change driver_cloud_swap_server.

src/driver/driver_cloud_swap_server/main.cpp

@@ -158,12 +158,281 @@ void RunServer() {
 }
 
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <signal.h>
+#include <execinfo.h>
+
+#include <QDateTime>
+#include <QDir>
+
+void out_stack(char *sig);
+void signal_exit(int dunno)
+{
+    char* signal_str =  (char*)" ";
+    char dunno_str[10] = {0};
+    sprintf(dunno_str, "%d", dunno);
+    switch (dunno)
+    {
+        case 1:
+            signal_str =  (char*)"SIGHUP(1)";
+            break;
+        case 2:
+            signal_str =  (char*)"SIGINT(2:CTRL_C)"; //CTRL_C
+            break;
+        case 3:
+            signal_str =  (char*)"SIGQUIT(3)";
+            break;
+        case 6:
+        {
+            signal_str =  (char*)"SIGABRT(6)";
+            out_stack(signal_str);
+        }
+        break;
+        case 9:
+            signal_str =  (char*)"SIGKILL(9)";
+            break;
+        case 15:
+            signal_str =  (char*)"SIGTERM(15 KILL)"; //kill
+            break;
+        case 11:
+        {
+            signal_str =  (char*)"SIGSEGV(11)"; //SIGSEGV
+            out_stack(signal_str);
+        }
+        break;
+        default:
+            signal_str =  (char*)"OTHER";
+            break;
+    }
+    exit(0);
+
+}
+
+
+size_t get_executable_path( char* processdir,char* processname, size_t len)
+{
+        char* path_end;
+        int nsize;
+        if((nsize =readlink("/proc/self/exe", processdir,len)) <=0)
+                return -1;
+
+        processdir[nsize] = '\0';
+        path_end = strrchr(processdir,  '/');
+        if(path_end == NULL)
+                return -1;
+        ++path_end;
+
+
+        strcpy(processname, path_end);
+        *path_end = '\0';
+
+        return (size_t)(path_end - processdir);
+}
+
+void savetofile(char * stroutput)
+{
+    qDebug("save file");
+    char strpath[1024];
+    QDateTime dt = QDateTime::currentDateTime();
+    char path[1000];
+    char processname[1024];
+    get_executable_path(path, processname, 1000);
+    snprintf(strpath,255,"%s/log/%s-%d-%s.log",getenv("HOME"),processname, getpid(),dt.toString("yyyyMMddhhmmsszzz").toLatin1().data());
+
+
+    char strdir[1024];
+    snprintf(strdir,255,"%s/log",getenv("HOME"));
+    QDir xdir;
+    xdir.setPath(strdir);
+    if(!xdir.exists())
+    {
+        qDebug("create dir %s",strdir);
+        xdir.mkdir(strdir);
+    }
+
+    qDebug("%s\n",strpath);
+    FILE* file = fopen(strpath,"w+");
+
+    if(file != nullptr)
+    {
+        fwrite(stroutput,strnlen(stroutput,6000),1,file);
+    }
+
+
+    fclose(file);
+}
+
+static void output_addrline(char addr[],char * strtem)
+{
+    char cmd[256];
+    char line[256];
+    char addrline[32]={0,};
+    char *str1, *str2;
+    FILE* file;
+
+    snprintf(strtem,1000," ");
+
+//    str1 = strchr(addr,'[');
+//    str2 = strchr(addr, ']');
+
+    str1 = strchr(addr,'(');
+    str2 = strchr(addr, ')');
+    if(str1 == NULL || str2 == NULL)
+    {
+        return;
+    }
+
+    if((str2 -str1 -2)<=0)
+    {
+//        printf("can't find address,please use -g compile.");
