int input()
{
char ch;
start_check();
uart0GetChar(&ch);
finish_check();
return (unsigned int)ch;
}
int get() // usage: int i = get(int *ip) >>> i = *ip;
{
int ii, *ip;
start_check();
eval_exp(&ii);
finish_check();
ip = (int *)ii;
return *ip;
}
void delay()
{
int del;
start_check();
eval_exp(&del);
if ((del < 0) || (del > 1000000))
sntx_err(PARAM_ERR);
delayMS(del );
finish_check();
}
void set() // usage: set(int *ip, int i) >>> *ip = i;
{
int ii, i, *ip;
start_check();
eval_exp(&ii);
get_token(); // look for comma separator
if(*token != ',')
sntx_err(SYNTAX); // syntax error
eval_exp(&i);
ip = (int *)ii;
*ip = i;
finish_check();
}
/* Reload thread */
int
reload_check_thread(thread_t * thread)
{
/* set the reloading flag */
SET_RELOAD;
log_message(LOG_INFO, "Got SIGHUP, reloading checker configuration");
/* Signals handling */
signal_handler_reset();
/* Destroy master thread */
#ifdef _WITH_VRRP_
kernel_netlink_close();
#endif
thread_destroy_master(master);
master = thread_make_master();
free_global_data(global_data);
free_checkers_queue();
#ifdef _WITH_VRRP_
free_interface_queue();
#endif
free_ssl();
ipvs_stop();
/* Save previous conf data */
old_check_data = check_data;
check_data = NULL;
/* Reload the conf */
#ifdef _DEBUG_
mem_allocated = 0;
#endif
check_signal_init();
signal_set(SIGCHLD, thread_child_handler, master);
start_check();
/* free backup data */
free_check_data(old_check_data);
UNSET_RELOAD;
return 0;
}
void motors()
{
int lspeed, rspeed;
start_check();
eval_exp(&lspeed);
if ((lspeed < -100) || (lspeed > 100))
sntx_err(PARAM_ERR);
get_token(); // look for comma separator
if(*token != ',')
sntx_err(SYNTAX); // syntax error
eval_exp(&rspeed);
if ((rspeed < -100) || (rspeed > 100))
sntx_err(PARAM_ERR);
setPWM(lspeed, rspeed);
finish_check();
}
void print()
{
int i;
start_check();
get_token();
while(*token !=')') {
if(token_type==STRING) {
uart0SendString(token);
} else {
putback();
eval_exp(&i);
printNumber(10, 10, FALSE, ' ', i);
}
get_token();
}
uart0SendChar('\n');
get_token();
if(*token!=';')
sntx_err(SEMI_EXPECTED);
putback();
}
/* Reload thread */
static int
reload_check_thread(thread_t * thread)
{
/* set the reloading flag */
SET_RELOAD;
log_message(LOG_INFO, "Got SIGHUP, reloading checker configuration");
/* Destroy master thread */
#ifdef _WITH_VRRP_
kernel_netlink_close();
#endif
thread_cleanup_master(master);
free_global_data(global_data);
free_checkers_queue();
#ifdef _WITH_VRRP_
free_interface_queue();
#endif
free_ssl();
ipvs_stop();
/* Save previous conf data */
old_check_data = check_data;
check_data = NULL;
/* Reload the conf */
#ifdef _MEM_CHECK_
mem_allocated = 0;
#endif
start_check();
/* free backup data */
free_check_data(old_check_data);
UNSET_RELOAD;
return 0;
}
/* Reload thread */
int
reload_check_thread(thread_t * thread)
{
/* set the reloading flag */
SET_RELOAD;
/* Signals handling */
signal_reset();
signal_handler_destroy();
/* Destroy master thread */
thread_destroy_master(master);
master = thread_make_master();
free_global_data(data);
free_checkers_queue();
#ifdef _WITH_VRRP_
free_interface_queue();
#endif
free_ssl();
ipvs_stop();
/* Save previous conf data */
old_check_data = check_data;
check_data = NULL;
/* Reload the conf */
mem_allocated = 0;
check_signal_init();
signal_set(SIGCHLD, thread_child_handler, master);
start_check();
/* free backup data */
free_check_data(old_check_data);
UNSET_RELOAD;
return 0;
}
/* Register CHECK thread */
int
start_check_child(void)
