/**
* Handle system calls. Interrupts are enabled when this function is
* called.
*
* @param user_context The userland context (CPU registers as they
* where when system call instruction was called in userland)
*/
void syscall_handle(context_t *user_context)
{
/* When a syscall is executed in userland, register a0 contains
* the number of the syscall. Registers a1, a2 and a3 contain the
* arguments of the syscall. The userland code expects that after
* returning from the syscall instruction the return value of the
* syscall is found in register v0. Before entering this function
* the userland context has been saved to user_context and after
* returning from this function the userland context will be
* restored from user_context.
*/
int retval;
switch(user_context->cpu_regs[MIPS_REGISTER_A0]) {
case SYSCALL_HALT:
halt_kernel();
break;
case SYSCALL_EXEC:
retval = (int) process_spawn((char*) user_context->cpu_regs[MIPS_REGISTER_A1]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
case SYSCALL_EXIT:
/* Resources are cleaned up in process_finish(...) */
process_finish(user_context->cpu_regs[MIPS_REGISTER_A1]);
break;
case SYSCALL_JOIN:
retval = process_join(user_context->cpu_regs[MIPS_REGISTER_A1]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
case SYSCALL_READ:
{
int fhandle = user_context->cpu_regs[MIPS_REGISTER_A1];
int buffer = user_context->cpu_regs[MIPS_REGISTER_A2];
int length = user_context->cpu_regs[MIPS_REGISTER_A3];
int retval = syscall_read(fhandle, (void *)buffer, length);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
}
break;
case SYSCALL_WRITE:
{
int fhandle = user_context->cpu_regs[MIPS_REGISTER_A1];
int buffer = user_context->cpu_regs[MIPS_REGISTER_A2];
int length = user_context->cpu_regs[MIPS_REGISTER_A3];
int retval = syscall_write(fhandle, (void *)buffer, length);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
}
break;
default:
KERNEL_PANIC("Unhandled system call\n");
}
/* Move to next instruction after system call */
user_context->pc += 4;
}
/**
* Handle system calls. Interrupts are enabled when this function is
* called.
*
* @param user_context The userland context (CPU registers as they
* where when system call instruction was called in userland)
*/
void syscall_handle(context_t *user_context)
{
int retval;
/* When a syscall is executed in userland, register a0 contains
* the number of the syscall. Registers a1, a2 and a3 contain the
* arguments of the syscall. The userland code expects that after
* returning from the syscall instruction the return value of the
* syscall is found in register v0. Before entering this function
* the userland context has been saved to user_context and after
* returning from this function the userland context will be
* restored from user_context.
*/
switch(user_context->cpu_regs[MIPS_REGISTER_A0]) {
case SYSCALL_HALT:
halt_kernel();
break;
case SYSCALL_READ:
retval = read_file((int)user_context->cpu_regs[MIPS_REGISTER_A1],
(void *)user_context->cpu_regs[MIPS_REGISTER_A2],
(int)user_context->cpu_regs[MIPS_REGISTER_A3]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
case SYSCALL_WRITE:
retval = write_file((int)user_context->cpu_regs[MIPS_REGISTER_A1],
(void *)user_context->cpu_regs[MIPS_REGISTER_A2],
(int)user_context->cpu_regs[MIPS_REGISTER_A3]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
case SYSCALL_EXIT:
process_finish(user_context->cpu_regs[MIPS_REGISTER_A1]);
break;
case SYSCALL_EXEC:
retval = exec((char *)user_context->cpu_regs[MIPS_REGISTER_A1]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
case SYSCALL_JOIN:
retval = join((int)user_context->cpu_regs[MIPS_REGISTER_A1]);
user_context->cpu_regs[MIPS_REGISTER_V0] = retval;
break;
default:
KERNEL_PANIC("Unhandled system call\n");
}
/* Move to next instruction after system call */
user_context->pc += 4;
}
static void hash_command_handler(void *cmd_body,
size_t cmd_size,
size_t *response_size)
{
int mode;
int hash_mode;
int handle;
uint16_t text_len;
uint8_t *cmd;
size_t response_room = *response_size;
TPM_ALG_ID alg;
cmd = cmd_body;
/*
* Empty response is sent as a success indication when the digest is
* not yet expected (i.e. in response to 'start' and 'cont' commands,
* as defined below).
