3dpcp/.svn/pristine/68/688379589b8bbf3761896bafa6be9eb2f1202d97.svn-base

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2012-09-16 12:33:11 +00:00
/*
* serverInterface implementation
*
* Copyright (C) Thomas Escher, Kai Lingemann
*
* Released under the GPL version 3.
*
*/
#include "scanserver/serverInterface.h"
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <stdexcept>
#include <vector>
#include <algorithm>
#include <boost/filesystem.hpp>
using namespace boost::filesystem;
using namespace boost::interprocess;
#include "scanserver/defines.h"
#include "scanserver/frame_io.h"
#include "scanserver/serverScan.h"
#include "scanio/scan_io.h"
#ifndef _MSC_VER
#include <sys/mman.h> // mlock for avoiding swaps
#endif
#ifdef WITH_METRICS
#include "slam6d/metrics.h"
#endif //WITH_METRICS
SharedScanVector* ServerInterface::readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end)
{
// INFO
cout << "[Scanserver] Reading directory '" << dir_path << "' ... ";
// create an instance of ScanIO
ScanIO* sio = ScanIO::getScanIO(type);
// query available scans in the directory from the ScanIO
std::list<std::string> identifiers(sio->readDirectory(dir_path, start, end));
// create a vector for returning
SharedScanVector* scans = segment_manager->construct<SharedScanVector>(anonymous_instance)(allocator);
scans->reserve(identifiers.size());
// INFO
cout << identifiers.size() << " scans found." << endl;
// share the directory path string between all scans because it's the same
// BUG: before boost-1.47, gcc -O2 and higher caused several boost::ipc:string instances having errors with garbage characters in between and/or more at the end, this is to avoid that problem
SharedStringSharedPtr dir_path_ptr = make_managed_shared_ptr(
segment_manager->construct<SharedString>(anonymous_instance)(dir_path, allocator), *segment_manager);
// for each identifier, create a scan
for(std::list<std::string>::iterator it = identifiers.begin(); it != identifiers.end(); ++it) {
// first try to get the scan by matching in the global scan vector
SharedScan* scan = findScan(dir_path_ptr, it->c_str(), type);
// otherwise create a new one and insert it into the global vector
if(!scan) {
// TODO: catch exceptions/errors
scan = static_cast<SharedScan*>(
segment_manager->construct<ServerScan>(anonymous_instance)
(allocator, dir_path_ptr, it->c_str(), type, &m_manager)
);
m_scans.push_back(offset_ptr<SharedScan>(scan));
}
// insert scan into return scan vector
scans->push_back(offset_ptr<SharedScan>(scan));
}
return scans;
}
bool ServerInterface::loadCacheObject(CacheObject* obj)
{
// INFO
//cout << "ServerInterface::loadCacheObject..." << endl;
// cache manager handles all the io and allocation issues by calling the cache handler
return m_manager.loadCacheObject(obj);
}
void ServerInterface::allocateCacheObject(CacheObject* obj, unsigned int size)
{
// INFO
//cout << "ServerInterface::allocateCacheObject (" << size << ")" << endl;
// allocate enough space for a cache object
m_manager.allocateCacheObject(obj, size);
// INFO
//cout << endl;
}
void ServerInterface::invalidateCacheObject(CacheObject* obj)
{
m_manager.invalidateCacheObject(obj);
}
void ServerInterface::getPose(SharedScan* scan)
{
// INFO
//cout << "[" << scan->getIdentifier() << "] getPose()";
// TODO: catch exceptions
double* pose = segment_manager->construct<double>(anonymous_instance)[6]();
ScanIO* sio = ScanIO::getScanIO(scan->getIOType());
// TODO: catch more exceptions
sio->readPose(scan->getDirPath(), scan->getIdentifier(), pose);
static_cast<ServerScan*>(scan)->setPose(pose);
// INFO
//cout << endl;
}
void ServerInterface::addFrame(SharedScan* scan)
{
static_cast<ServerScan*>(scan)->getFrames().push_back(Frame());
}
void ServerInterface::loadFramesFile(SharedScan* scan)
{
FrameIO::loadFile(scan->getDirPath(), scan->getIdentifier(), static_cast<ServerScan*>(scan)->getFrames());
}
void ServerInterface::saveFramesFile(SharedScan* scan)
{
FrameIO::saveFile(scan->getDirPath(), scan->getIdentifier(), static_cast<ServerScan*>(scan)->getFrames());
}
void ServerInterface::clearFrames(SharedScan* scan)
{
static_cast<ServerScan*>(scan)->getFrames().clear();
}
std::size_t ServerInterface::getCacheSize()
{
return m_cache_size;
}
void ServerInterface::printMetrics()
{
#ifdef WITH_METRICS
ServerMetric::print();
#endif //WITH_METRICS
}
SharedScan* ServerInterface::findScan(const SharedStringSharedPtr& dir_path, const char* identifier, IOType type) const
{
// create a stack local scan to compare with all other scans
SharedScan scan(allocator, dir_path, identifier, type);
