Coredumping

translations/fr/trikKernel_fr.ts

@@ -4,7 +4,7 @@
 <context>
     <name>QObject</name>
     <message>
-        <location filename="../../trikKernel/src/applicationInitHelper.cpp" line="+56"/>
+        <location filename="../../trikKernel/src/applicationInitHelper.cpp" line="+57"/>
         <source>Print this help text.</source>
         <translation type="unfinished"></translation>
     </message>

translations/ru/trikKernel_ru.ts

@@ -4,7 +4,7 @@
 <context>
     <name>QObject</name>
     <message>
-        <location filename="../../trikKernel/src/applicationInitHelper.cpp" line="+56"/>
+        <location filename="../../trikKernel/src/applicationInitHelper.cpp" line="+57"/>
         <source>Print this help text.</source>
         <translation>Распечатать это сообщение.</translation>
     </message>

trikControl/configs/kernel-4.14/model-config.xml

@@ -133,4 +133,7 @@ Note that device, even if listed here, may fail by itself, then it also will not
 		<fifo />
 	</soundSensor>
 	-->
+	<lidarPort>
+		<lidar file="/dev/ttyS1" />
+	</lidarPort>
 </config>

trikControl/configs/kernel-4.14/system-config.xml

@@ -29,18 +29,6 @@ equal to its class name.
 		echo 5 > /sys/class/misc/mma845x/odr_selection
 		echo 0 > /sys/class/misc/mma845x/fs_selection
 
-		echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_timestamp_en
-		echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_accel_x_en
-		echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_accel_y_en
-		echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_accel_z_en
-		echo 1 > /sys/bus/iio/devices/iio\:device0/buffer/enable
-
-		echo 1 > /sys/bus/iio/devices/iio\:device1/scan_elements/in_timestamp_en
-		echo 1 > /sys/bus/iio/devices/iio\:device1/scan_elements/in_anglvel_x_en
-		echo 1 > /sys/bus/iio/devices/iio\:device1/scan_elements/in_anglvel_y_en
-		echo 1 > /sys/bus/iio/devices/iio\:device1/scan_elements/in_anglvel_z_en
-		echo 1 > /sys/bus/iio/devices/iio\:device1/buffer/enable
-
 		echo 1 > /sys/class/gpio/gpio62/value
 
                 export GP="/sys/class/gpio/"
@@ -76,6 +64,7 @@ equal to its class name.
 		<rangeSensor commonModule="hcsr04" minValue="0" maxValue="100" filter="median3" />
 		<digitalSensor />
 		<fifo />
+		<lidar />
 		<accelerometer deviceFile="/dev/iio:device0" optional="true" />
 		<gyroscope deviceFile="/dev/iio:device1" optional="true" />
 		<lineSensor script="/etc/init.d/line-sensor-ov7670" inputFile="/run/line-sensor.in.fifo" outputFile="/run/line-sensor.out.fifo" toleranceFactor="1.0" />
@@ -175,6 +164,7 @@ equal to its class name.
                 <camera port="video1" />
                 <camera port="video2" />
 		<fifo port="soundSensor" file="/home/root/trik/soundSensor.fifo" />
+		<lidar port="lidarPort" file="/dev/ttyUSB0" />
 	</devicePorts>
 
 	<deviceTypes>

trikControl/src/lidarWorker.cpp

@@ -42,6 +42,7 @@ trikControl::LidarWorker::LidarWorker(const QString &fileName
 	, mHardwareAbstraction(hardwareAbstraction)
 	, mResult(ANGLES_RAW_NUMBER, 0)
 {
+	mBuffer.reserve(ANGLES_RAW_NUMBER);
 	mWaitForInit.acquire(1);
 }
 

trikControl/src/vectorSensor.cpp

@@ -29,7 +29,7 @@ VectorSensor::VectorSensor(const QString &deviceName, const trikKernel::Configur
 {
 	if (!mState.isFailed()) {
 		if (!mIIOFile.data()->open()) {
-			QLOG_ERROR() << "Gyroscope init failed";
+			QLOG_ERROR() << "VectorSensor init failed";
 			mState.fail();
 			return;
 		}

trikKernel/include/trikKernel/applicationInitHelper.h

@@ -18,6 +18,7 @@
 #include <QtCore/QScopedPointer>
 
 #include "commandLineParser.h"
+#include "coreDumping.h"
 
 namespace trikKernel {
 
@@ -61,6 +62,8 @@ class TRIKKERNEL_EXPORT ApplicationInitHelper
 
 	/// Initializer for logging system.
 	QScopedPointer<LoggingHelper> mLoggingHelper;
+
+	QScopedPointer<coreDumping::CoreDumpingDaemon> mDumpingDaemon;
 };
 
