I am communicating with a board that requires I send it 2 signed byte.
explaination of data type
what I need to send
Would I need to bitwise manipulation or can I just send 16bit integer as the following?
int16_t rc_min_angle = -90;
int16_t rc_max_angle = 120;
write(fd, &rc_min_angle, 2);
write(fd, &rc_max_angle, 2);
int16_t has the correct size but may or may not be the correct endianness. To ensure little endian order use macros such as the ones from endian.h:
#define _BSD_SOURCE
#include <endian.h>
...
uint16_t ec_min_angle_le = htole16(ec_min_angle);
uint16_t ec_max_angle_le = htole16(ec_max_angle);
write(fd, &ec_min_angle_le, 2);
write(fd, &ec_max_angle_le, 2);
Here htole16 stands for "host to little endian 16-bit". It converts from the host machine's native endianness to little endian: if the machine is big endian it swaps the bytes; if it's little endian it's a no-op.
Also note that you have you pass the address of the values to write(), not the values themselves. Sadly, we cannot inline the calls and write write(fd, htole16(ec_min_angle_le), 2).
If endian functions are not available, simply write the bytes in little endian order.
Perhaps with a compound literal.
// v------------- compound literal ---------------v
write(fd, &(uint8_t[2]){rc_min_angle%256, ec_min_angle/256}, 2);
write(fd, &(uint8_t[2]){rc_max_angle%256, ec_max_angle/256}, 2);
// ^-- LS byte ---^ ^-- MS byte ---^
// &
I added the & assuming the write() is a like write(2) - Linux.
If you don't need to have it type-generic, you can simply do:
#include <stdint.h>
#include <unistd.h>
/*most optimizers will turn this into `return 1;`*/
_Bool little_endian_eh() { uint16_t x = 1; return *(char *)&x; }
void swap2bytes(void *X) { char *x=X,t; t=x[0]; x[0]=x[1]; x[1]=t; }
int main()
{
int16_t rc_min_angle = -90;
int16_t rc_max_angle = 120;
//this'll very likely be a noop since most machines
//are little-endian
if(!little_endian_eh()){
swap2bytes(&rc_min_angle);
swap2bytes(&rc_max_angle);
}
//TODO error checking on write calls
int fd =1;
write(fd, &rc_min_angle, 2);
write(fd, &rc_max_angle, 2);
}
To send little-endian data, you can just generate the bytes manually:
int write_le(int fd, int16_t val) {
unsigned char val_le[2] = {
val & 0xff, (uint16_t) val >> 8
};
int nwritten = 0, total = 2;
while (nwritten < total) {
int n = write(fd, val_le + nwritten, total - nwritten);
if (n == -1)
return nwritten > 0 ? nwritten : -1;
nwritten += n;
}
return nwritten;
}
A good compiler will recognize that the code does nothing and compile the bit manipulation to no-op on a little-endian platform. (See e.g. gcc generating the same code for the variant with and without the bit-twiddling.)
Note also that you shouldn't ignore the return value of write() - not only can it encounter an error, it can also write less than you gave it to, in which case you must repeat the write.
I have a piece of hardware that I'm trying to control via my computer's built-in SPI driver. The SPI driver is controlled via ioctl.
I can successfully drive the hardware from a small C program; but when I try to duplicate the C program in Ruby I run into problems.
Using IO#ioctl to set basic registers (with u32 and u8 ints) works fine (I know because I can also use ioctl to read back the values I set); but as soon as I try to set a complex struct, the program fails with
small.rb:51:in 'ioctl': Connection timed out # rb_ioctl - /dev/spidev32766.0 (Errno::ETIMEDOUT)
I might be running into trouble because the spi_ioc_transfer struct has two pointers to byte buffers but the pointers are typed as unsigned 64-bit ints even on 32-bit platforms -- necessitating a cast to (unsigned long) in C. I'm trying to replicate that in Ruby but am quite unsure of myself.
Below are the C program which works and the Ruby port which doesn't work. The do_latch functions are necessary so I can see the result in my hardware; but are probably not germane to this problem.
C (which works):
#include <stdint.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
int do_latch() {
int fd = open("/sys/class/gpio/gpio1014/value", O_RDWR);
write(fd, "1", 1);
write(fd, "0", 1);
close(fd);
}
int do_transfer(int fd, uint8_t *bytes, size_t len) {
uint8_t *rx_bytes = malloc(sizeof(uint8_t) * len);
struct spi_ioc_transfer transfer = {
.tx_buf = (unsigned long)bytes,
.rx_buf = (unsigned long)rx_bytes,
.len = len,
.speed_hz = 100000,
.delay_usecs = 0,
.bits_per_word = 8,
.cs_change = 0,
.tx_nbits = 0,
.rx_nbits = 0,
.pad = 0
};
if(ioctl(fd, SPI_IOC_MESSAGE(1), &transfer) < 1) {
perror("Could not send SPI message");
exit(1);
}
free(rx_bytes);
}
int main() {
int fd = open("/dev/spidev32766.0", O_RDWR);
uint8_t mode = 0;
ioctl(fd, SPI_IOC_WR_MODE, &mode);
uint8_t lsb_first = 0;
ioctl(fd, SPI_IOC_WR_LSB_FIRST, lsb_first);
uint32_t speed_hz = 100000;
ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, speed_hz);
size_t data_len = 36;
uint8_t *tx_data = malloc(sizeof(uint8_t) * data_len);
memset(tx_data, 0xFF, data_len);
do_transfer(fd, tx_data, data_len);
do_latch();
sleep(2);
memset(tx_data, 0x00, data_len);
do_transfer(fd, tx_data, data_len);
do_latch();
free(tx_data);
close(fd);
return 0;
}
Ruby (which fails on the ioctl line in do_transfer):
SPI_IOC_WR_MODE = 0x40016b01
SPI_IOC_WR_LSB_FIRST = 0x40016b02
SPI_IOC_WR_BITS_PER_WORD = 0x40016b03
SPI_IOC_WR_MAX_SPEED_HZ = 0x40046b04
SPI_IOC_WR_MODE32 = 0x40046b05
SPI_IOC_MESSAGE_1 = 0x40206b00
def do_latch()
File.open("/sys/class/gpio/gpio1014/value", File::RDWR) do |file|
file.write("1")
file.write("0")
end
end
def do_transfer(file, bytes)
##########################################################################################
#begin spi_ioc_transfer struct (cat /usr/include/linux/spi/spidev.h)