*
* Single byte responses indicate errors, test successes are
* communicated as responses of the size of the appropriate digests.
*/
*response_size = 0;
/*
* Command structure, shared out of band with the test driver running
* on the host:
*
* field | size | note
* ===================================================================
* mode | 1 | 0 - start, 1 - cont., 2 - finish, 3 - single
* hash_mode | 1 | 0 - sha1, 1 - sha256
* handle | 1 | seassion handle, ignored in 'single' mode
* text_len | 2 | size of the text to process, big endian
* text | text_len | text to hash
*/
mode = *cmd++;
hash_mode = *cmd++;
handle = *cmd++;
text_len = *cmd++;
text_len = text_len * 256 + *cmd++;
switch (hash_mode) {
case 0:
alg = TPM_ALG_SHA1;
break;
case 1:
alg = TPM_ALG_SHA256;
break;
default:
return;
}
switch (mode) {
case 0: /* Start a new hash context. */
process_start(alg, handle, cmd_body, response_size);
if (*response_size)
break; /* Something went wrong. */
process_continue(handle, cmd, text_len,
cmd_body, response_size);
break;
case 1:
process_continue(handle, cmd, text_len,
cmd_body, response_size);
break;
case 2:
process_continue(handle, cmd, text_len,
cmd_body, response_size);
if (*response_size)
break; /* Something went wrong. */
process_finish(handle, cmd_body, response_size);
CPRINTF("%s:%d response size %d\n", __func__, __LINE__,
*response_size);
break;
case 3: /* Process a buffer in a single shot. */
if (!text_len)
break;
/*
* Error responses are just 1 byte in size, valid responses
* are of various hash sizes.
*/
*response_size = _cpri__HashBlock(alg, text_len,
cmd, response_room, cmd_body);
CPRINTF("%s:%d response size %d\n", __func__,
__LINE__, *response_size);
break;
default:
break;
}
}
int main(void) {
BYTE flgRestart = FALSE; // if TRUE, restart main loop
struct ifreq interface; // ioctls to configure network interface
struct sockaddr_in myinterface; // Interface address
struct sockaddr_in mynetmask; // Interface netmask
struct sockaddr_in mybroadcast; // Interface broadcast address
int server_sockfd; // Server socket
struct sockaddr_in server_address; // Server address and port
int heartbeat_sockfd; // Heartbeat socket
struct sockaddr_in heartbeat_addr; // Heartbeat address and port
int tx_sockfd; // Tx socket
int optval, optlen; // Vars for socket options
time_t timenow; // Current time
time_t xaptick; // Last tick
time_t heartbeattick; // Time for next hearbeat tick
char heartbeat_msg[1500]; // Buffer for heartbeat messages
char buff[1500]; // Buffer for messages
fd_set rdfs; // Vars for attent to clients
struct timeval tv;
struct sockaddr_in client_address; // client address and port
socklen_t client_len;
int i; // Auxiliary variable
// Header verbage
//printf("\nHomected xAP-Hub Connector\n");
//printf("Copyright (C) Jose Luis Galindo, 2012\n");
// Create shared memory areas
if (!hubSharedMemSetup()) {
syslog(LOG_ERR, "main: Error allocating shared resources");
logError("main: Error allocating shared resources");
}
// Initialize application
init();
logInit(LOG_EVENTS_FILE, LOG_ERRORS_FILE);
LIBXML_TEST_VERSION
// Create the process
process_init("xap-hub", pid_filepath);
while(process_state == PROC_RUNNING) {
// Load xml file with general settings
if (parseXmlSettings(SETTINGS_FILE) > 0) {
syslog(LOG_ERR, "main: Failed to parse xml settings document, default values loaded");
logError("main: Failed to parse xml settings document, default values loaded");