+//        strncpy(strtem,"can't find address,please use -g compile.",256);
+        str1 = strchr(addr,'[');
+        str2 = strchr(addr, ']');
+        if(str1 == NULL || str2 == NULL)
+        {
+            return;
+        }
+        if((str2 -str1 -2)<=0)
+        {
+            printf("can't find address,please use -g compile.");
+            strncpy(strtem,"can't find address,please use -g compile.",256);
+            return;
+        }
+    }
+
+    memcpy(addrline, str1 + 1, str2 -str1 -1);
+    snprintf(cmd, sizeof(cmd), "addr2line -e /proc/%d/exe %s ", getpid(), addrline);
+    qDebug("%s\n",cmd);
+
+
+    file = popen(cmd, "r");
+    if(NULL != fgets(line, 256, file))
+    {
+        printf("%s\n", line);
+        snprintf(strtem,1000,"%s\n",line);
+    }
+    if(strnlen(line,255) == 0)
+    {
+        printf("no addr.\n");
+    }
+    pclose(file);
+}
+
+static void proc_addrline(int64_t xaddr,char * strtem)
+{
+    char cmd[256];
+    char line[256];
+    FILE* file;
+
+    snprintf(strtem,1000," ");
+    snprintf(cmd, sizeof(cmd), "addr2line -e /proc/%d/exe %x ", getpid(), xaddr);
+    qDebug("%s\n",cmd);
+
+    file = popen(cmd, "r");
+    if(NULL != fgets(line, 256, file))
+    {
+        printf("%s\n", line);
+        snprintf(strtem,1000,"%s\n",line);
+    }
+    if(strnlen(line,255) == 0)
+    {
+        printf("no addr.\n");
+    }
+    pclose(file);
+
+}
+
+void out_stack(char *sig)
+{
+    void *array[32];
+    size_t size;
+    char **strings;
+    size_t i;
+
+    char stroutput[6000];
+    char strtem[1000];
+
+    snprintf(stroutput,3000," ");
+    printf("%s\n", sig);
+    qDebug("%s\n", sig);
+    size = backtrace (array, 32);
+    //该函数用于获取当前线程的调用堆栈,获取的信息将会被存放在array中,
+    //它是一个指针列表。参数 32 用来指定array中可以保存多少个void* 元素。
+    //函数返回值是实际获取的指针个数,最大不超过32大小.
+    strings = backtrace_symbols (array, size);
+
+    /* backtrace_symbols将从backtrace函数获取的信息转化为一个字符串数组.
+     * 参数array应该是从backtrace函数获取的指针数组,
+     * size是该数组中的元素个数(backtrace的返回值)
+     * 函数返回值是一个指向字符串数组的指针,它的大小同array相同.
+     * 每个字符串包含了一个相对于array中对应元素的可打印信息.
+     * 它包括函数名，函数的偏移地址,和实际的返回地址
+     */
+
+
+
+    if (NULL == strings)
+    {
+        printf("backtrace_symbols\n");
+        return ;
+    }
+
+
+    qDebug("size is %d",(int)size);
+
+    for (i = 0; i <size; i++)
+    {
+//        qDebug("i is %d",i);
+        printf("%s\n",strings[i]);
+//        snprintf(strtem,1000,"%s\n",strings[i]);
+//        strncat(stroutput,strtem,6000);
+//        output_addrline(strings[i],strtem);
+//        strncat(stroutput,strtem,6000);
+    }
+
+    for(i=0;i<size;i++)
+    {
+        int64_t xaddr = (int64_t)((int *)array[i]);
+        printf("addr is %x\n", xaddr);
+        snprintf(strtem,1000,"addr is %x\n", xaddr);
+        strncat(stroutput,strtem,6000);
+        proc_addrline(xaddr,strtem);
+        strncat(stroutput,strtem,6000);
+    }
+
+
+    free(strings);
+
+    savetofile(stroutput);
+
+    QTime x;
+    x.start();
+    while((unsigned int)(x.elapsed())<100)
+    {
+ //       qDebug("hello");
+    }
+
+
+
+}
 
 
 int main(int argc, char *argv[])
 {
     QCoreApplication a(argc, argv);
 
