwner(), func, funcCnt, MAX_FUNCTION_COUNT, maxi(), UFunctionBase::name(), and resourcesUpdate().

Referenced by getResClassID(), loadFunctionModule(), UServerStatic::loadStaticModule(), loadStaticModule(), runCameraServerComponent(), and testServerGen().

bool UCmdExe::addNewRessources ( UFunctionBase * function )

Add any new ressources this function has to offer

References addResource(), findFunctionIndex(), UResPool::getResCnt(), UResPool::getResource(), isAlphaNum(), resourcesUpdated(), and resPool.

Referenced by addFunction(), and getResClassID().

bool UCmdExe::addResource	(	UResBase *	res,
		UFunctionBase *	owner
	)

Add one resource into the resource structure with this owner module.

Parameters

res	resource that should be added into resource pool
owner	the owner module that just created the resource true if added (false if no more space).

References UResPool::addResource(), UResBase::createResources(), findFunctionIndex(), UResBase::getResID(), UFunctionBase::name(), resourcesUpdated(), resPool, UResBase::setCorePointer(), and UResBase::setResFuncIdx().

Referenced by addNewRessources(), UFunctionBase::addResource(), and getResClassID().

void UCmdExe::closeClient ( int clientIdx )

Shut down a connection to a client

References UServerPort::getClient(), UServerPort::getServerNamespace(), server, and UServerClient::stopConnection().

Referenced by getResClassID(), and systemFunction().

void UCmdExe::closeLogServer ( )

protected

Close log for all server commands

References ULogFile::closeLog(), and logServer.

Referenced by getLoad().

const char * UCmdExe::commandList ( )

protectedvirtual

a stringlist of tag-names handled by system. e.g. "sys sysHigh system" that will handle all tags of this type.

Referenced by findFunctionOwner(), getLoad(), sysModuleCmd(), and sysServerHelp().

void UCmdExe::createBaseVar ( )

Create basic core variables and functions

References UResVarPool::addMethod(), UResVarPool::addVar(), UResVarPool::addVarA(), UResBase::getResVersion(), varAlivePunkTime, varAllowConnection, varClients, varIdle, varLastClient, varLastClientSerial, varOpen4connections, varPort, varQTvarUpdate, and varTime.

Referenced by getFuncCnt(), and UCmdExeInit().

bool UCmdExe::deleteFunction ( UFunctionBase * function )

Remove function from server function list. (This does not delete the function object). Returns true if function is found.

References func, funcCnt, UResPool::getResCnt(), UResBase::getResID(), UResPool::getResource(), UResPool::removeResourceFunc(), UFunctionBase::resourceUpdated(), resPool, server, UFunctionBase::setResource(), UResBase::setResource(), and UServerPort::setResource().

Referenced by getResClassID(), and unloadThisModule().

bool UCmdExe::doBashCmd	(	UServerInMsg *	msg,
		const char *	cmdStr
	)

execute a command line command and return reply as help text.

Parameters

msg	The source command
cmdStr	the command that should be send to the system The function uses popen to start the commands and continues to read from the stream until it terminates.

Returns: the value that the bash command returns (-2) if pipe can not be opened.

References sendHelpDone(), sendHelpStart(), and sendText().

Referenced by getLoad(), and handleShellCmd().

bool UCmdExe::executeFunction	(	int	functionIndex,
		UServerInMsg *	msg,
		void *	extra,
		bool	aPush
	)

Execute one of the functions with this command message. The 'extra' parameter is intended for event triggered push-commands, where the object triggering the event can be transferred as the extra parameter.

Parameters

functionIndex	the index returned by findFunctionOwner(tagName)
msg	The XMK reading structure with the command.
extra	may be a pointer to a relevant object (laserscan, imega or other object usable by the function)
aPush	set to true if this is a push command (to allow better logging etc) true if the functione were successfully executed.

References bool2str(), callNotice, UServerInMsg::client, func, UServerPort::getClient(), ULogFile::getF(), UTime::getMicrosec(), UMsgQueue::getNextOut(), UServerPort::getRxQueue(), UTime::getSec(), USmlTagIn::getTagName(), UTime::getTimePassed(), UMsgQueue::getUsedMsgCnt(), UServerClient::isActive(), UFunctionBase::isMine(), ULogFile::isOpen(), UServerClient::lock(), logServer, MAX_FUNCTION_COUNT, UServerInMsg::message, UFunctionBase::newCommand(), UTime::now(), server, systemFunction(), UServerInMsg::tag, and UServerClient::unlock().