#pack bytes into a buffer; create a new buffer (filled with zeroes) for the rx
tx_buff = bytes.pack("C*")
rx_buff = (Array.new(bytes.size) { 0 }).pack("C*")
#on 32-bit, the struct uses a zero-extended pointer for the buffers (so it's the same
#byte layout on 64-bit as well) -- so do some trickery to get the buffer addresses
#as 64-bit strings even though this is running on a 32-bit computer
tx_buff_pointer = [tx_buff].pack("P").unpack("L!")[0] #u64 (zero-extended pointer)
rx_buff_pointer = [rx_buff].pack("P").unpack("L!")[0] #u64 (zero-extended pointer)
buff_len = bytes.size #u32
speed_hz = 100000 #u32
delay_usecs = 0 #u16
bits_per_word = 8 #u8
cs_change = 0 #u8
tx_nbits = 0 #u8
rx_nbits = 0 #u8
pad = 0 #u16
struct_array = [tx_buff_pointer, rx_buff_pointer, buff_len, speed_hz, delay_usecs, bits_per_word, cs_change, tx_nbits, rx_nbits, pad]
struct_packed = struct_array.pack("QQLLSCCCCS")
#in C, I pass a pointer to the the structure; so mimic that here
struct_pointer_packed = [struct_packed].pack("P")
#end spi_ioc_transfer struct
##########################################################################################
file.ioctl(SPI_IOC_MESSAGE_1, struct_pointer_packed)
end
File.open("/dev/spidev32766.0", File::RDWR) do |file|
file.ioctl(SPI_IOC_WR_MODE, [0].pack("C"));
file.ioctl(SPI_IOC_WR_LSB_FIRST, [0].pack("C"));
file.ioctl(SPI_IOC_WR_MAX_SPEED_HZ, [0].pack("L"));
data_bytes = Array.new(36) { 0x00 }
do_transfer(file, data_bytes)
do_latch()
sleep(2)
data_bytes = []
data_bytes = Array.new(36) { 0xFF }
do_transfer(file, data_bytes)
do_latch()
end
I pulled the magic number constants out by having C print them (they're macros in C). I can validate that most of them work; I'm a little unsure about the ioctl message that fails (SPI_IOC_MESSAGE_1) since that doesn't work and it's a complicated macro. Still, I have no reason to think that it's incorrect and it's always the same when I look at it from C.
When I print out the structure in C and then print it out in Ruby, the only differences are in the buffer addresses, so if something's going wrong, that feels like the right place to look. But I've run out of things to try.
I can also print out the addresses in both versions and they look like what I would expect, 32 bits extended to 64 bits, and match the values in the structure (although the structure is little-endian -- this is an ARM).
Structure in C (that works):
60200200 00000000 a8200200 00000000 24000000 40420f00 00000800 00000000
Structure in Ruby (that fails):
a85da27f 00000000 08399b7f 00000000 24000000 40420f00 00000800 00000000
Is there an obvious mistake that I'm making when I lay out the struct in Ruby? Is there something else that I'm missing?
My next step is to write a library in C and use FFI to access it from Ruby. But that seems like giving up; and using the native ioctl function feels like the better approach if I can ever make it work.
Update
Above, I'm doing
struct_array = [tx_buff_pointer, rx_buff_pointer, buff_len, speed_hz, delay_usecs, bits_per_word, cs_change, tx_nbits, rx_nbits, pad]
struct_packed = struct_array.pack("QQLLSCCCCS")
#in C, I pass a pointer to the the structure; so mimic that here
struct_pointer_packed = [struct_packed].pack("P")
file.ioctl(SPI_IOC_MESSAGE_1, struct_pointer_packed)
because I have to pass a pointer to the struct in C. But that's what's causing the error!
Instead, it needs to be
struct_array = [tx_buff_pointer, rx_buff_pointer, buff_len, speed_hz, delay_usecs, bits_per_word, cs_change, tx_nbits, rx_nbits, pad]
struct_packed = struct_array.pack("QQLLSCCCCS")
file.ioctl(SPI_IOC_MESSAGE_1, struct_packed)
I guess Ruby is automatically making it an array when it marshalls it over?
Unfortunately, now it only intermittently works. The second call never works and the first call doesn't work if I pass in all zeros. It's very mysterious.
It is a common issue not to flush the buffer, you could check it out and try it.
Flush:
Flushes any buffered data within ios to the underlying operating system (note that this is Ruby internal buffering only; the OS may buffer the data as well).
rb_io_flush(VALUE io)
{
return rb_io_flush_raw(io, 1);
}
Compiler: GNU GCC
Application type: console application
Language: C
Platforms: Win7 and Linux Mint
I wrote a program that I want to run under Win7 and Linux. The program writes C structs to a file and I want to be able to create the file under Win7 and read it back in Linux and vice versa.
By now, I have learned that writing complete structs with fwrite() will give almost 100% assurance that it won't be read back correctly by the other platform. This due to padding and maybe other causes.
I defined all structs myself and they (now, after my previous question on this forum) all have members of type int32_t, int64_t and char. I am thinking about writing a WriteStructname() function for each struct that will write the individual members as int32_t, int64_t and char to the outputfile. Likewise, a ReadStructname() function to read the individual struct members from the file and copy them to an empty struct again.
Would this approach work? I prefer to have maximum control over my sourcecode, so I'm not looking for libraries or other dependencies to achieve this unless I really have to.
Thanks for reading
Element-wise writing of data to a file is your best approach, since structs will differ due to alignment and packing differences between compilers.
However, even with the approach you're planning on using, there are still potential pitfalls, such as different endianness between systems, or different encoding schemes (ie: two's complement versus one's complement encoding of signed numbers).
