long redrobd_voltage_monitor_thread::setup(void)
{
try {
redrobd_log_writeln(get_name() + " : setup started");
init_members();
// Start timer controlling when to log voltages
if (m_voltage_log_timer.reset() != TIMER_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_TIME_ERROR,
"Error resetting voltage log timer for thread %s",
get_name().c_str());
}
redrobd_log_writeln(get_name() + " : setup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_voltage_monitor_thread::setup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_rc_net_server_thread::execute(void *arg)
{
// Make GCC happy (-Wextra)
if (arg) {
return THREAD_INTERNAL_ERROR;
}
try {
redrobd_log_writeln(get_name() + " : execute started");
handle_clients();
redrobd_log_writeln(get_name() + " : execute done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_rc_net_server_thread::execute->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
static void client_srv_passive(char *arg)
{
int h1, h2, h3, h4, p1, p2;
u_int32_t addr, ladr;
u_int16_t port;
int incr;
if (arg == NULL) /* Basic sanity check */
return;
/*
** Read the port. According to RFC 1123, 4.1.2.6,
** we have to scan the string for the first digit.
*/
while (*arg < '0' || *arg > '9')
arg++;
if (sscanf(arg, "%d,%d,%d,%d,%d,%d",
&h1, &h2, &h3, &h4, &p1, &p2) != 6) {
syslog_error("bad PASV 277 response from server for %s",
ctx.cli_ctrl->peer);
client_respond(425, NULL, "Can't open data connection");
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
return;
}
addr = (u_int32_t) ((h1 << 24) + (h2 << 16) + (h3 << 8) + h4);
port = (u_int16_t) ((p1 << 8) + p2);
syslog_write(T_DBG, "got SRV-PASV %s:%d for %s:%d",
socket_addr2str(addr), port,
ctx.cli_ctrl->peer, ctx.cli_ctrl->port);
/*
** should we bind a rand(port-range) or increment?
*/
incr = !config_bool(NULL,"SockBindRand", 0);
/*
** Open a connection to the server at the given port
*/
ladr = socket_sck2addr(ctx.srv_ctrl->sock, LOC_END, NULL);
if (socket_d_connect(addr, port, ladr, ctx.srv_lrng,
ctx.srv_urng, &(ctx.srv_data),
"Srv-Data", incr) == 0)
{
syslog_error("can't connect Srv-Data for %s",
ctx.cli_ctrl->peer);
client_respond(425, NULL, "Can't open data connection");
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
return;
}
/*
** Finally send the original command from the client
*/
client_xfer_fireup();
}
long redrobd_voltage_monitor_thread::cyclic_execute(void)
{
try {
uint16_t adc_value;
float v_mon;
float v_in;
// Get voltage from analog input
m_mcp3008_io_ptr->read_single(m_mcp3008_io_chn, adc_value);
v_mon = m_mcp3008_io_ptr->to_voltage(adc_value);
// Scale back to input voltage
v_in = v_mon / m_voltage_sf;
// Lockdown read operation
pthread_mutex_lock(&m_voltage_mutex);
m_voltage.v_mon = v_mon;
m_voltage.v_in = v_in;
// Lockup read operation
pthread_mutex_unlock(&m_voltage_mutex);
// Check if time to log voltages
if ( m_voltage_log_timer.get_elapsed_time() >
LOG_VOLTAGES_INTERVAL ) {
// Log voltages
ostringstream oss_msg;
oss_msg.precision(3);
oss_msg << fixed;
oss_msg << get_name() << " : Vmon=" << v_mon << ", Vin=" << v_in;
redrobd_log_writeln(oss_msg.str());
oss_msg.str("");
// Reset timer
if (m_voltage_log_timer.reset() != TIMER_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_TIME_ERROR,
"Error resetting voltage log timer for thread %s",
get_name().c_str());
}
}
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_voltage_monitor_thread::cyclic_execute->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_rc_net_server_thread::setup(void)
{
try {
redrobd_log_writeln(get_name() + " : setup started");
// Create server socket
if (create_tcp_socket(&m_server_sd) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Create server socket failed in thread %s",
get_name().c_str());
}
// Create socket address
socket_address server_sa;
if (to_net_address(m_server_ip_address.c_str(),
&server_sa.net_addr) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Create server socket address failed in thread %s",
get_name().c_str());
}
server_sa.port = m_server_port;
// Bind socket to local address and port
if (bind_socket(m_server_sd,
server_sa) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Bind server socket failed in thread %s",
get_name().c_str());
}
// Mark socket as accepting connections
if (listen_socket(m_server_sd, 0) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Listen server socket failed in thread %s",
get_name().c_str());
}
redrobd_log_writeln(get_name() + " : setup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_rc_net_server_thread::setup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_alive_thread::cyclic_execute(void)
{
try {
redrobd_led_alive(m_led_alive_activate); // Toggle status LED on/off
m_led_alive_activate = !m_led_alive_activate;
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_alive_thread::cyclic_execute->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_voltage_monitor_thread::cleanup(void)
{
try {
redrobd_log_writeln(get_name() + " : cleanup started");
redrobd_log_writeln(get_name() + " : cleanup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_voltage_monitor_thread::cleanup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_rc_net_server_thread::cleanup(void)
{
try {
redrobd_log_writeln(get_name() + " : cleanup started");
///////////////////////////////////////////////
// If no controlled shutdown was requested,
// proceed with cleanup
///////////////////////////////////////////////
if (!m_shutdown_requested) {
// Shutdown server socket
if (shutdown_socket(m_server_sd,
true,
true) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Shutdown server socket failed in thread %s",
get_name().c_str());
}
// Close server socket
if (close_socket(m_server_sd) != SOCKET_SUPPORT_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_SOCKET_OPERATION_FAILED,
"Close server socket failed in thread %s",
get_name().c_str());
}
m_server_closed = true;
}
redrobd_log_writeln(get_name() + " : cleanup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_rc_net_server_thread::cleanup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long send_signal_self(int sig)
{
// Send signal to calling process
if (kill(getpid(), sig) == -1) {
syslog_error("kill failed for signal(%d), code=%d (%s)",
sig, errno, strerror(errno));
return DAEMON_FAILURE;
}
return DAEMON_SUCCESS;
}
long redrobd_alive_thread::cleanup(void)
{
try {
redrobd_log_writeln(get_name() + " : cleanup started");
redrobd_led_alive(false); // Turn status LED off
redrobd_log_writeln(get_name() + " : cleanup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_alive_thread::cleanup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long define_signal_handler(int sig, void (*handler)(int))
{
struct sigaction sa;
sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_RESTART;
sa.sa_handler = handler;
if (sigaction(sig, &sa, NULL) == -1) {
syslog_error("sigaction failed for signal(%d), code=%d (%s)",
sig, errno, strerror(errno));
return DAEMON_FAILURE;
}
return DAEMON_SUCCESS;
}
static long acquire_lock_file(const char *lock_file,
int *fd_lock_file)
{
long rc = DAEMON_FAILURE;
int fd;
*fd_lock_file = DAEMON_BAD_FD_LOCK_FILE; // No file descriptor yet
fd = open(lock_file, O_RDWR | O_CLOEXEC | O_CREAT, S_IRUSR | S_IWUSR);
if (fd != -1) {
struct flock fl;
fl.l_type = F_WRLCK; // Place a write lock
fl.l_whence = SEEK_SET; // on the entire file
fl.l_start = 0;
fl.l_len = 0;
fl.l_pid = getpid();
if (fcntl(fd, F_SETLK, &fl) != -1) {
// We have locked file, truncate to zero bytes
if (ftruncate(fd, 0) != -1) {
// Write PID to file
char pid_text[20];
snprintf(pid_text, sizeof(pid_text), "%ld\n", (long)getpid());
if (write(fd, pid_text, strlen(pid_text)) == (int)strlen(pid_text)) {
rc = DAEMON_SUCCESS; // We created the PID lock file,
// truncated, and write the PID to it.