{
#ifndef _DEBUG_
pid_t pid;
int ret;
char *syslog_ident;
/* Initialize child process */
pid = fork();
if (pid < 0) {
log_message(LOG_INFO, "Healthcheck child process: fork error(%s)"
, strerror(errno));
return -1;
} else if (pid) {
checkers_child = pid;
log_message(LOG_INFO, "Starting Healthcheck child process, pid=%d"
, pid);
/* Start respawning thread */
thread_add_child(master, check_respawn_thread, NULL,
pid, RESPAWN_TIMER);
return 0;
}
if ((instance_name
#if HAVE_DECL_CLONE_NEWNET
|| network_namespace
#endif
) &&
(check_syslog_ident = make_syslog_ident(PROG_CHECK)))
syslog_ident = check_syslog_ident;
else
syslog_ident = PROG_CHECK;
/* Opening local CHECK syslog channel */
openlog(syslog_ident, LOG_PID | ((__test_bit(LOG_CONSOLE_BIT, &debug)) ? LOG_CONS : 0)
, (log_facility==LOG_DAEMON) ? LOG_LOCAL2 : log_facility);
#ifdef _MEM_CHECK_
mem_log_init(PROG_CHECK, "Healthcheck child process");
#endif
free_parent_mallocs_startup(true);
/* Child process part, write pidfile */
if (!pidfile_write(checkers_pidfile, getpid())) {
log_message(LOG_INFO, "Healthcheck child process: cannot write pidfile");
exit(KEEPALIVED_EXIT_FATAL);
}
/* Create the new master thread */
signal_handler_destroy();
thread_destroy_master(master); /* This destroys any residual settings from the parent */
master = thread_make_master();
/* change to / dir */
ret = chdir("/");
if (ret < 0) {
log_message(LOG_INFO, "Healthcheck child process: error chdir");
}
/* Set mask */
umask(0);
#endif
/* If last process died during a reload, we can get there and we
* don't want to loop again, because we're not reloading anymore.
*/
UNSET_RELOAD;
/* Signal handling initialization */
check_signal_init();
/* Start Healthcheck daemon */
start_check();
/* Launch the scheduling I/O multiplexer */
launch_scheduler();
/* Finish healthchecker daemon process */
stop_check(EXIT_SUCCESS);
/* unreachable */
exit(EXIT_SUCCESS);
}
/* Register CHECK thread */
int
start_check_child(void)
{
#ifndef _DEBUG_
pid_t pid;
int ret;
/* Initialize child process */
pid = fork();
if (pid < 0) {
log_message(LOG_INFO, "Healthcheck child process: fork error(%s)"
, strerror(errno));
return -1;
} else if (pid) {
checkers_child = pid;
log_message(LOG_INFO, "Starting Healthcheck child process, pid=%d"
, pid);
/* Start respawning thread */
thread_add_child(master, check_respawn_thread, NULL,
pid, RESPAWN_TIMER);
return 0;
}
/* Opening local CHECK syslog channel */
openlog(PROG_CHECK, LOG_PID | ((__test_bit(LOG_CONSOLE_BIT, &debug)) ? LOG_CONS : 0)
, (log_facility==LOG_DAEMON) ? LOG_LOCAL2 : log_facility);
/* Child process part, write pidfile */
if (!pidfile_write(checkers_pidfile, getpid())) {
log_message(LOG_INFO, "Healthcheck child process: cannot write pidfile");
exit(0);
}
/* Create the new master thread */
signal_handler_destroy();
thread_destroy_master(master);
master = thread_make_master();
/* change to / dir */
ret = chdir("/");
if (ret < 0) {
log_message(LOG_INFO, "Healthcheck child process: error chdir");
}
/* Set mask */
umask(0);
#endif
/* If last process died during a reload, we can get there and we
* don't want to loop again, because we're not reloading anymore.
*/
UNSET_RELOAD;
/* Signal handling initialization */
check_signal_init();
/* Start Healthcheck daemon */
start_check();
/* Launch the scheduling I/O multiplexer */
launch_scheduler();
/* Finish healthchecker daemon process */
stop_check();
exit(0);
}
int time()
{
start_check();
finish_check();
return readRTC();
}