Devel (#65)

* reviewing errors, timestamps, diags
* suppress gettimeofday, using CanModuleUtils
* chrono simplifications and cleanup
* VERSION.h in includes
* fix memleaks error message found by QA: anagate and systec
* Update .gitlab-ci.yml
* reconnection rewritten
* documenting methods for statistics
* imprived errors doc

no functional changes

.pydevproject

@@ -1,11 +1,14 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <?eclipse-pydev version="1.0"?><pydev_project>
-
+
+
 
     <pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
-
+
+
 
     <pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
-
+
+
 
 </pydev_project>

CHANGELOG.md

@@ -4,7 +4,23 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 
 ### in progress
 
-- OPCUA-2584: rx/tx counting in the handler, for now, to improve err reporting already
+- OPCUA-2584: rx/tx counting in the handler, for now, to improve err reporting already, and port status:
+  - CanMessageError: send a boost signal with an error message to a subscibing error handler
+  - anagate: used in sendMessage() and sendRemoteMessage()
+  - peak: sendErrorCode() sends an error code (not a message) at sendMessage(), triggerReconnectionThread() and sendRemoteRequest()
+  - systec: sendErrorCode() sends an error code (not a message) at message reception with USB error AND the return code of sendMessage (also if it is OK)
+  - sock: no wrapper method (defined but not used), error messages are sent when: socket recovers, error reading from socket, a CAN error 
+    was flagged from the socket (plus message and socket timestamp if possible), when opening a CAN port produces an error
+
+
+
+
+
+### 2.0.21 (in progress devel)
+- version corrected
+- found and suppreses another few nanosleeps, replace with chrono
+
+
 
 ### 2.0.20 [20.april.2022]
 - fix bugs found by QA: error message mem leak in anagate and systec

CMakeLists.txt

@@ -18,7 +18,7 @@
 #  
 #
 cmake_minimum_required(VERSION 3.0)
-project( CanModule LANGUAGES C CXX  VERSION 2.0.20  )  
+project( CanModule LANGUAGES C CXX  VERSION 2.0.21  )  
 message(STATUS "[${CMAKE_CURRENT_LIST_FILE}:${CMAKE_CURRENT_LIST_LINE}]: CanModule version= ${PROJECT_VERSION}" )
 set (CMAKE_CXX_STANDARD 11)
 

CanInterface/include/CanStatistics.h

@@ -60,29 +60,57 @@ class CanStatistics
 	void beginNewRun();
 	void computeDerived(unsigned int baudRate);
 
-	//! dataLength is the user data size (DLC field)
+	/**
+	 * called when transmitting a message
+	 * dataLength is the user data size (DLC field)
+	 */
 	void onTransmit(unsigned int dataLength);
 
-	//! dataLength is the user data size (DLC field)
+	/**
+	 * called when receiving a message
+	 * dataLength is the user data size (DLC field)
+	 */
 	void onReceive(unsigned int dataLength);
 
 	unsigned int totalTransmitted() { return m_totalTransmitted.load(); }
 	unsigned int totalReceived() { return m_totalReceived.load(); }
+
+	/**
+	 * transmission rate bytes/s
+	 */
 	float txRate() { return m_internals.m_transmittedPerSec; }
+
+	/**
+	 * reception rate bytes/s
+	 */
 	float rxRate() { return m_internals.m_receivedPerSec; }
-	float busLoad() { return m_internals.m_busLoad; }
 
+	/**
+	 * bus load in 0...1 ( % * 100 ) of max bus speed (baudrate)
+	 */
+	float busLoad() { return m_internals.m_busLoad; }
 
+	/**
+	 * time since the last message was received in microseconds
+	 */
 	double timeSinceReceived() {
 		m_hrnow = high_resolution_clock::now();
 		duration<double, micro> time_span = duration_cast<duration<double, micro>>(m_hrnow - m_hrreceived);
 		return ( time_span.count() / 1000 );
 	}
+
+	/**
+	 * time since the last message was sent, in microseconds
+	 */
 	double timeSinceTransmitted() {
 		m_hrnow = high_resolution_clock::now();
 		duration<double, micro> time_span = duration_cast<duration<double, micro>>(m_hrnow - m_hrtransmitted);
 		return ( time_span.count() / 1000 );
 	}
+
+	/**
+	 *  time since that bus was opened, in microseconds
+	 */
 	double timeSinceOpened() {
 		m_hrnow = high_resolution_clock::now();
 		duration<double, micro> time_span = duration_cast<duration<double, micro>>(m_hrnow - m_hropen);