*fd_lock_file = fd; // Return descriptor to caller
}
}
}
}
if ( (rc != DAEMON_SUCCESS) && (fd != -1) ) {
close(fd);
syslog_error("Unable to acquire lock file '%s', code=%d (%s)",
lock_file, errno, strerror(errno));
}
return rc;
}
void client_srv_open(void)
{
struct sockaddr_in saddr;
u_int16_t lprt, lowrng, res;
int sock, incr, retry;
/*
** should we bind a rand(port-range) or increment?
*/
incr = !config_bool(NULL,"SockBindRand", 0);
/*
** mark socket invalid
*/
sock = -1;
/*
** Forward connection to destination
*/
retry = MAX_RETRIES;
lprt = ctx.srv_lrng;
while(0 <= retry--) {
/*
** First of all, get a socket
*/
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
syslog_error("Srv-Ctrl: can't create socket for %s",
ctx.cli_ctrl->peer);
exit(EXIT_FAILURE);
}
socket_opts(sock, SK_CONTROL);
/*
** check if we have to take care to a port range
*/
if( !(INPORT_ANY == ctx.srv_lrng &&
INPORT_ANY == ctx.srv_urng))
{
u_int32_t ladr = INADDR_ANY;
/*
** bind the socket, taking care of a given port range
*/
if(incr) {
lowrng = lprt;
#if defined(COMPILE_DEBUG)
debug(2, "Srv-Ctrl: "
"about to bind to %s:range(%d-%d)",
socket_addr2str(ladr),
lowrng, ctx.srv_urng);
#endif
res = socket_d_bind(sock, ladr,
lowrng, ctx.srv_urng, incr);
} else {
lowrng = ctx.srv_lrng;
#if defined(COMPILE_DEBUG)
debug(2, "Srv-Ctrl: "
"about to bind to %s:range(%d-%d)",
socket_addr2str(ladr),
lowrng, ctx.srv_urng);
#endif
res = socket_d_bind(sock, ladr,
lowrng, ctx.srv_urng, incr);
}
if (INPORT_ANY == res) {
/* nothing found? */
close(sock);
syslog_error("Srv-Ctrl: can't bind to"
" %s:%d for %s",
socket_addr2str(ladr),
(int)lprt, ctx.cli_ctrl->peer);
exit(EXIT_FAILURE);
} else {
lprt = res;
}
} else lprt = INPORT_ANY;
/*
** Okay, now try the actual connect to the server
*/
memset(&saddr, 0, sizeof(saddr));
saddr.sin_addr.s_addr = htonl(ctx.srv_addr);
saddr.sin_family = AF_INET;
saddr.sin_port = htons(ctx.srv_port);
if (connect(sock, (struct sockaddr *)&saddr,
sizeof(saddr)) < 0)
{
#if defined(COMPILE_DEBUG)
debug(2, "Srv-Ctrl: connect failed with '%s'",
strerror(errno));
#endif
close(sock);
sock = -1;
/* check if is makes sense to retry?
** perhaps we only need an other
** local port (EADDRNOTAVAIL) for
** this destination?
*/
if( !(EINTR == errno ||
EAGAIN == errno ||
EADDRINUSE == errno ||
EADDRNOTAVAIL == errno))
{
/*
** an other (real) error ocurred
*/
syslog_error("Srv-Ctrl: "
"can't connect %s:%d for %s",
socket_addr2str(ctx.srv_addr),
(int) ctx.srv_port,
ctx.cli_ctrl->peer);
exit(EXIT_FAILURE);
}
if(incr && INPORT_ANY != lprt) {
/* increment lower range if we use
** increment mode and have a range
*/
if(lprt < ctx.srv_urng) {
lprt++;
} else {
/*
** no more ports in range we can try
*/
syslog_error("Srv-Ctrl: "
"can't connect %s:%d for %s",
socket_addr2str(ctx.srv_addr),
(int) ctx.srv_port,
ctx.cli_ctrl->peer);
exit(EXIT_FAILURE);
}
}
} else break;
}
/*
** check if we have a valid, connected socket
*/
if(-1 == sock) {
syslog_error("Srv-Ctrl: can't connect %s:%d for %s",
socket_addr2str(ctx.srv_addr),
(int) ctx.srv_port,
ctx.cli_ctrl->peer);
exit(EXIT_FAILURE);
}
if ((ctx.srv_ctrl = socket_init(sock)) == NULL)
misc_die(FL, "cmds_user: ?srv_ctrl?");
ctx.srv_ctrl->ctyp = "Srv-Ctrl";
#if defined(COMPILE_DEBUG)
debug(2, "Srv-Ctrl is %s:%d",
ctx.srv_ctrl->peer, (int) ctx.srv_port);
#endif
ctx.expect = EXP_CONN; /* Expect Welcome */
}
long redrobd_ctrl_thread::cleanup(void)
{
try {
redrobd_log_writeln(get_name() + " : cleanup started");
////////////////////////////////////////
// FINALIZE battery monitor
////////////////////////////////////////
redrobd_log_writeln("About to finalize battery monitor thread");
// Take back ownership from auto_ptr
redrobd_voltage_monitor_thread *thread_ptr2 =
m_bat_mon_thread_auto.release();
try {
// Finalize the cyclic battery monitor thread object
redrobd_thread_finalize((thread *)thread_ptr2,
BAT_MON_THREAD_STOP_TIMEOUT);
}
catch (...) {
m_bat_mon_thread_auto =
auto_ptr<redrobd_voltage_monitor_thread>(thread_ptr2);
throw;
}
// Give back ownership to auto_ptr
m_bat_mon_thread_auto =
auto_ptr<redrobd_voltage_monitor_thread>(thread_ptr2);
// Delete the cyclic battery monitor thread object
m_bat_mon_thread_auto.reset();
////////////////////////////////////////
// FINALIZE motor control
////////////////////////////////////////
// Finalize and delete the motor control object
if (m_cont_steering) {
m_mc_cont_steer_auto->finalize();
m_mc_cont_steer_auto.reset();
}
else {
m_mc_non_cont_steer_auto->finalize();
m_mc_non_cont_steer_auto.reset();
}
////////////////////////////////////////
// FINALIZE camera control
////////////////////////////////////////
// Finalize and delete the camera control object
m_cc_auto->finalize();
m_cc_auto.reset();
////////////////////////////////////////
// FINALIZE remote control
////////////////////////////////////////
// Finalize and delete the remote control objects
m_rc_net_auto->finalize();
m_rc_net_auto.reset();
m_rc_rf_auto->finalize();
m_rc_rf_auto.reset();
////////////////////////////////////////
// FINALIZE HW configuration
////////////////////////////////////////
// Finalize and delete the hardware configuration object
m_hw_cfg_auto->finalize();
m_hw_cfg_auto.reset();
////////////////////////////////////////
// FINALIZE A/D Converter
////////////////////////////////////////
// Finalize and delete A/D Converter
m_mcp3008_io_ptr->finalize();
delete m_mcp3008_io_ptr;
m_mcp3008_io_ptr = NULL;
/////////////////////////////////
// FINALIZE ALIVE THREAD
/////////////////////////////////
redrobd_log_writeln("About to finalize alive thread");
// Take back ownership from auto_ptr
redrobd_alive_thread *thread_ptr1 = m_alive_thread_auto.release();
try {
// Finalize the cyclic alive thread object
redrobd_thread_finalize((thread *)thread_ptr1,
ALIVE_THREAD_STOP_TIMEOUT);
}
catch (...) {
m_alive_thread_auto = auto_ptr<redrobd_alive_thread>(thread_ptr1);
throw;
}
// Give back ownership to auto_ptr
m_alive_thread_auto = auto_ptr<redrobd_alive_thread>(thread_ptr1);
// Delete the cyclic alive thread object
m_alive_thread_auto.reset();
redrobd_log_writeln(get_name() + " : cleanup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_ctrl_thread::cleanup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
long redrobd_ctrl_thread::cyclic_execute(void)
{
try {
// Check if shutdown was selected (DIP-switch)
if ( (!m_shutdown_select) && (m_hw_cfg_auto->select_shutdown()) ) {
redrobd_log_writeln(get_name() + " : Shutdown selected");
// Send signal to main process
if (send_signal_self(SIG_TERMINATE_DAEMON) != DAEMON_SUCCESS) {
THROW_EXP(REDROBD_LINUX_ERROR, REDROBD_SIGNAL_OPERATION_FAILED,
"Error sending shutdown signal for thread %s",
get_name().c_str());
}
m_shutdown_select = true; // Only signal once
}
// Check battery voltage
if ( !battery_voltage_ok() ) {
redrobd_led_bat_low(true); // Turn status LED on
}
else {
redrobd_led_bat_low(false); // Turn status LED off
}
// Check system stats
check_system_stats();
// Check state and status of created threads
check_thread_run_status();
// Check remote control steering
uint16_t steering = get_remote_steering();
// Do motor control
switch (steering) {
case REDROBD_RC_STEER_NONE:
motor_control(REDROBD_MC_NONE);
break;
case REDROBD_RC_STEER_FORWARD:
if (m_verbose) {
redrobd_log_writeln(get_name() + " : steer forward");
}
motor_control(REDROBD_MC_FORWARD);
break;
case REDROBD_RC_STEER_REVERSE:
if (m_verbose) {
redrobd_log_writeln(get_name() + " : steer reverse");
}
motor_control(REDROBD_MC_REVERSE);
break;
case REDROBD_RC_STEER_RIGHT:
if (m_verbose) {
redrobd_log_writeln(get_name() + " : steer right");
}
motor_control(REDROBD_MC_RIGHT);
break;
case REDROBD_RC_STEER_LEFT:
if (m_verbose) {
redrobd_log_writeln(get_name() + " : steer left");
}
motor_control(REDROBD_MC_LEFT);
break;
default:
// All other steerings are ignored for now
ostringstream oss_msg;
oss_msg << get_name()
<< " : Got undefined steering = 0x"
<< hex << setw(4) << setfill('0') << (unsigned)steering;
redrobd_log_writeln(oss_msg.str());
oss_msg.str("");
motor_control(REDROBD_MC_STOP);
}
// Check remote control camera code
uint16_t camera_code = m_rc_net_auto->get_camera_code();
// Do camera control
switch (camera_code) {
case REDROBD_RC_CAMERA_NONE:
camera_control(REDROBD_CC_NONE);
break;
case REDROBD_RC_CAMERA_STOP_STREAM:
camera_control(REDROBD_CC_STOP_STREAM);
break;
case REDROBD_RC_CAMERA_START_STREAM:
camera_control(REDROBD_CC_START_STREAM);
break;
default:
// All other camera codes are ignored for now
ostringstream oss_msg;
oss_msg << get_name()
<< " : Got undefined camera code = 0x"
<< hex << setw(4) << setfill('0') << (unsigned)steering;
redrobd_log_writeln(oss_msg.str());
oss_msg.str("");
}
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_ctrl_thread::cyclic_execute->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
static void client_xfer_fireup(void)
{
u_int32_t ladr = INADDR_ANY;
int incr;
/*
** should we bind a rand(port-range) or increment?
*/
incr = !config_bool(NULL,"SockBindRand", 0);