If you're going to do this, you should consider something like a JSON parser to encode and decode your data so you don't corrupt it due to the issues mentioned above.
Good luck!
If you use GCC or any other compiler that supports "packed" structs, as long you avoid yourself from using anything but [u]intX_t types in the struct, and execute endianness fix in any field where type is bigger than 8 bits, you are platform safe :)
This is an example code where you get portability between platforms, do not forget to manually edit the endianness UIP_BYTE_ORDER.
#include <stdint.h>
#include <stdio.h>
/* These macro are set manually, you should use some automated detection methodology */
#define UIP_BIG_ENDIAN 1
#define UIP_LITTLE_ENDIAN 2
#define UIP_BYTE_ORDER UIP_LITTLE_ENDIAN
/* Borrowed from uIP */
#ifndef UIP_HTONS
# if UIP_BYTE_ORDER == UIP_BIG_ENDIAN
# define UIP_HTONS(n) (n)
# define UIP_HTONL(n) (n)
# define UIP_HTONLL(n) (n)
# else /* UIP_BYTE_ORDER == UIP_BIG_ENDIAN */
# define UIP_HTONS(n) (uint16_t)((((uint16_t) (n)) << 8) | (((uint16_t) (n)) >> 8))
# define UIP_HTONL(n) (((uint32_t)UIP_HTONS(n) << 16) | UIP_HTONS((uint32_t)(n) >> 16))
# define UIP_HTONLL(n) (((uint64_t)UIP_HTONL(n) << 32) | UIP_HTONL((uint64_t)(n) >> 32))
# endif /* UIP_BYTE_ORDER == UIP_BIG_ENDIAN */
#else
#error "UIP_HTONS already defined!"
#endif /* UIP_HTONS */
struct __attribute__((__packed__)) s_test
{
uint32_t a;
uint8_t b;
uint64_t c;
uint16_t d;
int8_t string[13];
};
struct s_test my_data =
{
.a = 0xABCDEF09,
.b = 0xFF,
.c = 0xDEADBEEFDEADBEEF,
.d = 0x9876,
.string = "bla bla bla"
};
void save()
{
FILE * f;
f = fopen("test.bin", "w+");
/* Fix endianness */
my_data.a = UIP_HTONL(my_data.a);
my_data.c = UIP_HTONLL(my_data.c);
my_data.d = UIP_HTONS(my_data.d);
fwrite(&my_data, sizeof(my_data), 1, f);
fclose(f);
}
void read()
{
FILE * f;
f = fopen("test.bin", "r");
fread(&my_data, sizeof(my_data), 1, f);
fclose(f);
/* Fix endianness */
my_data.a = UIP_HTONL(my_data.a);
my_data.c = UIP_HTONLL(my_data.c);
my_data.d = UIP_HTONS(my_data.d);
}
int main(int argc, char ** argv)
{
save();
return 0;
}
Thats the saved file dump:
fanl#fanl-ultrabook:~/workspace-tmp/test3$ hexdump -v -C test.bin
00000000 ab cd ef 09 ff de ad be ef de ad be ef 98 76 62 |..............vb|
00000010 6c 61 20 62 6c 61 20 62 6c 61 00 00 |la bla bla..|
0000001c
This is a good approach. If all fields are integer types of a specific size such as int32_t, int64_t, or char, and you read/write the appropriate number of them to/from arrays, you should be fine.
The one thing you need to watch out for is endianness. Any integer type should be written in a known byte order and read back in the proper byte order for the system in question. The simplest way to do this is with the ntohs and htons functions for 16-bit ints and the ntohl and htonl functions for 32-bit ints. There's no corresponding standard functions for 64-bit ints, but that shouldn't be to difficult to write.
Here's a sample of how you could write these functions for 64 bit:
uint64_t htonll(uint64_t val)
{
uint8_t v[8];
uint64_t *result = (uint64_t *)v;
int i;
for (i=0; i<8; i++) {
v[i] = (uint8_t)(val >> ((7-i) * 8));
}
return *result;
}
uint64_t ntohll(uint64_t val)
{
uint8_t *v = (uint8_t *)&val;
uint64_t result = 0;
int i;
for (i=0; i<8; i++) {
result |= (uint64_t)v[i] << ((7-i) * 8);
}
return result;
}
This question already has answers here:
Distributed shared memory library for C++? [closed]
(3 answers)
Closed 8 years ago.
My current system runs on Linux, with the different tasks using shared memory to access the common data (which is defined as a C struct). The size of the shared data is about 100K.
Now, I want to run the main user interface on Windows, while keeping all the other tasks in Linux, and I’m looking for the best replacement for the shared memory. The refresh rate of the UI is about 10 times per second.
My doubt is if it’s better to do it by myself or to use a third party solution. If I do it on my own, my idea is to open a socket and then use some sort of data serialization between the client (Windows) and the server (Linux).
In the case of third party solutions, I’m a bit overwhelmed by the number of options. After some search, it seems to me that the right solution could be MPI, but I would like to consider other options before start working with it: XDR, OpenMP, JSON, DBus, RDMA, memcached, boost libraries … Has anyone got any experience with any of them? Which are the pros and cons of using such solutions for accessing the shared memory on Linux from Windows?
Maybe MPI or the other third party solutions are too elaborated for such a simple use as mine and I should use a do-it-yourself approach? Any advice if I take that solution? Am I missing something? Am I looking in the wrong direction? I wouldn’t like to reinvent the wheel.
For the file sharing, I’m considering Samba.
My development is done with C and C++, and, of course, the solution needs to be compiled in Linux and Windows.
AFAIK (but I don't know Windows) you cannot share memory (à la shm_overview(7)) on both Linux and Windows at once (you could share data, using some network protocol, this is what memcached does).
However, you can make a Linux process answering to network messages from a Windows machine (but that is not shared memory!).
Did you consider using a Web interface? You could add a web interface -with ajax techniques- on Linux (to your Linux software), e.g. using FastCGI or an HTTP server library like libonion or wt. Then your Windows users could use their browser to interact with your program (which would still run on some Linux compute server).
