fsfw/hal/src/fsfw_hal/linux/CommandExecutor.cpp

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#include "CommandExecutor.h"
#include <unistd.h>
#include <cstring>
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#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/serviceinterface.h"
CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
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if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if (state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
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if (state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
// Reset data in read vector
std::memset(readVec.data(), 0, readVec.size());
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currentCmdFile = popen(currentCmd.c_str(), "r");
if (currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (blocking) {
ReturnValue_t result = executeBlocking();
state = States::IDLE;
return result;
} else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
state = States::PENDING;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
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if (state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if (currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
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}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
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if (lastError != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << funcName << " pclose failed with code " << lastError << ": "
<< strerror(lastError) << std::endl;
#else
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sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
strerror(lastError));
#endif
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}
}
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void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
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if (blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch (state) {
case (States::IDLE):
case (States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case (States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch (result) {
case (0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case (1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if (readBytes == 0) {
// Should not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "CommandExecutor::check: No bytes read "
"after poll event.."
<< std::endl;
#else
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sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
#endif
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break;
} else if (readBytes > 0) {
replyReceived = true;
if (printOutput) {
// It is assumed the command output is line terminated
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << currentCmd << " | " << readVec.data();
#else
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sif::printInfo("%s | %s", currentCmd, readVec.data());
#endif
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}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
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}
} else {
// Should also not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
<< std::endl;
#else
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sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
#endif
}
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}
if (waiter.revents & POLLERR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "CommandExecuter::check: Poll error" << std::endl;
#else
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sif::printWarning("CommandExecuter::check: Poll error\n");
#endif
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return COMMAND_ERROR;
}
if (waiter.revents & POLLHUP) {
result = pclose(currentCmdFile);
ReturnValue_t retval = EXECUTION_FINISHED;
if (result != 0) {
lastError = result;
retval = HasReturnvaluesIF::RETURN_FAILED;
}
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state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return retval;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
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CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
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// See:
// https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
return WEXITSTATUS(this->lastError);
}
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CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
ReturnValue_t CommandExecutor::executeBlocking() {
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while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if (printOutput) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << currentCmd << " | " << output;
#else
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sif::printInfo("%s | %s", currentCmd, output);
#endif
}
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if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if (result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
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const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }