static void initialize() {
VexOS_setupStandardUI();
// lift control buttons //
Button_whenPressed(
Joystick_getButton(_joystick, JoystickHand_Left, JoystickButtonType_Bottom),
Command_new(&LiftJog, -1));
Button_whenPressed(
Joystick_getButton(_joystick, JoystickHand_Left, JoystickButtonType_Top),
Command_new(&LiftJog, 1));
// intake control buttons //
Button_whileHeld(
Joystick_getButton(_joystick, JoystickHand_Right, JoystickButtonType_Bottom),
Command_new(&IntakeSet, IntakeDirection_Suck));
Button_whileHeld(
Joystick_getButton(_joystick, JoystickHand_Right, JoystickButtonType_Top),
Command_new(&IntakeSet, IntakeDirection_Blow));
}
static void performCommand(char *acLine, DynArray_T oHistoryList,
char *pcProgName)
/* Expand any !commandprefix in acLine. Insert acLine into
oHistoryList iff the expanding succeeds and acLine does not consist
of entirely whitespace characters. Lexically and syntactically
analyze acLine. Execute acLine if no errors are found. It is a
checked runtime error for acLine, oHistory, or pcProgName to be
NULL. */
{
char *pcTemp;
Command_T oCommand;
DynArray_T oTokens;
int iSuccessful;
assert(acLine != NULL);
assert(oHistoryList != NULL);
assert(pcProgName != NULL);
if(histHasCommandPrefix(acLine))
{
iSuccessful = histExpandLine(acLine, oHistoryList, pcProgName);
if(iSuccessful)
printf("%s\n", acLine);
else
return;
}
oTokens = DynArray_new(0);
iSuccessful = lexLine(acLine, oTokens, pcProgName);
if(DynArray_getLength(oTokens) > 0)
{
/* Allocate memory to store command in oHistoryList iff
command does not consist of entirely whitespace
characters. */
pcTemp = (char*)malloc(strlen(acLine) + 1);
assert(pcTemp != NULL);
strcpy(pcTemp, acLine);
DynArray_add(oHistoryList, pcTemp);
if(iSuccessful)
{
oCommand = Command_new();
iSuccessful = parseToken(oTokens, oCommand, pcProgName);
if(iSuccessful)
execute(oCommand, oHistoryList, pcProgName);
Command_free(oCommand, NULL);
}
}
DynArray_map(oTokens, Token_free, NULL);
DynArray_free(oTokens);
}
Command_t * DvdCommandNameStarsOff_new(DvdName_t * dvdNameIn)
{
Command_t * c = Command_new(dvdNameIn);
c->execute = DvdCommandNameStarsOff_execute;
return c;
}
static void initialize() {
setDefaultCommand(Command_new(&SetIntake, IntakeDirection_Stop));
}
static int _commandExecute(Service_T S, command_t c, char *msg, int msglen, int64_t *timeout) {
ASSERT(S);
ASSERT(c);
ASSERT(msg);
msg[0] = 0;
int status = -1;
Command_T C = NULL;
TRY
{
// May throw exception if the program doesn't exist (was removed while Monit was up)
C = Command_new(c->arg[0], NULL);
}
ELSE
{
snprintf(msg, msglen, "Program %s failed: %s", c->arg[0], Exception_frame.message);
}
END_TRY;
if (C) {
for (int i = 1; i < c->length; i++)
Command_appendArgument(C, c->arg[i]);
if (c->has_uid)
Command_setUid(C, c->uid);
if (c->has_gid)
Command_setGid(C, c->gid);
Command_setEnv(C, "MONIT_DATE", Time_string(Time_now(), (char[26]){}));
Command_setEnv(C, "MONIT_SERVICE", S->name);
Command_setEnv(C, "MONIT_HOST", Run.system->name);
Command_setEnv(C, "MONIT_EVENT", c == S->start ? "Started" : c == S->stop ? "Stopped" : "Restarted");
Command_setEnv(C, "MONIT_DESCRIPTION", c == S->start ? "Started" : c == S->stop ? "Stopped" : "Restarted");
if (S->type == Service_Process) {
Command_vSetEnv(C, "MONIT_PROCESS_PID", "%d", Util_isProcessRunning(S, false));
Command_vSetEnv(C, "MONIT_PROCESS_MEMORY", "%ld", S->inf->priv.process.mem_kbyte);
Command_vSetEnv(C, "MONIT_PROCESS_CHILDREN", "%d", S->inf->priv.process.children);
Command_vSetEnv(C, "MONIT_PROCESS_CPU_PERCENT", "%d", S->inf->priv.process.cpu_percent);
}
Process_T P = Command_execute(C);
Command_free(&C);
if (P) {
do {
Time_usleep(RETRY_INTERVAL);
*timeout -= RETRY_INTERVAL;
} while ((status = Process_exitStatus(P)) < 0 && *timeout > 0 && ! (Run.flags & Run_Stopped));
if (*timeout <= 0)
snprintf(msg, msglen, "Program %s timed out", c->arg[0]);
int n, total = 0;
char buf[STRLEN];
do {
if ((n = _getOutput(Process_getErrorStream(P), buf, sizeof(buf))) <= 0)
n = _getOutput(Process_getInputStream(P), buf, sizeof(buf));
if (n > 0) {
buf[n] = 0;
DEBUG("%s", buf);
// Report the first message (override existing plain timeout message if some program output is available)
if (! total)
snprintf(msg, msglen, "%s: %s%s", c->arg[0], *timeout <= 0 ? "Program timed out -- " : "", buf);
total += n;
}
} while (n > 0 && Run.debug && total < 2048); // Limit the debug output (if the program will have endless output, such as 'yes' utility, we have to stop at some point to not spin here forever)
Process_free(&P); // Will kill the program if still running
}
}