PS. Read the wikipage on distributed shared memory. It means something different than what you are asking! Read also about message passing!
I'd recommend using a plain TCP socket between the user interface and the service, with simple tagged message frames passed between the two in preferably architecture-independent manner (i.e. with specific byte order and integer and floating-point types).
On the server end, I'd use a helper process or thread, that maintains two local copies of the shared state struct per client. First one reflects the state the client knows about, and the second one is used to snapshot the shared state at regular intervals. When the two differ, the helper sends the differing fields to the client. Conversely, the client can send modification requests to the helper.
I would not send the 100k shared data structure as a single chunk; it'd be very inefficient. Also, assuming the state contains multiple fields, having the client send the entire new 100k state would overwrite fields not meant to by the client.
I'd use one message for each field in the state, or atomically manipulated set of fields. The message structure itself should be very simple. At minimum, each message should start with a fixed-size length and type fields, so that it is trivial to receive the messages. It is always a good idea to leave the possibility of later extending the capabilities/fields, without breaking backwards compatibility, too.
You don't need a lot of code to implement the above. You do need some accessor/manipulator code for each different type of field in the state (char, short, int, long, double, float, and any other type or struct you might use), and that (and the helper that compares the active state with the simulated user state) will probably be the bulk of the code.
Although I don't normally recommend reinventing the wheel, in this case I do recommend writing your own message passing code, directly on top of TCP, simply because all the libraries I know of that could be used for this, are rather unwieldy or would impose some design choices I'd rather leave to the application.
If you want, I can provide some example code that would hopefully illustrate this better. I don't have Windows, but Qt does have a QTcpSocket class you can use that works the same in both Linux and Windows, so there shouldn't be (m)any differences. In fact, if you design the message structure well, you could write the UI in some other language like Python, without any differences to the server itself.
Promised examples follow; apologies for maximum-length post.
Paired counters are useful when there is a single writer for a specific field, possibly many readers, and you wish to add minimal overhead to the write path. Reading never blocks, and a reader will see whether they got a valid copy or if an update was in progress and they should not rely on the value they saw. (This also allows reliable write semantics for a field in an async-signal-safe context, where pthread locking is not guaranteed to work.)
This implementation works best on GCC-4.7 and later, but should work with earlier C compilers, too. Legacy __sync built-ins also work with Intel, Pathscale, and PGI C compilers. counter.h:
#ifndef COUNTER_H
#define COUNTER_H
/*
* Atomic generation counter support.
*
* A generation counter allows a single writer thread to
* locklessly modify a value non-atomically, while letting
* any number of reader threads detect the change. Reader
* threads can also check if the value they observed is
* "atomic", or taken during a modification in progress.
*
* There is no protection against multiple concurrent writers.
*
* If the writer gets canceled or dies during an update,
* the counter will get garbled. Reinitialize before relying
* on such a counter.
*
* There is no guarantee that a reader will observe an
* "atomic" value, if the writer thread modifies the value
* more often than the reader thread can read it.
*
* Two typical use cases:
*
* A) A single writer requires minimum overhead/latencies,
* whereas readers can poll and retry if necessary
*
* B) Non-atomic value or structure modified in
* an interrupt context (async-signal-safe)
*
* Initialization:
*
* Counter counter = COUNTER_INITIALIZER;
*
* or
*
* Counter counter;
* counter_init(&counter);
*
* Write sequence:
*
* counter_acquire(&counter);
* (modify or write value)
* counter_release(&counter);
*
* Read sequence:
*
* unsigned int check;
* check = counter_before(&counter);
* (obtain a copy of the value)
* if (check == counter_after(&counter))
* (a copy of the value is atomic)
*
* Read sequence with spin-waiting,
* will spin forever if counter garbled:
*
* unsigned int check;
* do {
* check = counter_before(&counter);
* (obtain a copy of the value)
* } while (check != counter_after(&counter));
*
* All these are async-signal-safe, and will never block
* (except for the spinning loop just above, obviously).
*/
typedef struct {
volatile unsigned int value[2];
} Counter;
#define COUNTER_INITIALIZER {{0U,0U}}
#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)
/*
* GCC 4.7 and later provide __atomic built-ins.
* These are very efficient on x86 and x86-64.
*/
static inline void counter_init(Counter *const counter)
{
/* This is silly; assignments should suffice. */
do {
__atomic_store_n(&(counter->value[1]), 0U, __ATOMIC_SEQ_CST);
__atomic_store_n(&(counter->value[0]), 0U, __ATOMIC_SEQ_CST);
} while (__atomic_load_n(&(counter->value[0]), __ATOMIC_SEQ_CST) |
__atomic_load_n(&(counter->value[1]), __ATOMIC_SEQ_CST));
}
static inline unsigned int counter_before(Counter *const counter)
{
return __atomic_load_n(&(counter->value[1]), __ATOMIC_SEQ_CST);
}
static inline unsigned int counter_after(Counter *const counter)
{
return __atomic_load_n(&(counter->value[0]), __ATOMIC_SEQ_CST);
}
static inline unsigned int counter_acquire(Counter *const counter)
{
return __atomic_fetch_add(&(counter->value[0]), 1U, __ATOMIC_SEQ_CST);
}
static inline unsigned int counter_release(Counter *const counter)
{
return __atomic_fetch_add(&(counter->value[1]), 1U, __ATOMIC_SEQ_CST);
}
#else
/*
* Rely on legacy __sync built-ins.
*
* Because there is no __sync_fetch(),
* counter_before() and counter_after() are safe,
* but not optimal (especially on x86 and x86-64).
*/
static inline void counter_init(Counter *const counter)
{
/* This is silly; assignments should suffice. */
do {
counter->value[0] = 0U;
counter->value[1] = 0U;
__sync_synchronize();
} while (__sync_fetch_and_add(&(counter->value[0]), 0U) |
__sync_fetch_and_add(&(counter->value[1]), 0U));
}
static inline unsigned int counter_before(Counter *const counter)
{
return __sync_fetch_and_add(&(counter->value[1]), 0U);
}
static inline unsigned int counter_after(Counter *const counter)
{
return __sync_fetch_and_add(&(counter->value[0]), 0U);
}
static inline unsigned int counter_acquire(Counter *const counter)
{
return __sync_fetch_and_add(&(counter->value[0]), 1U);
}
static inline unsigned int counter_release(Counter *const counter)
{
return __sync_fetch_and_add(&(counter->value[1]), 1U);
}
#endif
#endif /* COUNTER_H */
Each shared state field type needs their own structure defined. For our purposes, I'll just use a Value structure to describe one of them. It is up to you to define all the needed Field and Value types to match your needs. For example, a 3D vector of double precision floating-point components would be
typedef struct {
double x;
double y;
double z;
} Value;
typedef struct {
Counter counter;
Value value;
} Field;
where the modifying thread uses e.g.
void set_field(Field *const field, Value *const value)
{
counter_acquire(&field->counter);
field->value = value;
counter_release(&field->counter);
}
and each reader maintains their own local shapshot using e.g.
typedef enum {
UPDATED = 0,
UNCHANGED = 1,
BUSY = 2
} Updated;
Updated check_field(Field *const local, const Field *const shared)
{
Field cache;
cache.counter[0] = counter_before(&shared->counter);
/* Local counter check allows forcing an update by
* simply changing one half of the local counter.
* If you don't need that, omit the local-only part. */
if (local->counter[0] == local->counter[1] &&
cache.counter[0] == local->counter[0])
return UNCHANGED;
cache.value = shared->value;
cache.counter[1] = counter_after(&shared->counter);
if (cache.counter[0] != cache.counter[1])
return BUSY;
*local = cache;
return UPDATED;
}
Note that the cache above constitutes one local copy of the value, so each reader only needs to maintain one copy of the fields it is interested in. Also, the above accessor function only modifies local with a successful snapshot.
When using pthread locking, pthread_rwlock_t is a good option, as long as the programmer understands the priority issues with multiple readers and writers. (see man pthread_rwlock_rdlock and man pthread_rwlock_wrlock for details.)
Personally, I would just stick to mutexes with as short holding times as possible, to reduce overall complexity. The Field structure for a mutex-protected change-counted value I'd use would probably be something like
typedef struct {
pthread_mutex_t mutex;
Value value;
volatile unsigned int change;
} Field;
void set_field(Field *const field, const Value *const value)
{
pthread_mutex_lock(&field->mutex);
field->value = *value;
#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)
__atomic_fetch_add(&field->change, 1U, __ATOMIC_SEQ_CST);
#else
__sync_fetch_and_add(&field->change, 1U);
#endif
pthread_mutex_unlock(&field->mutex);
}
void get_field(Field *const local, Field *const field)
{
pthread_mutex_lock(&field->mutex);
local->value = field->value;
#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)
local->value = __atomic_fetch_n(&field->change, __ATOMIC_SEQ_CST);
#else
local->value = __sync_fetch_and_add(&field->change, 0U);
#endif
pthread_mutex_unlock(&field->mutex);
}
Updated check_field(Field *const local, Field *const shared)
{
#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)
if (local->change == __atomic_fetch_n(&field->change, __ATOMIC_SEQ_CST))
return UNCHANGED;
#else
if (local->change == __sync_fetch_and_add(&field->change, 0U))
return UNCHANGED;
#endif
pthread_mutex_lock(&shared->mutex);
local->value = shared->value;
#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)
local->change = __atomic_fetch_n(&field->change, __ATOMIC_SEQ_CST);
#else
local->change = __sync_fetch_and_add(&field->change, 0U);
#endif
pthread_mutex_unlock(&shared->mutex);
}
Note that the mutex field in the local copy is unused, and can be omitted from the local copy (defining a suitable Cache etc. structure type without it).
The semantics with respect to the change field are simple: It is always accessed atomically, and can therefore be read without holding the mutex. It is only modified while holding the mutex (but because readers do not hold the mutex, it must be modified atomically even then).
Note that if your server is restricted to x86 or x86-64 architectures, you can use ordinary accesses to change above (e.g. field->change++), as unsigned int access is atomic on these architectures; no need to use built-in functions. (Although increment is non-atomic, readers will only ever see the old or the new unsigned int, so that's not a problem either.)
On the server, you'll need some kind of "agent" process or thread, acting on behalf of the remote clients, sending field changes to each client, and optionally receiving field contents for update from each client.
Efficient implementation of such an agent is a big question. A properly thought-out recommendation would require more detailed information on the system. The simplest possible implementation, I guess, would be a low-priority thread simply scanning the shared state continuously, reporting any field changes not known to each client as it sees them. If change rate is high -- say, usually more than a dozen changes per second over the entire state -- then that may be quite acceptable. If change rate varies, adding a global change counter (modified whenever a single field is modified, i.e. in set_field()) and sleeping (or at least yielding) when no global change is observed, is better.
If there are multiple remote clients, I would use a single agent, which collects changes into a queue, with a cached copy of the state as seen at the head of the queue (with previous changes being those that lead up to it). Initially connected clients get the entire state, then each queued change following that. Note that the queue entries do not need to represent fields as such, but the messages sent to each client to update that field, and that if a latter update replaces an already queued value, the already queued value can be removed, reducing the amount of data that needs to be sent to clients that are catching up. This is an interesting topic on its own, and would warrant a question of its own, in my opinion.
Like I mentioned above, I would personally use a plain TCP socket between the user interface and the service.
There are four main issues with respect to the TCP messages:
Byte order and data formats (unless both server and remote clients are guaranteed to use the same hardware architecture)
My preferred solution is to use native byte order (but well-defined standard types) when sending, with recipient doing any byte order conversions. This requires that each end sends an initial message with predetermined "prototype values" for each integer and floating-point type used.
I assume integers use two's complement format with no padding bits, and double and float are double- and single-precision IEEE-754 types, respectively. Most current hardware architectures have these natively (although byte ordering does vary). Weird architectures can and do emulate these in software, typically by supplying suitable command-line switches or using some libraries.