/*
** If appropriate, connect to the client's data port
*/
if (ctx.cli_mode == MOD_ACT_FTP) {
/*
** TransProxy mode: check if we can use our real
** ip instead of the server's one as our local ip,
** we pre-bind the socket/ports to before connect.
*/
if(config_bool(NULL, "AllowTransProxy", 0)) {
ladr = config_addr(NULL, "Listen",
(u_int32_t)INADDR_ANY);
}
if(INADDR_ANY == ladr) {
ladr = socket_sck2addr(ctx.cli_ctrl->sock,
LOC_END, NULL);
}
if (socket_d_connect(ctx.cli_addr, ctx.cli_port,
ladr, ctx.act_lrng, ctx.act_urng,
&(ctx.cli_data), "Cli-Data", incr) == 0)
{
syslog_error("can't connect Cli-Data for %s",
ctx.cli_ctrl->peer);
client_respond(425, NULL,
"Can't open data connection");
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
return;
}
}
/*
** Send the original command from the client
*/
if (ctx.xfer_arg[0] != '\0') {
socket_printf(ctx.srv_ctrl, "%s %s\r\n",
ctx.xfer_cmd, ctx.xfer_arg);
syslog_write(T_INF, "'%s %s' sent for %s",
ctx.xfer_cmd, ctx.xfer_arg, ctx.cli_ctrl->peer);
} else {
socket_printf(ctx.srv_ctrl, "%s\r\n", ctx.xfer_cmd);
syslog_write(T_INF, "'%s' sent for %s",
ctx.xfer_cmd, ctx.cli_ctrl->peer);
}
/*
** Prepare the handling and statistics buffers
*/
memset(ctx.xfer_rep, 0, sizeof(ctx.xfer_rep));
ctx.xfer_beg = time(NULL);
ctx.expect = EXP_XFER; /* Expect 226 complete */
}
long redrobd_ctrl_thread::setup(void)
{
try {
redrobd_log_writeln(get_name() + " : setup started");
init_members();
/////////////////////////////////
// INITIALIZE ALIVE THREAD
/////////////////////////////////
// Create the cyclic alive thread object with garbage collector
redrobd_alive_thread *thread_ptr1 =
new redrobd_alive_thread(ALIVE_THREAD_NAME,
ALIVE_THREAD_FREQUENCY);
m_alive_thread_auto =
auto_ptr<redrobd_alive_thread>(thread_ptr1);
redrobd_log_writeln("About to initialize alive thread");
// Take back ownership from auto_ptr
thread_ptr1 = m_alive_thread_auto.release();
try {
// Initialize cyclic alive thread object
redrobd_thread_initialize((thread *)thread_ptr1,
ALIVE_THREAD_START_TIMEOUT,
ALIVE_THREAD_EXECUTE_TIMEOUT);
}
catch (...) {
m_alive_thread_auto = auto_ptr<redrobd_alive_thread>(thread_ptr1);
throw;
}
// Give back ownership to auto_ptr
m_alive_thread_auto = auto_ptr<redrobd_alive_thread>(thread_ptr1);
/////////////////////////////////
// INITIALIZE A/D Converter
/////////////////////////////////
// Create the A/D Converter object
m_mcp3008_io_ptr = new mcp3008_io(MCP3008_SPI_DEV,
MCP3008_REF_VOLTAGE);
// Initialize A/D Converter
m_mcp3008_io_ptr->initialize(MCP3008_SPI_SPEED);
/////////////////////////////////
// INITIALIZE HW configuration
/////////////////////////////////
// Create the hardware configuration object object with garbage collector
redrobd_hw_cfg *redrobd_hw_cfg_ptr =
new redrobd_hw_cfg(m_mcp3008_io_ptr,
(MCP3008_IO_CHANNEL)MCP3008_CHN_SHUTDOWN,
(MCP3008_IO_CHANNEL)MCP3008_CHN_CONT_STEER);
m_hw_cfg_auto = auto_ptr<redrobd_hw_cfg>(redrobd_hw_cfg_ptr);
// Initialize hardware configuration
m_hw_cfg_auto->initialize();
/////////////////////////////////
// INITIALIZE remote control
/////////////////////////////////
// Create the remote control object with garbage collector (RF, Radio)
redrobd_rc_rf *rc_rf_ptr =
new redrobd_rc_rf(PIN_RF_IN_3, // Forward
PIN_RF_IN_2, // Reverse
PIN_RF_IN_0, // Right
PIN_RF_IN_1); // Left
m_rc_rf_auto = auto_ptr<redrobd_rc_rf>(rc_rf_ptr);
// Initialize remote control (RF, Radio)
m_rc_rf_auto->initialize();
// Create the remote control object with garbage collector (NET, Sockets)
redrobd_rc_net *rc_net_ptr =
new redrobd_rc_net(RC_NET_SERVER_IP, // Server local IP address
RC_NET_SERVER_PORT); // Server local port
m_rc_net_auto = auto_ptr<redrobd_rc_net>(rc_net_ptr);
// Initialize remote control (NET, Sockets)
m_rc_net_auto->initialize();
m_rc_net_auto->set_voltage(0.0);
/////////////////////////////////
// INITIALIZE camera control
/////////////////////////////////
// Create the camera control object with garbage collector
redrobd_camera_ctrl *cc_ptr = new redrobd_camera_ctrl();
m_cc_auto = auto_ptr<redrobd_camera_ctrl>(cc_ptr);
// Initialize camera control
m_cc_auto->initialize();
/////////////////////////////////
// INITIALIZE motor control
/////////////////////////////////
// Check if continuous steering was selected (DIP-switch)
m_cont_steering = m_hw_cfg_auto->select_continuous_steering();
if (m_cont_steering) {
redrobd_log_writeln(get_name() + " : Continuous steering selected");
}
else {
redrobd_log_writeln(get_name() + " : Non-continuous steering selected");
}
// Create the motor control object with garbage collector
if (m_cont_steering) {
redrobd_mc_cont_steer *mc_ptr =
new redrobd_mc_cont_steer(PIN_L293D_1A, // Right motor
PIN_L293D_2A,
PIN_L293D_3A, // Left motor