+    signal(SIGABRT, signal_exit);
+    signal(SIGTERM, signal_exit);
+    signal(SIGSEGV, signal_exit);
+
+//    int * p = 0;
+
+//    *p = 1;
+
     snprintf(gstrport,255,"50061");
 
     int nRtn = GetOptLong(argc,argv);

src/driver/driver_cloud_swap_server/swapunit.cpp

@@ -99,6 +99,7 @@ void swapunit::threadsend(::grpc::ServerReaderWriter<iv::CloudSwapReplyStream, i
             flatencyinnodestore = xvectorsendmsgbuf[0].flatency_nodestore;
 
         }
+
         for(i=0;i<nsize;i++)
         {
             std::cout<<" add reply data. "<<std::endl;

src/tool/groupctrl_grpc/mainwindow.cpp

@@ -195,14 +195,14 @@ void MainWindow::onTimer()
 
 double MainWindow::GetGroupSpeed()
 {
-    if(ui->radioButton_5kmh)return 5.0;
-    if(ui->radioButton_10kmh)return 10.0;
-    if(ui->radioButton_15kmh)return 15.0;
-    if(ui->radioButton_20kmh)return 20.0;
-    if(ui->radioButton_30kmh)return 30.0;
-    if(ui->radioButton_40kmh)return 40.0;
-    if(ui->radioButton_60kmh)return 60.0;
-    if(ui->radioButton_80kmh)return 80.0;
+    if(ui->radioButton_5kmh->isChecked())return 5.0;
+    if(ui->radioButton_10kmh->isChecked())return 10.0;
+    if(ui->radioButton_15kmh->isChecked())return 15.0;
+    if(ui->radioButton_20kmh->isChecked())return 20.0;
+    if(ui->radioButton_30kmh->isChecked())return 30.0;
+    if(ui->radioButton_40kmh->isChecked())return 40.0;
+    if(ui->radioButton_60kmh->isChecked())return 60.0;
+    if(ui->radioButton_80kmh->isChecked())return 80.0;
     return 40.0;
 }
 
@@ -211,37 +211,37 @@ void MainWindow::GetChange(double & fFrontChange, double & fRearChange)
     fFrontChange = 0.0;
     fRearChange = 0.0;
     double fChange = 3.5;
-    if(ui->radioButton_origin)
+    if(ui->radioButton_origin->isChecked())
     {
         return;
     }
-    if(ui->radioButton_frontleft)
+    if(ui->radioButton_frontleft->isChecked())
     {
         fFrontChange = fChange * ( 1.0);
         return;
     }
-    if(ui->radioButton_rearleft)
+    if(ui->radioButton_rearleft->isChecked())
     {
         fRearChange = fChange * ( 1.0);
         return;
     }
-    if(ui->radioButton_frontright)
+    if(ui->radioButton_frontright->isChecked())
     {
         fFrontChange = fChange * ( -1.0);
         return;
     }
-    if(ui->radioButton_rearright)
+    if(ui->radioButton_rearright->isChecked())
     {
         fRearChange = fChange * ( -1.0);
         return;
     }
-    if(ui->radioButton_sameleft)
+    if(ui->radioButton_sameleft->isChecked())
     {
         fFrontChange = fChange * ( 1.0);
         fRearChange = fChange * ( 1.0);
         return;
     }
-    if(ui->radioButton_sameright)
+    if(ui->radioButton_sameright->isChecked())
     {
         fFrontChange = fChange * ( -1.0);
         fRearChange = fChange * ( -1.0);

src/tool/groupctrl_grpc/mainwindow.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1600</width>
-    <height>900</height>
+    <width>1920</width>
+    <height>1080</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -291,7 +291,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1600</width>
+     <width>1920</width>
      <height>28</height>
     </rect>
    </property>