Referenced by executePushFunction(), handleOneMessageFromQueue(), isStopping(), and UPush::pushEvent().

bool UCmdExe::executePushFunction	(	int	functionIndex,
		UServerInMsg *	msg,
		void *	extra
	)

virtual

Ececute a push function, and lock for dynamic load/unload of function during operation.

Parameters

functionIndex	the index returned by findFunctionOwner(tagName)
msg	The XMK reading structure with the command.
extra	may be a pointer to a relevant object (laserscan, imega or other object usable by the function)

Returns: true if the function were executed successfully - ie image found and processed - this is used to count good commands.

Reimplemented from UServerPushImplement.

References executeFunction(), ULock::lock(), and ULock::unlock().

Referenced by isStopping().

bool UCmdExe::executeScriptFile	(	const char *	cfn,
		bool	andWait,
		int	forClient
	)

Execute a scriptfile of commands. The filename 'cfn' is assumed to be on the dataPath, unless the initial character of the name is '.' or '/'. Each command is put on the RX-queue if the queue is empty. If the queue is not empty the sequence is stalled until the queue is empty. If andWait is false, the commands are put on queue until no more commands or the queue is full. The command reply is returned to the client 'forClient'. If client is -1, then output to console (and push commands are not valid). true if all commands are put on queue.

References isRxQueueEmpty(), isRxQueueFull(), UResBase::line, postCommand(), sendMsg(), verboseMessages, and Wait().

Referenced by getFuncCnt(), handleServerCommand(), runCameraServerComponent(), runLaserServerComponent(), and runServer().

int UCmdExe::findFunctionIndex ( UFunctionBase * function )

Find the index of this function - start from the latest (highest number) to allocate new resources to the most likely owner. Returns -1 if no index were found, otherwise an index from 0 to MAX_FUNCTION_COUNT

References func, and funcCnt.

Referenced by addNewRessources(), addResource(), and isStopping().

int UCmdExe::findFunctionOwner ( const char * tagName )

virtual

Find function owner (index into list) for this tag name (command keyword) Returns MAX_FUNCTION_COUNT if it is a system function keyword. Returns -1 if keyword is not found.

Reimplemented from UServerPushImplement.

References commandList(), func, funcCnt, inThisStringList(), and MAX_FUNCTION_COUNT.

Referenced by addFunction(), and isStopping().

int UCmdExe::getFuncCnt ( )

inline

Get number of server function modules. This excludes the server function itself.

References createBaseVar(), executeScriptFile(), funcCnt, getStaticHelpList(), isResourceOwner(), isRxQueueEmpty(), isRxQueueFull(), loadFunctionModule(), loadStaticModule(), methodCall(), name(), postCommand(), sendText(), unloadAllModules(), unloadFunctionModule(), and updateLocalVar().

Referenced by sysServerHelp().

double UCmdExe::getLoad ( )

inline

Get load figure. Load is calculated as the number of idle waits in a fixed number of seconds. Result is in the range [1.0 to 0.0].

References closeLogServer(), commandList(), doBashCmd(), getStaticResource(), handleAlive(), handleQuit(), handleServerCommand(), handleServerPushCommand(), handleShellCmd(), isModuleStatic(), killServer(), name(), resourcesUpdate(), resourcesUpdated(), sysModuleCmd(), sysServerHelp(), systemFunction(), unloadThisModule(), and wLoad.

Referenced by handleServerCommand().

void * UCmdExe::getLoadedModuleRef ( int functionIndex )

Get handle to loaded module (for further symbol references

References func, funcCnt, and UFunctionBase::getLoadedModuleRef().

Referenced by isStopping(), unloadFunctionModule(), and unloadThisModule().

static const char* UCmdExe::getResClassID ( )

inlinestatic

bool UCmdExe::getStaticHelpList	(	char *	list,
		const int	listCnt
	)

virtual

Get help text for available static modules

Reimplemented in UServerStatic, UServerStatic, UServerStatic, UServerStatic, UServerStatic, UServerStatic, and UServerStatic.

Referenced by getFuncCnt(), UServerStatic::getStaticHelpList(), and sysModuleCmd().

UResBase * UCmdExe::getStaticResource	(	const char *	resName,
		bool	mayCreate,
		bool	staticOnly = `true`
	)

virtual

get a pointer to a static resource.