 }

trikKernel/include/trikKernel/coreDumping.h

@@ -16,11 +16,37 @@
 
 #include <QtCore/QString>
 
+#include <QObject>
+#include <QSocketNotifier>
+
 namespace trikKernel {
 
 namespace coreDumping {
-	/// Installs signal handler and initializes core dump in a location specified by trikKernel::Paths.
-	void initCoreDumping(const QString &coreDumpPath);
-}
+	class CoreDumpingDaemon : public QObject
+	{
+		Q_OBJECT
+
+	  public:
+		CoreDumpingDaemon(const QString &coreDumpPath, QObject *parent = 0);
+		~CoreDumpingDaemon() = default;
+
+
+		static void termSignalHandler(int unused);
+
+		/// Installs signal handler and initializes core dump in a location specified by trikKernel::Paths.
+		void initCoreDumping(const QString &coreDumpPath);
 
+	  public slots:
+		void init();
+
+		void handleSigTerm();
+
+	  private:
+//		static int sigtermFd[2];
+
+		QSocketNotifier *snTerm;
+
+		const QString mCoreDumpPath;
+	};
+}
 }

trikKernel/src/applicationInitHelper.cpp

@@ -27,6 +27,7 @@
 
 #include <QRandomGenerator>
 #include <QsLog.h>
+#include <QTimer>
 
 #include "translationsHelper.h"
 #include "version.h"
@@ -105,7 +106,8 @@ void ApplicationInitHelper::init()
 		coreDumpPath = Paths::coreDumpPath();
 	}
 
-	trikKernel::coreDumping::initCoreDumping(coreDumpPath);
+	mDumpingDaemon.reset(new coreDumping::CoreDumpingDaemon(coreDumpPath));
+	QTimer::singleShot(0, mDumpingDaemon.data(), &coreDumping::CoreDumpingDaemon::init);
 
 	mConfigPath = Paths::configsPath();
 	if (mCommandLineParser.isSet("c")) {

trikKernel/src/linux/coreDumping.cpp

@@ -15,14 +15,22 @@
 #include "coreDumping.h"
 
 #include <QtCore/QDir>
+#include <QsLog.h>
 
 #include <sys/resource.h>
+#include <sys/types.h>
+#include <sys/socket.h>
 #include <csignal>
 #include <unistd.h>
 #include <cstdio>
 #include "paths.h"
 
+#include <QApplication>
+#include <QSocketNotifier>
+#include <coreDumping.h>
+
 void (*oldHandler)(int);
+static int sigtermFd[2];
 
 static void dumpHandler_impl(int signal, char *p)
 {
@@ -78,10 +86,63 @@ static void setCoreLimits()
 	setrlimit(RLIMIT_CORE, &core_limits);
 }
 
-void trikKernel::coreDumping::initCoreDumping(const QString &coreDumpPath)
+static int setup_unix_signal_handlers()
+{
+	struct sigaction term;
+
+	term.sa_handler = trikKernel::coreDumping::CoreDumpingDaemon::CoreDumpingDaemon::termSignalHandler;
+	sigemptyset(&term.sa_mask);
+	term.sa_flags = 0;
+	term.sa_flags |= SA_RESTART;
+
+	if (sigaction(SIGTERM, &term, 0))
+	   return 2;
+
+	return 0;
+}
+
+trikKernel::coreDumping::CoreDumpingDaemon::CoreDumpingDaemon(const QString &coreDumpPath, QObject *parent)
+	: QObject(parent)
+	, mCoreDumpPath(coreDumpPath)
+{
+}
+
+void trikKernel::coreDumping::CoreDumpingDaemon::init()
+{
+	setup_unix_signal_handlers();
+
+	if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sigtermFd))
+		   qFatal("Couldn't create TERM socketpair");
+		snTerm = new QSocketNotifier(sigtermFd[1], QSocketNotifier::Read, this);
+		connect(snTerm, &QSocketNotifier::activated, this, &CoreDumpingDaemon::handleSigTerm);
+
+		initCoreDumping(mCoreDumpPath);
+}
+
+void trikKernel::coreDumping::CoreDumpingDaemon::termSignalHandler(int unused)
+{
+	Q_UNUSED(unused);
+	char a = 1;
+	auto rc = ::write(sigtermFd[0], &a, sizeof(a));
+	Q_UNUSED(rc);
+}
+
+void trikKernel::coreDumping::CoreDumpingDaemon::initCoreDumping(const QString &coreDumpPath)
 {
 	auto const & p = coreDumpPath.toLocal8Bit();
 	dumpHandler_impl(0, strndup(p.constData(), p.size()));
 	initSignals();
 	setCoreLimits();
 }
+
+void trikKernel::coreDumping::CoreDumpingDaemon::handleSigTerm()
+{
+	snTerm->setEnabled(false);
+	char tmp;
+	auto rc = ::read(sigtermFd[1], &tmp, sizeof(tmp));
+	Q_UNUSED(rc);
+	QLOG_INFO() << "GOOOD QUITE";
+	QCoreApplication::quit();
+
+	snTerm->setEnabled(true);
+}