if (saveXmlSettings(SETTINGS_FILE) > 0) {
syslog(LOG_ERR, "main: Error saving settings file");
logError("main: Error saving settings file");
}
}
// Use the server socket to get interface properties
server_sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if (server_sockfd == -1) {
syslog(LOG_ERR, "main: Error trying to get interface properties");
logError("main: Error trying to get interface properties");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Set options for the socket
optval=1;
optlen=sizeof(int);
if (setsockopt(server_sockfd, SOL_SOCKET, SO_BROADCAST, (char*)&optval, optlen)) {
syslog(LOG_ERR, "main: Error trying to get interface properties");
logError("main: Error trying to get interface properties");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
optval=1;
optlen=sizeof(int);
if (setsockopt(server_sockfd, SOL_SOCKET, SO_REUSEADDR, (char*)&optval, optlen)) {
syslog(LOG_ERR, "main: Error trying to get interface properties");
logError("main: Error trying to get interface properties");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Query the low-level capabilities of the network interface to get address and netmask
memset((char*)&interface, sizeof(interface),0);
strcpy(interface.ifr_name, hubConfig->interfacename);
// Get the interface address
interface.ifr_addr.sa_family = AF_INET;
if (ioctl(server_sockfd, SIOCGIFADDR, &interface) != 0) {
syslog(LOG_ERR, "main: Could not determine IP address for interface %s", hubConfig->interfacename);
logError("main: Could not determine IP address for interface %s", hubConfig->interfacename);
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
myinterface.sin_addr.s_addr = ((struct sockaddr_in*)&interface.ifr_broadaddr)->sin_addr.s_addr;
//printf("%s: address %s\n", interface.ifr_name, inet_ntoa(((struct sockaddr_in*)&interface.ifr_addr)->sin_addr));
logEvent(TRUE, "main: %s: address %s", interface.ifr_name, inet_ntoa(((struct sockaddr_in*)&interface.ifr_addr)->sin_addr));
// Get the interface netmask
interface.ifr_broadaddr.sa_family = AF_INET;
if (ioctl(server_sockfd, SIOCGIFNETMASK, &interface) != 0) {
syslog(LOG_ERR, "Unable to determine netmask for interface %s", hubConfig->interfacename);
logError("main: Unable to determine netmask for interface %s", hubConfig->interfacename);
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
mynetmask.sin_addr.s_addr = ((struct sockaddr_in*)&interface.ifr_broadaddr)->sin_addr.s_addr;
//printf("%s: netmask %s\n", interface.ifr_name, inet_ntoa(((struct sockaddr_in*)&interface.ifr_netmask)->sin_addr));
logEvent(TRUE, "main: %s: netmask %s", interface.ifr_name, inet_ntoa(((struct sockaddr_in*)&interface.ifr_netmask)->sin_addr));
// Determine the interface broadcast address
long int inverted_netmask;
inverted_netmask=~mynetmask.sin_addr.s_addr;
mybroadcast.sin_addr.s_addr = inverted_netmask | myinterface.sin_addr.s_addr;
//printf("%s: broadcast %s\n", interface.ifr_name, inet_ntoa(mybroadcast.sin_addr));
logEvent(TRUE, "main: %s: broadcast %s", interface.ifr_name, inet_ntoa(mybroadcast.sin_addr));
// Set the server socket
server_sockfd = socket(AF_INET, SOCK_DGRAM, 0);
// Set server address and port
memset((char *) &server_address, 0, sizeof(server_address));
server_address.sin_family = AF_INET;
server_address.sin_addr.s_addr = htonl(INADDR_ANY); // Receive from any address
server_address.sin_port = htons(hubConfig->xap_port); // on this port (Default 3639)