Parameters

resName	The name of the resource to be acquired.
mayCreate	if set to true, then the resource will be created if it do not exist.
staticOnly	get only if a static resource (default). Getting non-static resources may be dangerous of not within same plugin, if not compiled against the same source (headerfilles).

Returns: NULL if not found, else a bointer to an existing type

Reimplemented from UServerPushImplement.

References UResBase::getResFuncIdx(), UResPool::getResource(), isModuleStatic(), loadStaticModule(), and resPool.

Referenced by getLoad(), UResBase::getStaticResource(), UFunctionBase::getStaticResource(), run(), and MainWindow::updateImg().

bool UCmdExe::handleAlive ( UServerInMsg * msg )

handles a command starting with the keyword 'alive'.

Parameters

msg	The source command

Returns: true if successfull

References USmlTagIn::getAttValue(), USmlTagIn::getTagName(), sendHelpDone(), sendHelpStart(), sendMsg(), sendText(), server, UServerPort::serverAliveLast(), and UServerInMsg::tag.

Referenced by getLoad(), and systemFunction().

bool UCmdExe::handleMessagesThreadStart ( )

Start theeage handling thread

References callRunIdle(), handleMessagesThreadCall(), threadHandle, threadRunning, and threadStop.

Referenced by runCameraServerComponent(), runLaserServerComponent(), runServer(), setVerbose(), and testServerGen().

bool UCmdExe::handleOneMessageFromQueue ( )

Handle next message in queue, and return true if a message were handled. if no message is available then return false.

References UServerInMsg::client, currentMessage, executeFunction(), ULogFile::getF(), UServerPushImplement::getFunctionOwner(), UTime::getMicrosec(), UMsgQueue::getNextOut(), UServerPort::getRxQueue(), UTime::getSec(), UTime::getTimePassed(), UMsgQueue::getUsedMsgCnt(), ULogFile::isOpen(), ULock::lock(), logServer, UServerInMsg::message, MMS, UTime::now(), UServerInMsg::print(), sendWarning(), server, UServerInQueue::skipToNextMessage(), threadStop, ULock::unlock(), and verboseMessages.

Referenced by getResClassID(), and run().

bool UCmdExe::handleOneServerPushMessage ( )

Test the server push queue for pending executions. Start with the next after last test.

References UServerPushElement::activeCall, UServerPushElement::activeCmd, bool2str(), UServerInMsg::client, UServerPushQueue::doPushCall(), func, UServerPushElement::functionIndex, ULogFile::getF(), UTime::getMicrosec(), UMsgQueue::getNextOut(), UServerPushQueue::getNextTimedPushElement(), UServerPort::getRxQueue(), UTime::getSec(), UTime::getTimePassed(), UMsgQueue::getUsedMsgCnt(), UResVarPool::getVarPool(), isClientAlive(), ULogFile::isOpen(), ULock::lock(), logServer, MAX_FUNCTION_COUNT, UServerInMsg::message, UFunctionBase::newCommand(), UTime::now(), push, server, systemFunction(), UServerPushElement::toDo, ULock::unlock(), and UServerPushElement::update().

Referenced by getResClassID(), and run().

bool UCmdExe::handleQuit ( UServerInMsg * msg )

protected

handle the quit command - from any client

Parameters

msg	is the reference to the client that send the command, and possibly expects a reply

Returns: true

References USmlTagIn::getAttValue(), killServer(), sendHelpDone(), sendHelpStart(), sendText(), servName, and UServerInMsg::tag.

Referenced by getLoad(), and systemFunction().

bool UCmdExe::handleServerCommand ( UServerInMsg * msg )

protected

System wide command

References appName, bool2str(), callNotice, UServerInMsg::client, ULogFile::closeLog(), dataPath, executeScriptFile(), UServerPort::getActiveClientCnt(), USmlTagIn::getAttValue(), UServerPort::getClient(), UServerPort::getClientCnt(), UServerClient::getClientName(), UTime::GetDateString(), ULogFile::getF(), getLoad(), ULogFile::getLogFileName(), UServerClient::getLogFilename(), UServerClient::getLogReply(), UServerClient::getLogTimestamp(), UTime::getMicrosec(), UServerClient::getNamespaceTag(), USmlTagIn::getNextAttribute(), UMsgQueue::getNextOut(), UServerPort::getPort(), UServerPort::getRxQueue(), UTime::getSec(), UServerPort::getServerNamespace(), USmlTagIn::getTagName(), UTime::getTimeAsString(), UMsgQueue::getUsedMsgCnt(), imagePath, UServerClient::isActive(), UServerClient::isLogOpen(), ULogFile::isOpen(), UServerPort::isOpen4Connections(), killServer(), UServerInQueue::list(), UServerClient::logClose(), UServerClient::logOpen(), logServer, MAX_PATH_LENGTH, MAX_SML_NAME_LENGTH, name(), UTime::Now(), ULogFile::openLog(), UReplay::replayAdvanceTime(), replayPath, UReplay::replayTimeNow, sendHelp(), sendHelpDone(), sendHelpStart(), sendInfo(), sendMsg(), sendText(), sendWarning(), server, serverPort, servName, ULogFile::setLogName(), UServerClient::setLogReply(), UServerClient::setLogTimestamp(), UServerPort::setPort(), UTime::setTimeTod(), UServerPort::setVerbose(), str2bool(), str2bool2(), UServerInMsg::tag, verboseMessages, and Wait().

Referenced by getLoad(), and systemFunction().

bool UCmdExe::handleServerPushCommand ( UServerInMsg * msg )

protected

This message is to be handled as a server push queue command

Referenced by getLoad(), and systemFunction().

bool UCmdExe::handleShellCmd ( UServerInMsg * msg )

handles a command starting with the keyword 'do'.

Parameters

msg	The source command

Returns: true if successfull

References doBashCmd(), USmlTagIn::getAttValue(), USmlTagIn::getNext(), USmlTagIn::reset(), sendHelpDone(), sendHelpStart(), sendText(), UServerInMsg::tag, and xml2str().

Referenced by getLoad(), and systemFunction().

bool UCmdExe::isClientAlive	(	int	clientIdx,
		double	holdOffTime
	)

virtual

Test to see if client is alive

Parameters

clientIdx	is client number (between 0 and 19)
holdOffTime	is hold off time after connection.

Returns: true if client is active and has been active for at least the hold off time.

Reimplemented from UServerPushImplement.

References UServerClient::connectTime, UServerPort::getClient(), UTime::getTimePassed(), UServerClient::isActive(), and server.

Referenced by handleOneServerPushMessage(), UFunctionBase::isClientAlive(), isStopping(), and UPush::pushEvent().

bool UCmdExe::isModuleStatic ( int moduleIndex )

Test if the module with this index is loaded as static.

Returns: true if module exist and is static, else false.

References func, funcCnt, and UFunctionBase::isStatic().

Referenced by getLoad(), and getStaticResource().

bool UCmdExe::isResourceOwner	(	const char *	ressID,
		UFunctionBase *	owner
	)

Is this function owner of this resource

References func, UResBase::getResFuncIdx(), UResPool::getResource(), and resPool.

Referenced by getFuncCnt().

bool UCmdExe::isRxQueueEmpty ( )

true if commandqueue is empty

References UServerPort::getRxQueue(), UMsgQueue::isEmpty(), and server.

Referenced by executeScriptFile(), and getFuncCnt().

bool UCmdExe::isRxQueueFull ( )

Is receive queue full, i.e. no more space to pose commands. true if queue is full.

References UServerPort::getRxQueue(), UMsgQueue::isFull(), and server.

Referenced by executeScriptFile(), and getFuncCnt().

bool UCmdExe::isStopping ( )

inline

Is the server in the process of stopping all threads

Returns: true if stopping

References executeFunction(), executePushFunction(), findFunctionIndex(), findFunctionOwner(), getLoadedModuleRef(), isClientAlive(), and stopping.

Referenced by shutDownHandler().

void UCmdExe::killServer ( UServerInMsg * msg )

Send a kill signal to server process.

Parameters

msg	optional reference to the client that ordered the kill

References UServerInMsg::client, ULogFile::getF(), UTime::getMicrosec(), UTime::getSec(), ULogFile::isOpen(), logServer, UTime::now(), and sendInfo().

Referenced by getLoad(), handleQuit(), and handleServerCommand().

UFunctionBase * UCmdExe::loadFunctionModule	(	const char *	moduleFileName,
		char *	buff,
		int	buffCnt,
		const char *	aliasName
	)

Load a plugin module with this qualified filename. Filename is typically of the form './name.so.0'. Returns pointer to created function if loaded. Returns NULL if load failed. The loaded module is added to the function list. The function try to load the module static first, if this fails the module name is assumed to be a filename and attempts to load it as a plugin. The returned handle can be used to make some static initialization if needed. A number of error messages may be send to 'stderr' and stored in 'buff' if the load fails.