CanInterfaceImplementations/sockcan/SockCanScan.cpp

@@ -168,6 +168,7 @@ void CSockCanScan::CanScanControlThread()
 		if ( selectResult < 0 ){
 			MLOGSOCK(ERR,p_sockCanScan) << "select() failed: " << CanModuleerrnoToString()
 									<< " tid= " << _tid;
+#if 0
 			{
 				struct timespec tim, tim2;
 				tim.tv_sec = 1;
@@ -176,6 +177,8 @@ void CSockCanScan::CanScanControlThread()
 					MLOGSOCK(ERR,p_sockCanScan) << "Waiting 1s failed (nanosleep) tid= " << _tid;
 				}
 			}
+#endif
+			CanModule::ms_sleep( 1000 );
 			continue;
 		}
 
@@ -221,6 +224,7 @@ void CSockCanScan::CanScanControlThread()
 				// try close/opening on faults while port is active. This was a system error
 				do {
 					MLOGSOCK(INF,p_sockCanScan) << "Waiting 10000ms."<< " tid= " << _tid;
+#if 0
 					{
 						struct timespec tim, tim2;
 						tim.tv_sec = 10;
@@ -229,6 +233,9 @@ void CSockCanScan::CanScanControlThread()
 							MLOG(ERR,p_sockCanScan) << "Waiting 10000ms failed (nanosleep)"<< " tid= " << _tid;
 						}
 					}
+#endif
+					CanModule::ms_sleep( 10000 );
+
 					if ( sock > 0 )	{
 						// try closing the socket
 						MLOGSOCK(INF,p_sockCanScan) << "Closing socket."<< " tid= " << _tid;
@@ -666,6 +673,7 @@ bool CSockCanScan::sendMessage(short cobID, unsigned char len, unsigned char *me
 		if ( errno == ENOBUFS ) {
 			// std::cerr << "ENOBUFS; waiting a jiffy [100ms]..." << std::endl;
 			MLOGSOCK(ERR,this) << "write error ENOBUFS: waiting a jiffy [100ms]...";
+#if 0
 			{
 				struct timespec tim, tim2;
 				tim.tv_sec = 0;
@@ -674,6 +682,9 @@ bool CSockCanScan::sendMessage(short cobID, unsigned char len, unsigned char *me
 					MLOGSOCK(ERR,this) << "Waiting 100ms failed (nanosleep)";
 				}
 			}
+#endif
+			CanModule::ms_sleep( 100 );
+
 			ret = false;
 		}
 		if ( numberOfWrittenBytes < (int)sizeof(struct can_frame)){
@@ -725,6 +736,7 @@ bool CSockCanScan::sendRemoteRequest(short cobID)
 			if (errno == ENOBUFS)
 			{
 				MLOGSOCK(ERR,this) << "ENOBUFS; waiting a jiffy [100ms]...";
+#if 0
 				{
 					struct timespec tim, tim2;
 					tim.tv_sec = 0;
@@ -733,6 +745,9 @@ bool CSockCanScan::sendRemoteRequest(short cobID)
 						MLOGSOCK(ERR,this) << "Waiting 100ms failed (nanosleep)";
 					}
 				}
+#endif
+				CanModule::ms_sleep( 100 );
+
 				continue;//If this happens we sleep and start from the beggining of the loop
 			}
 		}
@@ -933,6 +948,8 @@ void CSockCanScan::clearErrorMessage()
 	canMessageError(0, errorMessage.c_str(), c_time);
 }
 
+#if 0
+// this method is not used, instead, code is implemented directly everywhere
 /**
  * send a timestamped error message, get time from the socket or from chrono
  */
@@ -950,6 +967,7 @@ void CSockCanScan::sendErrorMessage(const char *mess)
 	MLOGSOCK(TRC,this) << "ioctlReturn= " << ioctlReturn;
 	canMessageError(-1,mess,c_time);
 }
+#endif
 
 /**
  * notify the main thread to finish and delete the bus from the map of connections

CanInterfaceImplementations/sockcan/SockCanScan.h

@@ -137,7 +137,7 @@ class CSockCanScan : public CCanAccess
 	void updateInitialError () ;
 	static std::string errorFrameToString (const struct can_frame &f);
 
-	void sendErrorMessage(const char  *);
+	// void sendErrorMessage(const char  *);
 	void clearErrorMessage();
 	int configureCanBoard(const string name,const string parameters);
 	// void updateBusStatus();