// Bind the server socket with the server IP address and port
fcntl(server_sockfd, F_SETFL, O_NONBLOCK);
if (bind(server_sockfd, (struct sockaddr*)&server_address, sizeof(server_address)) !=0 ) {
// if fails then we can assume that a hub is active on this host
syslog(LOG_ERR, "main: Port %d is in use", hubConfig->xap_port);
syslog(LOG_ERR, "main: Assuming other local hub is active on this host");
logError("main: Port %d is in use", hubConfig->xap_port);
logError("main: Assuming other local hub is active on this host");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
//printf("Listening for messages on port %d\n", g_xap_port);
logEvent(TRUE, "main: Listening for messages on port %d", hubConfig->xap_port);
// Set the server socket to listen
listen(server_sockfd, MAX_QUEUE_BACKLOG);
// Set up the Tx socket
tx_sockfd = socket(AF_INET, SOCK_DGRAM, 0);
// Set up the heartbeat socket, on which we tell the world we are alive and well
heartbeat_sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if (heartbeat_sockfd == -1) {
syslog(LOG_ERR, "main: Heartbeat socket cannot be created");
logError("main: Heartbeat socket cannot be created");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Set options for the heartbeat socket
optval = 1;
optlen = sizeof(int);
if (setsockopt(heartbeat_sockfd, SOL_SOCKET, SO_BROADCAST, (char*)&optval, optlen)) {
syslog(LOG_ERR, "main: Unable to set heartbeat socket options");
logError("main: Unable to set heartbeat socket options");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Set up heartbeat address and port
memset((char *) &heartbeat_addr, 0, sizeof(heartbeat_addr));
heartbeat_addr.sin_family = AF_INET;
heartbeat_addr.sin_port = htons(hubConfig->xap_port);
heartbeat_addr.sin_addr.s_addr = mybroadcast.sin_addr.s_addr;
//printf("Set heartbeat broadcast on %s:%d\n", inet_ntoa(heartbeat_addr.sin_addr), g_xap_port);
logEvent(TRUE, "main: Set heartbeat broadcast on %s:%d", inet_ntoa(heartbeat_addr.sin_addr), hubConfig->xap_port);
xaptick = time((time_t*)0);
heartbeattick = time((time_t*)0); // force heartbeat on startup
//printf("Running...\n");
logEvent(TRUE, "main: Running...");
// Parse heartbeat messages received on broadcast interface
// If they originated from this host, add the port number to the list of known ports
// Otherwise ignore.
// If ordinary header then pass to all known listeners
while (!flgRestart && (process_state == PROC_RUNNING)) {
// Get current time
timenow = time((time_t*)0);
// Hub tick, check for alive devices
if (timenow - xaptick >= 1) {
xaphub_tick(timenow - xaptick);
xaptick = timenow;
}
// Heartbeat tick
if (timenow >= heartbeattick) {
//printf("Outgoing heartbeat tick %d\n",(int)timenow);
logEvent(TRUE, "main: Outgoing heartbeat tick %d",(int)timenow);
// Create the heartbeat message
xaphub_build_heartbeat(heartbeat_msg);
//printf("%s", heartbeat_msg);
// Send heartbeat to all external listeners
sendto(heartbeat_sockfd, heartbeat_msg, strlen(heartbeat_msg), 0, (struct sockaddr *) &heartbeat_addr, sizeof(heartbeat_addr));
// Send heartbeat to all locally connected apps
xaphub_relay(tx_sockfd, heartbeat_msg);
// Set next tick
heartbeattick = timenow + hubConfig->xap_hbeat;
}
// Prepare to attent to the clients
FD_ZERO(&rdfs);
FD_SET(server_sockfd, &rdfs);
tv.tv_sec = hubConfig->xap_hbeat;
tv.tv_usec = 0;
select(server_sockfd + 1, &rdfs, NULL, NULL, &tv);
// Select either timed out, or there was data - go look for it.