[aliasName] is an alias name for modules that may be loaded more than once, i.e. interface module

References addFunction(), func, UTime::now(), UFunctionBase::setAliasName(), UFunctionBase::setLoadedModuleRef(), and UFunctionBase::setLoadTime().

Referenced by getFuncCnt(), and sysModuleCmd().

bool UCmdExe::loadStaticModule	(	const char *	moduleName,
		const char *	aliasName,
		char *	why,
		const int	whyCnt
	)

virtual

Create a function at a higher level, this is intended to be static available modules in specific servers. The moduleName is a keyword to one of the available static modules. If no such module exist a NULL pointer is returned. If the module exist, it should be created and added to the function list. A pointer to the created function should be returned, to allow further processing.

Parameters

[in]	*moduleName	name of module, euther a filename or a name of a stativ module
[in]	*aliasName	a specific (pre-) name to be used for command, resource and logfile.

Returns: true on succes, returns false if unknown module, 'why' is not modified (used if failed for a fatal reason)

Reimplemented in UServerStatic, UServerStatic, UServerStatic, UServerStatic, UServerStatic, UServerStatic, and UServerStatic.

References addFunction(), UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UResPoseHist::getUtmPoseID(), and UFunctionPoseHist::setAliasName().

Referenced by getFuncCnt(), getStaticResource(), UServerStatic::loadStaticModule(), and sysModuleCmd().

bool UCmdExe::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	doubles,
		double *	value,
		UDataBase **	returnStruct = `NULL`,
		int *	returnStructCnt = `NULL`
	)

virtual

Function to implement a var-pool method call. The function with 'name' and pameters in the order 'paramOrder' is to be called. The actual parameters are in 'strings' and 'doubles'. A double sized result may be returned in 'value'. May return struct values in the 'returnStruct' pointer list (when the pointer list is not NULL), and in this case the 'returnStructCnt' is set to the maximum number of pointers available and should be modified to the number of valid pointers returned. Should return true if function was handled. (otherwise an invalid function specification is assumed).

Reimplemented from UResVarPool.

References postCommand(), and roundi().

Referenced by getFuncCnt().

const char * UCmdExe::name ( )

protectedvirtual

Name and version of the command executor

References servName.

Referenced by getFuncCnt(), getLoad(), handleServerCommand(), and sysModuleCmd().

bool UCmdExe::postCommand	(	int	client,
		const char *	command
	)

Post command to command queue from string.

Returns: true if command is posted,

References UServerInQueue::addMessage(), UServerPushImplement::event(), UServerPort::getRxQueue(), logServer, UQevent::postedCommand(), qevent, server, and ULogFile::toLog().

Referenced by executeScriptFile(), getFuncCnt(), UResIfVar::handleVar(), methodCall(), MainWindow::queueMsg(), runCameraServerComponent(), runLaserServerComponent(), runServer(), runTerminal(), UResMapObst::sendMapLinesToLocalizer(), and testServerGen().

void UCmdExe::print ( const char * preStr )

virtual

Print status to console

Reimplemented from UResBase.

References currentMessage, idleLoopCnt, UServerPort::print(), UServerPushQueue::print(), push, and server.

Referenced by getResClassID(), runCameraServerComponent(), runLaserServerComponent(), runServer(), runTerminal(), and testServerGen().

void UCmdExe::printRess ( const char * preStr )

inline

Print resource status to console

References UResPool::print(), resPool, and setServer().

void UCmdExe::resourcesUpdate ( int funcIdx )

protected

Update this function with the full resource list.

References func, UResPool::getResCnt(), UResPool::getResFunc(), UResPool::getResource(), UFunctionBase::resourceUpdated(), resPool, and UFunctionBase::setResource().

Referenced by addFunction(), getLoad(), and resourcesUpdated().

void UCmdExe::resourcesUpdated ( )

protected

One or more resources are added or deleted - inform all other functions.

References funcCnt, UResPool::getResCnt(), UResPool::getResource(), resourcesUpdate(), resPool, server, UResBase::setResource(), and UServerPort::setResource().

Referenced by addNewRessources(), addResource(), and getLoad().

void UCmdExe::run ( )

Thread function that handles the messages. Stopped by setting threadStop to true. Test if running by inspecting threadRunning.