Message framing (as TCP is a stream of bytes, not a stream of packets, from the application perspective)
Most robust option is to prefix each message with a fixed size type field and a fixed size length field. (Usually, the length field indicates how many additional bytes are part of this message, and will include any possible padding bytes the sender might have added.)
The recipient will receive TCP input until it has enough cached for the fixed type and length parts to examine the complete packet length. Then it receives more data, until it has a full TCP packet. A minimal receive buffer implementation is something like
Extensibility
Backwards compatibility is essential for making updates and upgrades easier. This means you'll probably need to include some kind of version number in the initial message from server to client, and have both server and client ignore messages they do not know. (This obviously requires a length field in each message, as recipients cannot infer the length of messages they do not recognize.)
In some cases you might need the ability to mark a message important, in the sense that if the recipient does not recognize it, further communications should be aborted. This is easiest to achieve by using some kind of identifier or bit in the type field. For example, PNG file format is very similar to the message format I've described here, with a four-byte (four ASCII character) type field, and a four-byte (32-bit) length field for each message ("chunk"). If the first type character is uppercase ASCII, it means it is a critical one.
Passing initial state
Passing the initial state as a single chunk fixes the entire shared state structure. Instead, I recommend passing each field or record separately, just as if they were updates. Optionally, when all the initial fields have been sent, you can send a message that informs the client they have the entire state; this should let the client first receive the complete state, then construct and render the user interface, without having to dynamically adjust to varying number of fields.
Whether each client requires the full state, or just a smaller subset of the state, is another question. When a remote client connects to a server, it probably should include some kind of identifier the server can use to make that determination.
Here is messages.h, a header file with inline implementation of integer and floating-point type handling and byte order detection:
#ifndef MESSAGES_H
#define MESSAGES_H
#include <stdint.h>
#include <string.h>
#include <errno.h>
#if defined(__GNUC__)
static const struct __attribute__((packed)) {
#else
#pragma pack(push,1)
#endif
const uint64_t u64; /* Offset +0 */
const int64_t i64; /* +8 */
const double dbl; /* +16 */
const uint32_t u32; /* +24 */
const int32_t i32; /* +28 */
const float flt; /* +32 */
const uint16_t u16; /* +36 */
const int16_t i16; /* +38 */
} prototypes = {
18364758544493064720ULL, /* u64 */
-1311768465156298103LL, /* i64 */
0.71948481353325643983254167324048466980457305908203125,
3735928559UL, /* u32 */
-195951326L, /* i32 */
1.06622731685638427734375f, /* flt */
51966U, /* u16 */
-7658 /* i16 */
};
#if !defined(__GNUC__)
#pragma pack(pop)
#endif
/* Add prototype section to a buffer.
*/
size_t add_prototypes(unsigned char *const data, const size_t size)
{
if (size < sizeof prototypes) {
errno = ENOSPC;
return 0;
} else {
memcpy(data, &prototypes, sizeof prototypes);
return sizeof prototypes;
}
}
/*
* Byte order manipulation functions.
*/
static void reorder64(void *const dst, const void *const src, const int order)
{
if (order) {
uint64_t value;
memcpy(&value, src, 8);
if (order & 1)
value = ((value >> 8U) & 0x00FF00FF00FF00FFULL)
| ((value & 0x00FF00FF00FF00FFULL) << 8U);
if (order & 2)
value = ((value >> 16U) & 0x0000FFFF0000FFFFULL)
| ((value & 0x0000FFFF0000FFFFULL) << 16U);
if (order & 4)
value = ((value >> 32U) & 0x00000000FFFFFFFFULL)
| ((value & 0x00000000FFFFFFFFULL) << 32U);
memcpy(dst, &value, 8);
} else
if (dst != src)
memmove(dst, src, 8);
}
static void reorder32(void *const dst, const void *const src, const int order)
{
if (order) {
uint32_t value;
memcpy(&value, src, 4);
if (order & 1)
value = ((value >> 8U) & 0x00FF00FFUL)
| ((value & 0x00FF00FFUL) << 8U);
if (order & 2)
value = ((value >> 16U) & 0x0000FFFFUL)
| ((value & 0x0000FFFFUL) << 16U);
memcpy(dst, &value, 4);
} else
if (dst != src)
memmove(dst, src, 4);
}
static void reorder16(void *const dst, const void *const src, const int order)
{
if (order & 1) {
const unsigned char c[2] = { ((const unsigned char *)src)[0],
((const unsigned char *)src)[1] };
((unsigned char *)dst)[0] = c[1];
((unsigned char *)dst)[1] = c[0];
} else
if (dst != src)
memmove(dst, src, 2);
}
/* Detect byte order conversions needed.
*
* If the prototypes cannot be supported, returns -1.
*
* If prototype record uses native types, returns 0.
*
* Otherwise, bits 0..2 are the integer order conversion,
* and bits 3..5 are the floating-point order conversion.
* If 'order' is the return value, use
* reorderXX(local, remote, order)
* for integers, and
* reorderXX(local, remote, order/8)
* for floating-point types.
*
* For adjusting records sent to server, just do the same,
* but with order obtained by calling this function with
* parameters swapped.
*/
int detect_order(const void *const native, const void *const other)
{
const unsigned char *const source = other;
const unsigned char *const target = native;
unsigned char temp[8];
int iorder = 0;
int forder = 0;
/* Verify the size of the types.