client_len = sizeof(struct sockaddr);
i = recvfrom(server_sockfd, buff, sizeof(buff), 0, (struct sockaddr*) &client_address, &client_len);
// Check if a message was received
if (i != -1) {
buff[i]='\0'; // Add NULL to the end of message
//printf("Message from client %s:%d\n", inet_ntoa(client_address.sin_addr), ntohs(client_address.sin_port));
logEvent(TRUE, "main: Message from client %s:%d", inet_ntoa(client_address.sin_addr), ntohs(client_address.sin_port));
// Message from my interface
if (client_address.sin_addr.s_addr == myinterface.sin_addr.s_addr) {
//printf("Message originated from my interface\n");
// If the message received is a heartbeat message, add the client to the relay list
xap_handler(buff);
// Relay the message to all local apps, the originator will see his own message
xaphub_relay(tx_sockfd, buff);
}
// Message from local client received
else if (client_address.sin_addr.s_addr == inet_addr("127.0.0.1")) {
//printf("Message from local client\n");
}
// Remote message
else {
//printf("Message originated remotely, relay\n");
// Relay the message to all local apps
xaphub_relay(tx_sockfd, buff);
}
// Clear message
memset(buff, 0, sizeof(buff));
}
// Check if has to save settings
if (hubConfig->saveFlag) {
hubConfig->saveFlag = FALSE; // Reset flag
if (saveXmlSettings(SETTINGS_FILE) > 0) {
syslog(LOG_ERR, "main: Error saving settings file");
logError("main: Error saving settings file");
}
}
// Check if has to restart
if (hubConfig->restartFlag) {
hubConfig->restartFlag = FALSE; // Reset flag
flgRestart = TRUE;
}
}
// Restore flgRestart
flgRestart = FALSE;
// Save xml settings
if (saveXmlSettings(SETTINGS_FILE) > 0) {
syslog(LOG_ERR, "main: Error saving settings file");
logError("main: Error saving settings file");
}
// Build a xAP shutdown message
xaphub_build_heartbeat_shutdown(heartbeat_msg);
// Send shutdown heartbeat message to all external listeners
sendto(heartbeat_sockfd, heartbeat_msg, strlen(heartbeat_msg), 0, (struct sockaddr *) &heartbeat_addr, sizeof(heartbeat_addr));
// Send shutdown heartbeat message to all locally connected apps
xaphub_relay(tx_sockfd, heartbeat_msg);
// Close xAP communications
close(server_sockfd); // Close Server socket
close(heartbeat_sockfd); // Close Heartbeat socket
close(tx_sockfd); // Close Tx socket
}
// Close shared memory areas
hubSharedMemClose();
// Destroy the process
process_finish();
return 0;
}
void syscall_exit(int retval){
process_finish(retval);
}
void
run_process(void *ptr, unsigned long num)
{
(void)num;
int result;
vaddr_t entrypoint, stackptr;
// extract and free passed-in context
struct new_process_context *ctxt = (struct new_process_context *)ptr;
struct process *proc = ctxt->proc;
struct vnode *v = ctxt->executable;
int nargs = ctxt->nargs;
char **args = ctxt->args;
kfree(ctxt);
// attach process to thread
curthread->t_proc = proc;
proc->ps_thread = curthread;
// Activate address space
as_activate(proc->ps_addrspace);
// Load the executable
result = load_elf(v, &entrypoint);
if (result) {
vfs_close(v);
kprintf("runprogram failed: %s\n", strerror(result));
// alert the kernel menu that the process aborted
process_finish(proc, _MKWAIT_SIG(SIGABRT));
return;
}
// Done with the file now
vfs_close(v);
// Define the user stack in the address space
result = as_define_stack(proc->ps_addrspace, &stackptr);
if (result) {
kprintf("runprogram failed: %s\n", strerror(result));
// alert the kernel menu that the process aborted
process_finish(proc, _MKWAIT_SIG(SIGABRT));
return;
}
// Copy out arguments
userptr_t uargv[nargs + 1];
for (int i = 0; i < nargs; i++)
{
int aligned_length = WORD_ALIGN(strlen(args[i]) + 1);
stackptr -= aligned_length;
uargv[i] = (userptr_t)stackptr;
size_t arg_len;
result = copyoutstr(args[i], uargv[i], strlen(args[i]) + 1, &arg_len);
if (result) {