References UServerPushImplement::actionFlag, UVariable::getDouble(), getStaticResource(), UTime::getTimePassed(), UVariable::getValueBool(), handleOneMessageFromQueue(), handleOneServerPushMessage(), UResPool::handleReplay(), idleStart, idleTime, UResVarPool::isVarPoolUpdated(), ULock::lock(), UTime::now(), UServerPushImplement::pushWatch, UServerPushImplement::pushWatchCnt, UServerPushImplement::pushWatchLock, qevent, resPool, server, UServerPort::serverIsAlive(), UServerPort::setAllowConnections(), UVariable::setDouble(), threadRunning, threadStop, ULock::unlock(), updateLocalVar(), UResVarPool::updateQTvars(), varAllowConnection, varFastestUpdateTime, varIdle, varQTvarUpdate, and Wait().

Referenced by handleMessagesThreadCall(), and setVerbose().

void UCmdExe::runIdle ( )

wakes message thread regularly, when no activity Claculates load percentage

References UServerPushImplement::event(), threadStop, Wait(), and wakeupSec.

Referenced by callRunIdle(), and setVerbose().

bool UCmdExe::sendDebug	(	UServerInMsg *	msg,
		const char *	debugText
	)

Send a debug message to the client of with the tag type of the command, with a marking as a debug message and the provided warning text. the test will be put in double quotes, s� (almost) all characters are legal.

References UServerInMsg::client, USmlTagIn::getTagName(), sendMsg(), str2xml(), and UServerInMsg::tag.

Referenced by UFunctionBase::sendDebug(), and setVerbose().

bool UCmdExe::sendError	(	UServerInMsg *	msg,
		const char *	errorText
	)

Send an error to the client of with the tag type of the command, with a marking as an error and the provided error text. the text will be put in double quotes, and encoded with escape sequence as needed, s� (almost) all characters are legal.

References UServerInMsg::client, USmlTagIn::getTagName(), sendMsg(), str2xml(), and UServerInMsg::tag.

Referenced by UFunctionBase::sendError(), and setVerbose().

bool UCmdExe::sendHelp	(	UServerInMsg *	msg,
		const char *	infoText
	)

Send a info message to the client of with tag type help. The test will be put in double quotes and converted to XML-text.

References UServerInMsg::client, sendMsg(), and str2xml().

Referenced by handleServerCommand(), UFunctionBase::sendHelp(), and setVerbose().

bool UCmdExe::sendHelpDone ( UServerInMsg * msg )

Send a help close tag The help close tag </help> if followed by a full tag with the message 'msg' tag name and the text "info=done".

References UServerInMsg::client, sendInfo(), and sendMsg().

Referenced by doBashCmd(), handleAlive(), handleQuit(), handleServerCommand(), handleShellCmd(), UFunctionBase::sendHelpDone(), setVerbose(), and sysModuleCmd().

bool UCmdExe::sendHelpStart	(	UServerInMsg *	msg,
		const char *	infoText
	)

Send the open help tag Send open tag with one 'info' attribute with the provided string as value. Must be finished with a call to sendHelpDone(msg).

Parameters

msg	The message with the client information.
infoText	The string value to put into the info attribute.

Returns: true if send.

References UServerInMsg::client, sendMsg(), and str2xml().

Referenced by doBashCmd(), handleAlive(), handleQuit(), handleServerCommand(), handleShellCmd(), UFunctionBase::sendHelpStart(), and setVerbose().

bool UCmdExe::sendInfo	(	UServerInMsg *	msg,
		const char *	infoText
	)

Send a info message to the client of with the tag type of the command, with a marking as an info message and the provided text. the test will be put in double quotes, and converted to XML-text (i.e. using > for '>').

References UServerInMsg::client, USmlTagIn::getTagName(), sendMsg(), str2xml(), and UServerInMsg::tag.

Referenced by handleServerCommand(), handleServerPushCommand(), killServer(), sendHelpDone(), UFunctionBase::sendInfo(), setVerbose(), sysModuleCmd(), and sysServerHelp().

bool UCmdExe::sendMsg	(	int	clientIdx,
		const char *	message,
		int	size
	)

Send a message to a client or to console with fized length - message may include a zero character. Returns true if send. NB! this call is depricated, as it do not allow lock of client connection during af lengthy transmission!! Use sendMsg(UServerInMsg * msg, const char * message, int size) instead.

Todo:: make this function private

References UServerClient::blockSend(), UQevent::consoleReply(), UServerPort::getClient(), UServerClient::isActive(), mini(), qevent, server, and xml2str().