PIN_L293D_4A);
m_mc_cont_steer_auto = auto_ptr<redrobd_mc_cont_steer>(mc_ptr);
}
else {
redrobd_mc_non_cont_steer *mc_ptr =
new redrobd_mc_non_cont_steer(PIN_L293D_1A, // Right motor
PIN_L293D_2A,
PIN_L293D_3A, // Left motor
PIN_L293D_4A);
m_mc_non_cont_steer_auto = auto_ptr<redrobd_mc_non_cont_steer>(mc_ptr);
}
// Initialize motor control
if (m_cont_steering) {
m_mc_cont_steer_auto->initialize();
}
else {
m_mc_non_cont_steer_auto->initialize();
}
/////////////////////////////////
// INITIALIZE battery monitor
/////////////////////////////////
// Create the cyclic battery monitor thread object with garbage collector
redrobd_voltage_monitor_thread *thread_ptr2 =
new redrobd_voltage_monitor_thread(BAT_MON_THREAD_NAME,
BAT_MON_THREAD_FREQUENCY,
m_mcp3008_io_ptr,
(MCP3008_IO_CHANNEL)MCP3008_CHN_VBAT,
MCP3008_CHN_VBAT_SF);
m_bat_mon_thread_auto =
auto_ptr<redrobd_voltage_monitor_thread>(thread_ptr2);
redrobd_log_writeln("About to initialize battery monitor thread");
// Take back ownership from auto_ptr
thread_ptr2 = m_bat_mon_thread_auto.release();
try {
// Initialize cyclic battery monitor thread object
redrobd_thread_initialize((thread *)thread_ptr2,
BAT_MON_THREAD_START_TIMEOUT,
BAT_MON_THREAD_EXECUTE_TIMEOUT);
}
catch (...) {
m_bat_mon_thread_auto =
auto_ptr<redrobd_voltage_monitor_thread>(thread_ptr2);
throw;
}
// Give back ownership to auto_ptr
m_bat_mon_thread_auto =
auto_ptr<redrobd_voltage_monitor_thread>(thread_ptr2);
// Start timer controlling when to check battery
if (m_battery_check_timer.reset() != TIMER_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_TIME_ERROR,
"Error resetting battery check timer for thread %s",
get_name().c_str());
}
// Start timer controlling when to check system stats
if (m_sys_stat_check_timer.reset() != TIMER_SUCCESS) {
THROW_EXP(REDROBD_INTERNAL_ERROR, REDROBD_TIME_ERROR,
"Error resetting system stats check timer for thread %s",
get_name().c_str());
}
redrobd_log_writeln(get_name() + " : setup done");
return THREAD_SUCCESS;
}
catch (excep &exp) {
syslog_error(redrobd_error_syslog_string(exp).c_str());
return THREAD_INTERNAL_ERROR;
}
catch (...) {
syslog_error("redrobd_ctrl_thread::setup->Unexpected exception");
return THREAD_INTERNAL_ERROR;
}
}
static void client_srv_ctrl_read(char *str)
{
int code, c1, c2, c3;
char *arg;
if (str == NULL) /* Basic sanity check */
return;
syslog_write(T_DBG, "from Server-PI (%d): '%.512s'",
ctx.srv_ctrl->sock, str);
#if defined(COMPILE_DEBUG)
debug(1, "from Server-PI (%d): '%.512s'",
ctx.srv_ctrl->sock, str);
#endif
/*
** Intermediate responses can usually be forwarded
*/
if (*str < '2' || *str > '5' || str[3] != ' ') {
/*
** If this is the destination host's
** welcome message let's discard it.
*/
if (ctx.expect == EXP_CONN)
return;
if (ctx.expect == EXP_USER && UAUTH_NONE != ctx.auth_mode)
return;
#if defined(COMPILE_DEBUG)
debug(2, "'%.4s'... forwarded to %s %d=%s", str,
ctx.cli_ctrl->ctyp, ctx.cli_ctrl->sock,
ctx.cli_ctrl->peer);
#endif
socket_printf(ctx.cli_ctrl, "%s\r\n", str);
return;
}
/*
** Consider only valid final response codes
*/
if ((code = atoi(str)) < 200 || code > 599) {
syslog_error("bad response %d from server for %s",
code, ctx.srv_ctrl->peer);
return;
}
c1 = code / 100;
c2 = (code % 100) / 10;
c3 = code % 10;
for (arg = str + 3; *arg == ' '; arg++)
;
/*
** We have a response code, go see what we expected
*/
switch (ctx.expect) {
case EXP_CONN:
/*
** Waiting for a 220 Welcome
*/
if (c1 == 2) {
socket_printf(ctx.srv_ctrl,
"USER %s\r\n",
ctx.username);
ctx.expect = EXP_USER;
} else {
if(UAUTH_NONE != ctx.auth_mode) {
client_respond(530, NULL,
"Login incorrect");
} else {
socket_printf(ctx.cli_ctrl,
"%s\r\n", str);
}
ctx.expect = EXP_IDLE;
ctx.cli_ctrl->kill = 1;
}
break;
case EXP_USER:
/*
** Only the following codes are useful:
** 230=logged in,
** 331=need password,
** 332=need password+account
*/
if(UAUTH_NONE != ctx.auth_mode) {
/*
** logged in, NO password needed
*/
if(c1 == 2 && c2 == 3) {
client_respond(230, NULL,
"User logged in, proceed.");
ctx.expect = EXP_IDLE;
break;
} else
/*
** OK, password (+account) needed
*/
if(c1 == 3 && c2 == 3) {
if(ctx.userpass) {
socket_printf(ctx.srv_ctrl,
"PASS %s\r\n",
ctx.userpass);
misc_free(FL, ctx.userpass);
ctx.userpass = NULL;
} else {
socket_printf(ctx.srv_ctrl,
"PASS \r\n");
}
ctx.expect = EXP_PTHR;
break;
}
}
/*
** pass server response through to client
*/
socket_printf(ctx.cli_ctrl, "%s\r\n", str);
if (c1 != 2 && c1 != 3) {
ctx.cli_ctrl->kill = 1;
}
ctx.expect = EXP_IDLE;
break;
case EXP_ABOR:
if (c1 == 2) {
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
}
break;
case EXP_PASV:
if (code == 227 && *arg != '\0') {
client_srv_passive(arg);
} else {
socket_printf(ctx.cli_ctrl,