kprintf("runprogram failed: %s\n", strerror(result));
// alert the kernel menu that the process aborted
process_finish(proc, _MKWAIT_SIG(SIGABRT));
return;
}
}
uargv[nargs] =(userptr_t)NULL;
// Copy out the argv array itself
stackptr -= (nargs + 1) * sizeof(userptr_t);
result = copyout(uargv, (userptr_t)stackptr,
(nargs + 1) * sizeof(userptr_t));
if (result) {
kprintf("runprogram failed: %s\n", strerror(result));
// alert the kernel menu that the process aborted
process_finish(proc, _MKWAIT_SIG(SIGABRT));
return;
}
enter_new_process(nargs, (userptr_t)stackptr, stackptr, entrypoint);
// enter_new_process() does not return
panic("enter_new_process returned\n");
}
int main(void) {
BYTE flgRestart = FALSE; // if TRUE, restart main loop
time_t timenow; // Current time
time_t cosmtick; // Time for next upload
time_t newvalue;
t_UPDATER_MSG updater_msg; // Messsage for updater
// Header verbage
#ifdef DEBUG_APP
printf("\nHomected xAP-Cosm Connector (Updater)\n");
printf("Copyright (C) Jose Luis Galindo, 2012\n");
#endif
// Create shared memory areas
if (!cosmSharedMemSetup()) {
#ifdef DEBUG_APP
printf("Error allocating shared resources\n");
#endif
logError("main: Error allocating shared resources");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Initialize application
purge_update_list();
logInit(LOG_EVENTS_FILE, LOG_ERRORS_FILE);
LIBXML_TEST_VERSION
// Connect to the message queue to communicate with xap-cosm
if ((g_msg_queue = msgget(COSM_MSGQUEUE, 0644)) == -1) {
#ifdef DEBUG_APP
printf("Error connecting to message queue\n");
#endif
logError("main: Error connecting to message queue");
unlink(pid_filepath);
exit(EXIT_FAILURE);
}
// Create the process
#ifndef DEBUG_APP
process_init("xap-cosm-updater", pid_filepath);
#endif
while(process_state == PROC_RUNNING) {
#ifdef DEBUG_APP
printf("Running...\n");
#endif
logEvent(TRUE, "updater: Running...");
while (!flgRestart && (process_state == PROC_RUNNING)) {
// Wait for application enabled
if (!cosmConfig->enabled) {
#ifdef DEBUG_APP
printf("Device is not enabled, wait\n");
#endif
logEvent(TRUE, "main: Device is not enabled, wait");
while(!cosmConfig->enabled)
sleep(1);
}
// Get current time
timenow = time((time_t*)0);
// Wait for an incomining message
if (msgrcv(g_msg_queue, (struct msgbuf *)&updater_msg, sizeof(updater_msg.ds)+sizeof(updater_msg.timestamp)+sizeof(updater_msg.curr_value), COSM_MSGQUEUE_MSG_ID, IPC_NOWAIT) != -1) {
// Add message data to update list
g_update_list[g_update_list_count].sent = FALSE;
g_update_list[g_update_list_count].ds = updater_msg.ds;
g_update_list[g_update_list_count].timestamp = updater_msg.timestamp;
strcpy(g_update_list[g_update_list_count].curr_value, updater_msg.curr_value);
#ifdef DEBUG_APP
printf("ds:%d added value %s to Cosm update list queue (pos=%d)\n", g_update_list[g_update_list_count].ds, g_update_list[g_update_list_count].curr_value, g_update_list_count);
#endif
logEvent(TRUE, "updater: (ds:%d) added value %s to Cosm update list queue (pos=%d)", g_update_list[g_update_list_count].ds, g_update_list[g_update_list_count].curr_value, g_update_list_count);
g_update_list_count++;
}
usleep(10000); //convert to microseconds
// Cosm tick
if (timenow >= cosmtick) {
#ifdef DEBUG_APP
printf("Outgoing cosm tick %d\n",(int)timenow);
#endif
logEvent(TRUE, "updater: Outgoing cosm tick %d",(int)timenow);
// Upload update list to cosm
send_list_to_cosm();
// Clear update list
purge_update_list();
// Set next tick
cosmtick = timenow + cosmConfig->updatef;
}
// Check if has to restart
if (cosmConfig->restartFlag) {
cosmConfig->restartFlag = FALSE; // Reset flag
flgRestart = TRUE;
}
}
// Restore flgRestart
flgRestart = FALSE;
}
// Close shared memory areas
cosmSharedMemClose();
// Destroy the process
#ifndef DEBUG_APP
process_finish();
#endif
return 0;
}