Referenced by executeScriptFile(), getResClassID(), handleAlive(), handleServerCommand(), handleServerPushCommand(), sendDebug(), sendError(), sendHelp(), sendHelpDone(), sendHelpStart(), sendInfo(), sendMsg(), UFunctionBase::sendMsg(), UFunctionBase::sendMsgInt(), USmlTag::sendProbPoly(), sendText(), UResRuleState::sendToClientAsHelp(), sendWarning(), sysModuleCmd(), and sysServerHelp().

bool UCmdExe::sendMsg	(	UServerInMsg *	msg,
		const char *	message,
		int	size
	)

Send a message to a client or to console with fized length - message may include a zero character. Returns true if send.

Todo:: Should allow connection lock during lengthy connections, but this is not implemented yet.

References UServerInMsg::client, and sendMsg().

bool UCmdExe::sendMsg	(	int	clientIdx,
		const char *	message
	)

Send zero terminated string. Returns true if send. NB! this call is depricated, as it do not allow lock of client connection during af lengthy transmission!! Use sendMsg(UServerInMsg * msg, const char * message.

Todo:: make this function private

References sendMsg().

bool UCmdExe::sendMsg	(	UServerInMsg *	msg,
		const char *	message
	)

Send a message to a client or to console with fixed length - message may include a zero character. Returns true if send.

Todo:: Should allow connection lock during lengthy connections, but this is not implemented yet.

References sendMsg().

bool UCmdExe::sendMsgAll	(	const char *	message,
		bool	lockedUser
	)

Send a message to all active clients. The connection is locked during the transmission, except for the user 'lockedUser', as it is assumed that the connection to this user is locked already (if called as part of a user request). If this function is not called as a direct reply to a user (client) request the 'lockedUsed' should be set to -1. Returns true if at least one client got the message.

References UServerClient::blockSend(), UServerPort::getClient(), UServerPort::getClientCnt(), UServerClient::isActive(), UServerClient::lock(), server, and UServerClient::unlock().

Referenced by getResClassID().

bool UCmdExe::sendText	(	UServerInMsg *	msg,
		const char *	text
	)

Send text string, and ensure that special protected XML characters are converted to an escape sequence, e.g. '<' = <. true if send.

References sendMsg(), and str2xmlMin().

Referenced by doBashCmd(), getFuncCnt(), handleAlive(), handleQuit(), handleServerCommand(), handleServerPushCommand(), handleShellCmd(), UFunctionBase::sendText(), sysModuleCmd(), and sysServerHelp().

bool UCmdExe::sendWarning	(	UServerInMsg *	msg,
		const char *	warningText
	)

Send a warning to the client of with the tag type of the command, with a marking as a warning and the provided warning text. the text will be put in double quotes, and encoded with escape sequence as needed, s� (almost) all characters are legal.

References UServerInMsg::client, USmlTagIn::getTagName(), sendMsg(), str2xml(), and UServerInMsg::tag.

Referenced by handleOneMessageFromQueue(), handleServerCommand(), handleServerPushCommand(), UFunctionBase::sendWarning(), setVerbose(), and sysModuleCmd().

void UCmdExe::setName ( const char * serverName )

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. Set the name of the server

References servName.

Referenced by getResClassID(), runCameraServerComponent(), runLaserServerComponent(), runServer(), and testServerGen().

void UCmdExe::setServer ( UServerPort * socketServer )

Set socket server, from where to get the commands

References server, UServerPort::setResource(), updateLocalVar(), UServerPort::varAlivePunkTime, and varAlivePunkTime.

Referenced by printRess(), runCameraServerComponent(), runLaserServerComponent(), runServer(), and testServerGen().

void UCmdExe::setVerbose ( bool value )

inline

Set verbose messages - mostly for debug purpose

References handleMessagesThreadStart(), run(), runIdle(), sendDebug(), sendError(), sendHelp(), sendHelpDone(), sendHelpStart(), sendInfo(), sendWarning(), stop(), and verboseMessages.

Referenced by runCameraServerComponent(), runLaserServerComponent(), runServer(), and testServerGen().

void UCmdExe::stop ( bool andWait )

virtual

Stop message handling thread, and wait for termination if the 'andWait' flag is true

Reimplemented from UResBase.

References UMsgQueue::clear(), UServerPort::getRxQueue(), server, UServerPort::stop(), stopping, threadHandle, threadRunning, threadStop, unloadAllModules(), and Wait().