"%s\r\n", str);
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
}
break;
case EXP_PORT:
if (code == 200) {
client_xfer_fireup();
} else {
socket_printf(ctx.cli_ctrl,
"%s\r\n", str);
client_data_reset(MOD_RESET);
ctx.expect = EXP_IDLE;
}
break;
case EXP_XFER:
/*
** Distinguish between success and failure
*/
if (c1 == 2) {
misc_strncpy(ctx.xfer_rep, str,
sizeof(ctx.xfer_rep));
} else {
socket_printf(ctx.cli_ctrl,
"%s\r\n", str);
if(config_bool(NULL,"FailResetsPasv", 0)) {
client_data_reset(MOD_RESET);
} else {
client_data_reset(ctx.cli_mode);
}
}
ctx.expect = EXP_IDLE;
break;
case EXP_PTHR:
socket_printf(ctx.cli_ctrl, "%s\r\n", str);
ctx.expect = EXP_IDLE;
break;
case EXP_IDLE:
socket_printf(ctx.cli_ctrl, "%s\r\n", str);
if (code == 421) {
syslog_write(T_WRN,
"server closed connection "
"for %s", ctx.cli_ctrl->peer);
ctx.cli_ctrl->kill = 1;
} else {
syslog_write(T_WRN,
"bogus '%.512s' from "
"Server-PI for %s",
ctx.cli_ctrl->peer, str);
}
break;
}
}
static int client_setup_file(CONTEXT *ctx, char *who)
{
char *p;
u_int16_t l, u;
/*
** little bit sanity check
*/
if( !(ctx && who && *who)) {
return -1;
}
/*
** Inform the auditor that we are using the config file
*/
syslog_write(U_INF, "reading data for '%s' from cfg-file", who);
/*
** Evaluate DestinationAddress, except we have magic_addr
*/
if (INADDR_ANY != ctx->magic_addr) {
ctx->srv_addr = ctx->magic_addr;
} else {
ctx->srv_addr = config_addr(who, "DestinationAddress",
INADDR_ANY);
#if defined(COMPILE_DEBUG)
debug(2, "file DestAddr for %s: '%s'",
ctx->cli_ctrl->peer, socket_addr2str(ctx->srv_addr));
#endif
}
/*
** Evaluate DestinationPort, except we have magic_port
*/
if (INPORT_ANY != ctx->magic_port) {
ctx->srv_port = ctx->magic_port;
} else {
ctx->srv_port = config_port(who, "DestinationPort",
IPPORT_FTP);
#if defined(COMPILE_DEBUG)
debug(2, "file DestPort for %s: %d",
ctx->cli_ctrl->peer, (int) ctx->srv_port);
#endif
}
/*
** Evaluate the destination transfer mode
*/
p = config_str(who, "DestinationTransferMode", "client");
if(0 == strcasecmp(p, "active")) {
ctx->srv_mode = MOD_ACT_FTP;
} else
if(0 == strcasecmp(p, "passive")) {
ctx->srv_mode = MOD_PAS_FTP;
} else
if(0 == strcasecmp(p, "client")) {
ctx->srv_mode = MOD_CLI_FTP;
} else {
syslog_error("can't eval DestMode for %s",
ctx->cli_ctrl->peer);
return -1;
}
#if defined(COMPILE_DEBUG)
debug(2, "file DestMode for %s: %s", ctx->cli_ctrl->peer, p);
#endif
/*
** Evaluate min/max destination port range
*/
l = config_port(who, "DestinationMinPort", INPORT_ANY);
u = config_port(who, "DestinationMaxPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->srv_lrng = l;
ctx->srv_urng = u;
} else {
ctx->srv_lrng = INPORT_ANY;
ctx->srv_urng = INPORT_ANY;
}
#if defined(COMPILE_DEBUG)
debug(2, "file DestRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->srv_lrng, ctx->srv_urng);
#endif
/*
** Evaluate min/max active port range
*/
l = config_port(who, "ActiveMinDataPort", INPORT_ANY);
u = config_port(who, "ActiveMaxDataPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->act_lrng = l;
ctx->act_urng = u;
} else {
/* do not try to bind a port < 1024 if running as UID != 0 */
if(0 == getuid()) {
ctx->act_lrng = (IPPORT_FTP - 1);
ctx->act_urng = (IPPORT_FTP - 1);
} else {
ctx->act_lrng = INPORT_ANY;
ctx->act_urng = INPORT_ANY;
}
}
#if defined(COMPILE_DEBUG)
debug(2, "file ActiveRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->act_lrng, ctx->act_urng);
#endif
/*
** Evaluate min/max passive port range
*/
l = config_port(who, "PassiveMinDataPort", INPORT_ANY);
u = config_port(who, "PassiveMaxDataPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->pas_lrng = l;
ctx->pas_urng = u;
} else {
ctx->pas_lrng = INPORT_ANY;
ctx->pas_urng = INPORT_ANY;
}
#if defined(COMPILE_DEBUG)
debug(2, "file PassiveRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->pas_lrng, ctx->pas_urng);
#endif
/*
** Setup other configuration options
*/
ctx->same_adr = config_bool(who, "SameAddress", 1);
ctx->timeout = config_int (who, "TimeOut", 900);
#if defined(COMPILE_DEBUG)
debug(2, "file SameAddress for %s: %s", ctx->cli_ctrl->peer,
ctx->same_adr ? "yes" : "no");
debug(2, "file TimeOut for %s: %d", ctx->cli_ctrl->peer, ctx->timeout);
#endif
/*
** Adjust the allow/deny flags for the commands
*/
p = config_str(who, "ValidCommands", NULL);
cmds_set_allow(p);
return 0;
}
int client_setup(char *pwd)
{
char *type;
char *who;
/*
** Setup defaults for the client's DTP process
*/
ctx.cli_mode = MOD_ACT_FTP;
ctx.cli_addr = ctx.cli_ctrl->addr;
ctx.cli_port = ctx.cli_ctrl->port;
ctx.srv_addr = INADDR_ANY;
ctx.srv_port = INPORT_ANY;
/*
** select the proper name for user specific setup...
*/
if(NULL != ctx.userauth) {
who = ctx.userauth;
} else {
who = ctx.username;