* C89/C99/C11 says sizeof (char) == 1, but check that too. */
if (sizeof (double) != 8 ||
sizeof (int64_t) != 8 ||
sizeof (uint64_t) != 8 ||
sizeof (float) != 4 ||
sizeof (int32_t) != 4 ||
sizeof (uint32_t) != 4 ||
sizeof (int16_t) != 2 ||
sizeof (uint16_t) != 2 ||
sizeof (unsigned char) != 1 ||
sizeof prototypes != 40)
return -1;
/* Find byte order for the largest floating-point type. */
while (1) {
reorder64(temp, source + 16, forder);
if (!memcmp(temp, target + 16, 8))
break;
if (++forder >= 8)
return -1;
}
/* Verify forder works for all other floating-point types. */
reorder32(temp, source + 32, forder);
if (memcmp(temp, target + 32, 4))
return -1;
/* Find byte order for the largest integer type. */
while (1) {
reorder64(temp, source + 0, iorder);
if (!memcmp(temp, target + 0, 8))
break;
if (++iorder >= 8)
return -1;
}
/* Verify iorder works for all other integer types. */
reorder64(temp, source + 8, iorder);
if (memcmp(temp, target + 8, 8))
return -1;
reorder32(temp, source + 24, iorder);
if (memcmp(temp, target + 24, 4))
return -1;
reorder32(temp, source + 28, iorder);
if (memcmp(temp, target + 28, 4))
return -1;
reorder16(temp, source + 36, iorder);
if (memcmp(temp, target + 36, 2))
return -1;
reorder16(temp, source + 38, iorder);
if (memcmp(temp, target + 38, 2))
return -1;
/* Everything works. */
return iorder + 8 * forder;
}
/* Verify current architecture is supportable.
* This could be a compile-time check.
*
* (The buffer contains prototypes for network byte order,
* and actually returns the order needed to convert from
* native to network byte order.)
*
* Returns -1 if architecture is not supported,
* a nonnegative (0 or positive) value if successful.
*/
static int verify_architecture(void)
{
static const unsigned char network_endian[40] = {
254U, 220U, 186U, 152U, 118U, 84U, 50U, 16U, /* u64 */
237U, 203U, 169U, 135U, 238U, 204U, 170U, 137U, /* i64 */
63U, 231U, 6U, 5U, 4U, 3U, 2U, 1U, /* dbl */
222U, 173U, 190U, 239U, /* u32 */
244U, 82U, 5U, 34U, /* i32 */
63U, 136U, 122U, 35U, /* flt */
202U, 254U, /* u16 */
226U, 22U, /* i16 */
};
return detect_order(&prototypes, network_endian);
}
#endif /* MESSAGES_H */
Here is an example function that a sender can use to pack a 3-component vector identified by a 32-bit unsigned integer, into a 36-byte message. This uses a message frame starting with four bytes ("Vec3"), followed by the 32-bit frame length, followed by the 32-bit identifier, followed by three doubles:
size_t add_vector(unsigned char *const data, const size_t size,
const uint32_t id,
const double x, const double y, const double z)
{
const uint32_t length = 4 + 4 + 4 + 8 + 8 + 8;
if (size < (size_t)bytes) {
errno = ENOSPC;
return 0;
}
/* Message identifier, four bytes */
buffer[0] = 'V';
buffer[1] = 'e';
buffer[2] = 'c';
buffer[3] = '3';
/* Length field, uint32_t */
memcpy(buffer + 4, &length, 4);
/* Identifier, uint32_t */
memcpy(buffer + 8, &id, 4);
/* Vector components */
memcpy(buffer + 12, &x, 8);
memcpy(buffer + 20, &y, 8);
memcpy(buffer + 28, &z, 8);
return length;
}
Personally, I prefer shorter, 16-bit identifiers and 16-bit length; that also limits maximum message length to 65536 bytes, making 65536 bytes a good read/write buffer size.
The recipient can handle the received TCP data stream for example thus:
static unsigned char *input_data; /* Data buffer */
static size_t input_size; /* Data buffer size */
static unsigned char *input_head; /* Next byte in buffer */
static unsigned char *input_tail; /* After last buffered byte */
static int input_order; /* From detect_order() */
/* Function to handle "Vec3" messages: */
static void handle_vec3(unsigned char *const msg)
{
uint32_t id;
double x, y, z;
reorder32(&id, msg+8, input_order);
reorder64(&x, msg+12, input_order/8);
reorder64(&y, msg+20, input_order/8);
reorder64(&z, msg+28, input_order/8);
/* Do something with vector id, x, y, z. */
}
/* Function that tries to consume thus far buffered
* input data -- typically run once after each
* successful TCP receive. */
static void consume(void)
{
while (input_head + 8 < input_tail) {
uint32_t length;
/* Get current packet length. */
reorder32(&length, input_head + 4, input_order);
if (input_head + length < input_tail)
break; /* Not all read, yet. */
/* We have a full packet! */
/* Handle "Vec3" packet: */
if (input_head[0] == 'V' &&
input_head[1] == 'e' &&
input_head[2] == 'c' &&
input_head[3] == '3')
handle_vec3(input_head);
/* Advance to next packet. */
input_head += length;
}
if (input_head < input_tail) {
/* Move partial message to start of buffer. */
if (input_head > input_data) {
const size_t have = input_head - input_data;
memmove(input_data, input_head, have);
input_head = input_data;
input_tail = input_data + have;
}
} else {
/* Buffer is empty. */
input_head = input_data;
input_tail = input_data;
}
}
Questions?
This has been pending for a long time in my list now. In brief - I need to run mocked_dummy() in the place of dummy() ON RUN-TIME, without modifying factorial(). I do not care on the entry point of the software. I can add up any number of additional functions (but cannot modify code within /*---- do not modify ----*/).
Why do I need this?
To do unit tests of some legacy C modules. I know there are a lot of tools available around, but if run-time mocking is possible I can change my UT approach (add reusable components) make my life easier :).
Platform / Environment?
Linux, ARM, gcc.
Approach that I'm trying with?
I know GDB uses trap/illegal instructions for adding up breakpoints (gdb internals).
Make the code self modifiable.
Replace dummy() code segment with illegal instruction, and return as immediate next instruction.
Control transfers to trap handler.
Trap handler is a reusable function that reads from a unix domain socket.
Address of mocked_dummy() function is passed (read from map file).
Mock function executes.
There are problems going ahead from here. I also found the approach is tedious and requires good amount of coding, some in assembly too.
I also found, under gcc each function call can be hooked / instrumented, but again not very useful since the the function is intended to be mocked will anyway get executed.
Is there any other approach that I could use?