Referenced by setVerbose(), shutDownHandler(), testServerGen(), and ~UCmdExe().

bool UCmdExe::sysModuleCmd ( UServerInMsg * msg )

protected

Handling module load, unload and list commands

References UVariable::add(), UResVarPool::addStruct(), UVarPool::addVar(), UVarPool::addVarA(), UServerInMsg::client, UFunctionBase::commandList(), commandList(), func, funcCnt, UFunctionBase::getAliasName(), UVariable::getInt(), UFunctionBase::getLoadedFileName(), UFunctionBase::getLoadedModuleRef(), UVarPool::getLocalVar(), UVarPool::getLocalVarIndex(), USmlTagIn::getNextAttribute(), getStaticHelpList(), UVarPool::getStruct(), USmlTagIn::getTagName(), UResVarPool::getVarPool(), USmlTagIn::isValid(), loadFunctionModule(), loadStaticModule(), UFunctionBase::MAX_ID_LENGTH, MAX_SML_NAME_LENGTH, UFunctionBase::name(), name(), UResPool::print(), UResBase::resID, resPool, sendHelpDone(), sendInfo(), sendMsg(), sendText(), sendWarning(), UServerInMsg::tag, and unloadFunctionModule().

Referenced by getLoad(), and systemFunction().

bool UCmdExe::sysServerHelp ( UServerInMsg * msg )

protected

Send server general help back to client

References commandList(), func, funcCnt, getFuncCnt(), UServerPort::getHostName(), UServerPort::getPort(), UResPool::getResCnt(), resPool, sendInfo(), sendMsg(), sendText(), server, and servName.

Referenced by getLoad(), and systemFunction().

bool UCmdExe::systemFunction ( UServerInMsg * msg )

protected

This is a system function command, deal with it. System functions are e.g. server pusk commands.

References UServerInMsg::client, closeClient(), USmlTagIn::getTagName(), handleAlive(), handleQuit(), handleServerCommand(), handleServerPushCommand(), handleShellCmd(), USmlTagIn::isTagA(), USmlTagIn::isValid(), sysModuleCmd(), sysServerHelp(), UServerInMsg::tag, and verboseMessages.

Referenced by executeFunction(), getLoad(), and handleOneServerPushMessage().

void UCmdExe::UCmdExeInit ( )

Initialization of server core

References UResPool::addResource(), callNotice, createBaseVar(), UResVarPool::createVarSpace(), funcCnt, idleLoopCnt, MAX_FUNCTION_COUNT, UServerPushImplement::pushWatchCnt, UResBase::resFuncIdx, resPool, server, servName, UResBase::setCorePointer(), UResVarPool::setResource(), stopping, threadRunning, threadStop, verboseMessages, and wakeupSec.

Referenced by UCmdExe().

bool UCmdExe::unloadAllModules ( )

Unload all modules - static as well as loaded - make an empty server

References funcCnt, resPool, UResPool::saveSettings(), UResPool::stop(), and unloadThisModule().

Referenced by getFuncCnt(), and stop().

bool UCmdExe::unloadFunctionModule ( const char * value )

Unload a loadable module with this name. The name should be unique among loaded modules, and must at least hold three character. Module may be identified by an integer value (from function list) or the first part of the module name (at least 3 characters). If more modeles match the name, then the last module with a match is unloaded. Returns true if a module is unloaded, or false if no loaded module matches the name. Static modules should not be unloaded (but may be overloaded).

References func, funcCnt, UFunctionBase::getAliasName(), UFunctionBase::getLoadedFileName(), getLoadedModuleRef(), UFunctionBase::name(), and unloadThisModule().

Referenced by getFuncCnt(), and sysModuleCmd().

bool UCmdExe::unloadThisModule ( int funcIdx )

protected

Unload the module with this index number and any ressources owned by this module. The index may be a static (compiled in) module or a loaded module. Returns true if the module is removed.

References deleteFunction(), func, funcCnt, UFunctionBase::getLoadedFileName(), getLoadedModuleRef(), and UFunctionBase::name().

Referenced by getLoad(), unloadAllModules(), and unloadFunctionModule().

void UCmdExe::updateLocalVar ( )

Update local variables, e.g. clients, open, port

References UServerPort::getActiveClientCnt(), UServerPort::getLastClient(), UServerPort::getLastClientSerial(), UServerPort::getPort(), UServerPort::isOpen4Connections(), server, UVariable::setBool(), UVariable::setInt(), UVariable::setTimeNow(), varClients, varLastClient, varLastClientSerial, varOpen4connections, varPort, and varTime.