}
/*
** don't allow empty or invalid names...
*/
if(NULL != who && '\0' != who[0]) {
char *ptr;
#if defined(HAVE_REGEX)
char *rule;
void *preg = NULL;
rule = config_str(NULL, "UserNameRule",
"^[[:alnum:]]+([%20@/\\._-][[:alnum:]]+)*$");
syslog_write(T_DBG, "compiling UserNameRule: '%.1024s'", rule);
if(NULL == (ptr = cmds_reg_comp(&preg, rule))) {
return -1;
}
syslog_write(T_DBG, "DeHTMLized UserNameRule: '%.1024s'", ptr);
ptr = cmds_reg_exec(preg, who);
if(NULL != ptr) {
syslog_write(U_WRN, "invalid user name '%.128s'%s: %s",
who, (strlen(who)>128 ? "..." : ""), ptr);
cmds_reg_comp(&preg, NULL); /* free regex ptr */
return -1;
} else {
cmds_reg_comp(&preg, NULL); /* free regex ptr */
}
#else
/*
** Simplified "emulation" of the above regex:
*/
if( !(isalnum(who[0]) && isalnum(who[strlen(who)-1]))) {
syslog_write(U_ERR, "invalid user name '%.128s'%s",
who, (strlen(who)>128 ? "..." : ""));
return 1;
}
for(ptr=who+1; *ptr; ptr++) {
if( !(isalnum(*ptr) ||
' ' == *ptr || '@' == *ptr || '/' == *ptr ||
'.' == *ptr || '_' == *ptr || '-' == *ptr))
{
syslog_write(U_ERR, "invalid user name '%.128s'%s",
who, (strlen(who)>128 ? "..." : ""));
return -1;
}
}
#endif
} else {
/* HUH ?! */
syslog_write(U_ERR, "empty user name");
return -1;
}
/*
** user specific setup from config file
** with fallback to default values
*/
if(0 != client_setup_file(&ctx, who)) {
return -1;
}
/*
** check if we have to authenticate the user
**
** authenticate user and setup user specific
** from ldap server if configured
*/
type = config_str(NULL, "UserAuthType", NULL);
if(NULL != type) {
if(0 == strcasecmp(type, "ldap")) {
/*
** ldap server is mandatory
*/
if(NULL == config_str(NULL, "LDAPServer", NULL)) {
misc_die(FL, "client_setup: ?LDAPServer?");
}
/*
** ldap auth + setup
*/
if(0 != ldap_setup_user(&ctx, who, pwd ? pwd : ""))
return -1;
} else {
misc_die(FL, "client_setup: unknown ?UserAuthType?");
}
} else {
/*
** try ldap setup only
*/
ldap_setup_user(&ctx, who, NULL);
}
/*
** Evaluate mandatory settings or refuse to run.
*/
errno = 0;
if(INADDR_ANY == ctx.srv_addr || INADDR_BROADCAST == ctx.srv_addr) {
syslog_error("can't eval DestAddr for %s", ctx.cli_ctrl->peer);
return -1;
}
if(INPORT_ANY == ctx.srv_port) {
syslog_error("can't eval DestPort for %s", ctx.cli_ctrl->peer);
return -1;
}
return 0; /* all right */
}
static int client_setup_file(CONTEXT *ctx, char *who)
{
char *p;
u_int16_t l, u;
/*
** little bit sanity check
*/
if( !(ctx && who && *who)) {
return -1;
}
/*
** Inform the auditor that we are using the config file
*/
syslog_write(U_INF, "[ %s ] reading data for '%s' from cfg-file", ctx->cli_ctrl->peer, who);
/*
** Evaluate DestinationAddress, except we have magic_addr
*/
if (INADDR_ANY != ctx->magic_addr) {
ctx->srv_addr = ctx->magic_addr;
} else {
ctx->srv_addr = config_addr(who, "DestinationAddress",
INADDR_ANY);
#if defined(COMPILE_DEBUG)
debug(2, "[ %s ] file DestAddr for %s: '%s'", ctx->cli_ctrl->peer,
ctx->cli_ctrl->peer, socket_addr2str(ctx->srv_addr));
#endif
}
/*
** Evaluate DestinationPort, except we have magic_port
*/
if (INPORT_ANY != ctx->magic_port) {
ctx->srv_port = ctx->magic_port;
} else {
ctx->srv_port = config_port(who, "DestinationPort",
IPPORT_FTP);
#if defined(COMPILE_DEBUG)
debug(2, "[ %s ] file DestPort for %s: %d", ctx->cli_ctrl->peer,
ctx->cli_ctrl->peer, (int) ctx->srv_port);
#endif
}
/*
** Evaluate the destination transfer mode
*/
p = config_str(who, "DestinationTransferMode", "client");
if(0 == strcasecmp(p, "active")) {
ctx->srv_mode = MOD_ACT_FTP;
} else
if(0 == strcasecmp(p, "passive")) {
ctx->srv_mode = MOD_PAS_FTP;
} else
if(0 == strcasecmp(p, "client")) {
ctx->srv_mode = MOD_CLI_FTP;
} else {
syslog_error("can't eval DestMode for %s",
ctx->cli_ctrl->peer);
return -1;
}
#if defined(COMPILE_DEBUG)
debug(2, "file DestMode for %s: %s", ctx->cli_ctrl->peer, p);
#endif
/*
** Evaluate min/max destination port range
*/
l = config_port(who, "DestinationMinPort", INPORT_ANY);
u = config_port(who, "DestinationMaxPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->srv_lrng = l;
ctx->srv_urng = u;
} else {
ctx->srv_lrng = INPORT_ANY;
ctx->srv_urng = INPORT_ANY;
}
#if defined(COMPILE_DEBUG)
debug(2, "file DestRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->srv_lrng, ctx->srv_urng);
#endif
/*
** Evaluate min/max active port range
*/
l = config_port(who, "ActiveMinDataPort", INPORT_ANY);
u = config_port(who, "ActiveMaxDataPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->act_lrng = l;
ctx->act_urng = u;
} else {
/* do not try to bind a port < 1024 if running as UID != 0 */
if(0 == getuid()) {
ctx->act_lrng = (IPPORT_FTP - 1);
ctx->act_urng = (IPPORT_FTP - 1);
} else {
ctx->act_lrng = INPORT_ANY;
ctx->act_urng = INPORT_ANY;
}
}
#if defined(COMPILE_DEBUG)
debug(2, "file ActiveRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->act_lrng, ctx->act_urng);
#endif
/*
** Evaluate min/max passive port range
*/
l = config_port(who, "PassiveMinDataPort", INPORT_ANY);
u = config_port(who, "PassiveMaxDataPort", INPORT_ANY);
if (l > 0 && u > 0 && u >= l) {
ctx->pas_lrng = l;
ctx->pas_urng = u;
} else {
ctx->pas_lrng = INPORT_ANY;