for(SharedScanVector::const_iterator it = m_scans.begin(); it != m_scans.end(); ++it) {
if(scan == *(*it))
return it->get();
}
return 0;
}
ServerInterface* ServerInterface::create(std::size_t data_size, std::size_t cache_size)
{
// remove any existing shared memory that wasn't cleaned up
shared_memory_object::remove(SHM_NAME_DATA);
// create the shared memory
if(m_msm != 0)
throw std::runtime_error("Could not create ServerInterface because shared memory already exists");
try {
m_msm = new managed_shared_memory(create_only, SHM_NAME_DATA, data_size);
#ifndef WIN32
cout << " Locking data memory... " << std::flush;
int ret = mlock(m_msm->get_address(), m_msm->get_size());
if(ret == 0)
cout << "success.";
else if(ret == -EPERM)
cout << "unsuccessful, no permissions.";
else if(ret == -ENOMEM)
cout << "unsuccessful, RLIMIT_MEMLOCK too small.";
else
cout << "unsuccessful, error=" << ret << ".";
cout << endl;
#endif
} catch(interprocess_exception& e) {
throw std::runtime_error(std::string("Could not create shared memory: ") + e.what());
}
// create server interface and set the client pointer to it
ServerInterface* server = m_msm->construct<ServerInterface>(unique_instance)(m_msm->get_segment_manager(), SHM_NAME_CACHE, cache_size);
offset_ptr<ClientInterface> *ptr = m_msm->construct<offset_ptr<ClientInterface> >(unique_instance)();
(*ptr) = reinterpret_cast<ClientInterface *>(server);
return server;
}
void ServerInterface::destroy()
{
// delete the server instance first
try {
// send message to quit
ServerInterface* server = m_msm->find<ServerInterface>(unique_instance).first;
server->cleanup();
/* resetting conditions and mutexes won't work, so just clean up manually
server->m_condition_server.notify_one();
server->m_condition_client.notify_one();
server->m_mutex_client.unlock();
server->m_mutex_server.unlock();
m_msm->destroy<ServerInterface>(unique_instance);
*/
} catch(...) {
// whatever
}
// clean up the memory
if(m_msm != 0) {
delete m_msm;
m_msm = 0;
shared_memory_object::remove(SHM_NAME_DATA);
shared_memory_object::remove(SHM_NAME_CACHE);
}
}
ServerInterface::ServerInterface(managed_shared_memory::segment_manager * sm, const char* shm_name, std::size_t cache_size) :
ClientInterface(sm),
m_scans(allocator),
m_manager(sm, shm_name, cache_size),
m_cache_size(cache_size)
{
}
ServerInterface::~ServerInterface()
{
}
void ServerInterface::cleanup()
{
ScanIO::clearScanIOs();
}
void ServerInterface::run()
{
// take ownership of the server mutex as long as the server is busy
scoped_lock<interprocess_mutex> lock(m_mutex_server);
// run the shop
bool running = true;
while(running) {
// wait for input notification
m_condition_server.wait(lock);
// clear the error message because the client isn't responsible for it
m_error_message.clear();
// process the input
// TEST: simple int pod for message type
try {
if(m_message == MESSAGE_STOP) {
running = false;
cout << "Stopping execution by MESSAGE_STOP request." << endl;
} else
if(m_message == MESSAGE_READ_DIRECTORY) {
m_scanvector_ptr = readDirectory(m_arg_string_1.c_str(), m_arg_io_type, m_arg_uint_1, m_arg_uint_2);
} else
if(m_message == MESSAGE_LOAD_CACHE_OBJECT) {
m_arg_uint_1 = (loadCacheObject(m_cacheobject_ptr.get()) == true? 1: 0);
} else
if(m_message == MESSAGE_ALLOCATE_CACHE_OBJECT) {
allocateCacheObject(m_cacheobject_ptr.get(), m_arg_uint_1);
} else
if(m_message == MESSAGE_INVALIDATE_CACHE_OBJECT) {
invalidateCacheObject(m_cacheobject_ptr.get());
} else
if(m_message == MESSAGE_GET_POSE) {
getPose(m_sharedscan_ptr.get());
} else
if(m_message == MESSAGE_ADD_FRAME) {
addFrame(m_sharedscan_ptr.get());
} else
if(m_message == MESSAGE_LOAD_FRAMES_FILE) {
loadFramesFile(m_sharedscan_ptr.get());
} else
if(m_message == MESSAGE_SAVE_FRAMES_FILE) {
saveFramesFile(m_sharedscan_ptr.get());
} else
if(m_message == MESSAGE_CLEAR_FRAMES) {
clearFrames(m_sharedscan_ptr.get());
} else
if(m_message == MESSAGE_GET_CACHE_SIZE) {
m_arg_size_t = getCacheSize();
} else
if(m_message == MESSAGE_PRINT_METRICS) {
printMetrics();
} else
{
cout << "WAH! I do not know thee: " << (unsigned int)m_message << endl;
}
} catch(bad_alloc& e) {
cerr << "Allocation error (you may need to increase the data_size): " << e.what() << endl;
m_error_message = e.what();
} catch(std::runtime_error& e) {
// don't repeat this for the client
// cerr << "RUNTIME ERROR: " << e.what() << endl;
m_error_message = e.what();
}
// clear message
m_message = MESSAGE_NONE;
// notify client about completion
if(running)
m_condition_client.notify_one();
}
}