#include <stdio.h>
#include <stdlib.h>
void mocked_dummy(void)
{
printf("__%s__()\n",__func__);
}
/*---- do not modify ----*/
void dummy(void)
{
printf("__%s__()\n",__func__);
}
int factorial(int num)
{
int fact = 1;
printf("__%s__()\n",__func__);
while (num > 1)
{
fact *= num;
num--;
}
dummy();
return fact;
}
/*---- do not modify ----*/
int main(int argc, char * argv[])
{
int (*fp)(int) = atoi(argv[1]);
printf("fp = %x\n",fp);
printf("factorial of 5 is = %d\n",fp(5));
printf("factorial of 5 is = %d\n",factorial(5));
return 1;
}
test-dept is a relatively recent C unit testing framework that allows you to do runtime stubbing of functions. I found it very easy to use - here's an example from their docs:
void test_stringify_cannot_malloc_returns_sane_result() {
replace_function(&malloc, &always_failing_malloc);
char *h = stringify('h');
assert_string_equals("cannot_stringify", h);
}
Although the downloads section is a little out of date, it seems fairly actively developed - the author fixed an issue I had very promptly. You can get the latest version (which I've been using without issues) with:
svn checkout http://test-dept.googlecode.com/svn/trunk/ test-dept-read-only
the version there was last updated in Oct 2011.
However, since the stubbing is achieved using assembler, it may need some effort to get it to support ARM.
This is a question I've been trying to answer myself. I also have the requirement that I want the mocking method/tools to be done in the same language as my application. Unfortunately this cannot be done in C in a portable way, so I've resorted to what you might call a trampoline or detour. This falls under the "Make the code self modifiable." approach you mentioned above. This is were we change the actually bytes of a function at runtime to jump to our mock function.
#include <stdio.h>
#include <stdlib.h>
// Additional headers
#include <stdint.h> // for uint32_t
#include <sys/mman.h> // for mprotect
#include <errno.h> // for errno
void mocked_dummy(void)
{
printf("__%s__()\n",__func__);
}
/*---- do not modify ----*/
void dummy(void)
{
printf("__%s__()\n",__func__);
}
int factorial(int num)
{
int fact = 1;
printf("__%s__()\n",__func__);
while (num > 1)
{
fact *= num;
num--;
}
dummy();
return fact;
}
/*---- do not modify ----*/
typedef void (*dummy_fun)(void);
void set_run_mock()
{
dummy_fun run_ptr, mock_ptr;
uint32_t off;
unsigned char * ptr, * pg;
run_ptr = dummy;
mock_ptr = mocked_dummy;
if (run_ptr > mock_ptr) {
off = run_ptr - mock_ptr;
off = -off - 5;
}
else {
off = mock_ptr - run_ptr - 5;
}
ptr = (unsigned char *)run_ptr;
pg = (unsigned char *)(ptr - ((size_t)ptr % 4096));
if (mprotect(pg, 5, PROT_READ | PROT_WRITE | PROT_EXEC)) {
perror("Couldn't mprotect");
exit(errno);
}
ptr[0] = 0xE9; //x86 JMP rel32
ptr[1] = off & 0x000000FF;
ptr[2] = (off & 0x0000FF00) >> 8;
ptr[3] = (off & 0x00FF0000) >> 16;
ptr[4] = (off & 0xFF000000) >> 24;
}
int main(int argc, char * argv[])
{
// Run for realz
factorial(5);
// Set jmp
set_run_mock();
// Run the mock dummy
factorial(5);
return 0;
}
Portability explanation...
mprotect() - This changes the memory page access permissions so that we can actually write to memory that holds the function code. This isn't very portable, and in a WINAPI env, you may need to use VirtualProtect() instead.
The memory parameter for mprotect is aligned to the previous 4k page, this also can change from system to system, 4k is appropriate for vanilla linux kernel.
The method that we use to jmp to the mock function is to actually put down our own opcodes, this is probably the biggest issue with portability because the opcode I've used will only work on a little endian x86 (most desktops). So this would need to be updated for each arch you plan to run on (which could be semi-easy to deal with in CPP macros.)
The function itself has to be at least five bytes. The is usually the case because every function normally has at least 5 bytes in its prologue and epilogue.
Potential Improvements...
The set_mock_run() call could easily be setup to accept parameters for reuse. Also, you could save the five overwritten bytes from the original function to restore later in the code if you desire.
I'm unable to test, but I've read that in ARM... you'd do similar but you can jump to an address (not an offset) with the branch opcode... which for an unconditional branch you'd have the first bytes be 0xEA and the next 3 bytes are the address.
Chenz
An approach that I have used in the past that has worked well is the following.
For each C module, publish an 'interface' that other modules can use. These interfaces are structs that contain function pointers.
struct Module1
{
int (*getTemperature)(void);
int (*setKp)(int Kp);
}
During initialization, each module initializes these function pointers with its implementation functions.
When you write the module tests, you can dynamically changes these function pointers to its mock implementations and after testing, restore the original implementation.
Example:
void mocked_dummy(void)
{
printf("__%s__()\n",__func__);
}
/*---- do not modify ----*/
void dummyFn(void)
{
printf("__%s__()\n",__func__);
}
static void (*dummy)(void) = dummyFn;
int factorial(int num)
{
int fact = 1;
printf("__%s__()\n",__func__);
while (num > 1)
{
fact *= num;
num--;
}
dummy();
return fact;
}
/*---- do not modify ----*/
int main(int argc, char * argv[])
{
void (*oldDummy) = dummy;
/* with the original dummy function */
printf("factorial of 5 is = %d\n",factorial(5));
/* with the mocked dummy */
oldDummy = dummy; /* save the old dummy */
dummy = mocked_dummy; /* put in the mocked dummy */
printf("factorial of 5 is = %d\n",factorial(5));
dummy = oldDummy; /* restore the old dummy */
return 1;
}
You can replace every function by the use of LD_PRELOAD. You have to create a shared library, which gets loaded by LD_PRELOAD. This is a standard function used to turn programs without support for SOCKS into SOCKS aware programs. Here is a tutorial which explains it.