ctx->pas_urng = INPORT_ANY;
}
#if defined(COMPILE_DEBUG)
debug(2, "file PassiveRange for %s: %u-%u", ctx->cli_ctrl->peer,
ctx->pas_lrng, ctx->pas_urng);
#endif
/*
** Setup other configuration options
*/
ctx->same_adr = config_bool(who, "SameAddress", 1);
ctx->timeout = config_int (who, "TimeOut", 900);
#if defined(COMPILE_DEBUG)
debug(2, "file SameAddress for %s: %s", ctx->cli_ctrl->peer,
ctx->same_adr ? "yes" : "no");
debug(2, "file TimeOut for %s: %d", ctx->cli_ctrl->peer, ctx->timeout);
#endif
/*** Adjust the allow/deny flags for the commands ** Fred patch */
char dest[17];
char ipdest[17];
char ipsrc[17];
strcpy (ipsrc,ctx->cli_ctrl->peer);
strcpy (ipdest, socket_addr2str(ctx->srv_addr));
syslog_write(U_INF, "\n");
syslog_write(U_INF, "[ %s ] Fred Patch rules dest: %s src: %s", ipsrc, ipdest, ipsrc);
char groupname[]="group";
char commandename[]="ValidCommands";
char *group;
FILE *fp;
group = "group1";
int ix;
int ix2;
u_int32_t dnsaddr;
for(ix=1; group != NULL; ix++) {
sprintf (&groupname[5],"%d",ix);
group = config_str(who, groupname, NULL);
}
syslog_write(U_INF, "[ %s ] Number of groups: %d", ipsrc, ix-2);
for (ix2=1; ix2 <= ix-2; ix2++) {
sprintf (&groupname[5],"%d",ix2);
group = config_str(who, groupname, NULL);
syslog_write(U_INF, "[ %s ] Reading: %s",ipsrc, group );
if ((fp = fopen(group, "r")) == NULL)
{
syslog_write(U_INF, "File not found");
return 0;
}
else
{
fseek(fp, 0, SEEK_SET);
while (fgets(dest, 17 , fp) != NULL)
{
// Pour une IP
// Correction Bug Ligne sans \n
dest[16] = '\n';
char *c = strchr (dest, '\n');
*c = 0;
/* Dns resolution */
if (ipdest != dest) {
dnsaddr = socket_str2addr(dest, INADDR_ANY);
if (dnsaddr != 0)
strcpy (dest, socket_addr2str(dnsaddr));
}
if (strcmp(dest,ipdest) == 0 || strcmp(dest,ipsrc) == 0)
{
sprintf (&commandename[13],"%d",ix);
p = config_str(who,commandename, NULL);
cmds_set_allow(p);
syslog_write(U_INF, "[ %s ] Apply rules for: %s dst: %s",ipsrc, ipsrc, ipdest);
syslog_write(U_INF, "[ %s ] Server match %s ",ipsrc, group );
syslog_write(U_INF, "\n");
fclose(fp);
return 0;
}
// Network
if (strchr(dest, 'x') != NULL)
{
char *c = strchr(dest, 'x');
*c = 0;
int longueur;
longueur = strlen(dest);
if (strncmp(dest,ipdest,longueur) == 0 || strncmp(dest,ipsrc,longueur) == 0)
{
sprintf (&commandename[13],"%d",ix);
p = config_str(who,commandename, NULL);
cmds_set_allow(p);
syslog_write(U_INF, "[ %s ] Apply rules for Network: %s src: %s",ipsrc, ipdest, ipsrc);
syslog_write(U_INF, "[ %s ] Server match %s ",ipsrc, group );
syslog_write(U_INF, "\n");
fclose(fp);
return 0;
}
}
}
fclose(fp);
}
}
syslog_write(U_INF, "[ %s ] Oh, Oh, no rule found -> defaultrules", ipsrc) ;
p = config_str(who, "defaultrules", NULL);
cmds_set_allow(p);
return 0;
}
long become_daemon(const char *run_as_user,
const char *work_dir,
const char *lock_file,
int *fd_lock_file)
{
pid_t pid;
int fd;
*fd_lock_file = DAEMON_BAD_FD_LOCK_FILE;
// Switch to specified user
if (run_as_user) {
struct passwd *pw_info = getpwnam(run_as_user);
if (pw_info) {
if (setuid(pw_info->pw_uid) == -1) {
syslog_error("setuid failed for %s, code=%d (%s)",
run_as_user, errno, strerror(errno));
return DAEMON_FAILURE;
}
}
else {
syslog_error("getpwnam failed for %s", run_as_user);
return DAEMON_FAILURE;
}
}
// Step 1 : Create a child process
pid = fork();
switch (pid) {
case -1 :
syslog_error("fork(1) failed, code=%d (%s)", errno, strerror(errno));
return DAEMON_FAILURE;
case 0 :
break; // Child falls through
default :
exit(EXIT_SUCCESS); // Parent terminates OK
}
// Step 2 : Become leader of new session
if (setsid() == -1) {
syslog_error("setsid failed, code=%d (%s)", errno, strerror(errno));
return DAEMON_FAILURE;
}
// Step 3 : Ensure no controlling terminal
pid = fork();
switch (pid) {
case -1 :
syslog_error("fork(2) failed, code=%d (%s)", errno, strerror(errno));
return DAEMON_FAILURE;
case 0 :
break; // Grand-child falls through
default :
exit(EXIT_SUCCESS); // Child terminates OK
}
// This process (grand-child) will be the actual daemon
// Step 4 : Clear file mode creation mask
umask(0);
// Step 5 : Change current working directory
if (chdir(work_dir) == -1) {
syslog_error("chdir to '%s' failed, code=%d (%s)",
work_dir, errno, strerror(errno));
return DAEMON_FAILURE;
}
// Step 6: Close standard file descriptors
close(STDIN_FILENO);
close(STDOUT_FILENO);
close(STDERR_FILENO);
// Step 7 : Redirect standard file descriptors to /dev/null
fd = open("/dev/null", O_RDWR);
if (fd != STDIN_FILENO) {
syslog_error("Redirect STDIN failed, code=%d (%s)",
errno, strerror(errno));
return DAEMON_FAILURE;
}
if (dup2(STDIN_FILENO, STDOUT_FILENO) != STDOUT_FILENO) {
syslog_error("Redirect STDOUT failed, code=%d (%s)",
errno, strerror(errno));
return DAEMON_FAILURE;
}
if (dup2(STDIN_FILENO, STDERR_FILENO) != STDERR_FILENO) {
syslog_error("Redirect STDERR failed, code=%d (%s)",
errno, strerror(errno));
return DAEMON_FAILURE;
}
// Create lock file to prevent more than one instance
// of the daemon is being executed
if (lock_file) {
if (acquire_lock_file(lock_file,
fd_lock_file) != DAEMON_SUCCESS) {
return DAEMON_FAILURE;
}
}
return DAEMON_SUCCESS;
}