int module_path(char *result, const char *basename)
{
/* Find a kernel module's path */
struct stat sb;
char buf[PATH_MAX];
char rtlib_result[PATH_MAX];
int has_rtdir;
struct utsname uts;
// Initialize kmodule_dir, only once
if (kmodule_dir[0] == 0) {
uname(&uts);
get_rtapi_config(buf,"RUN_IN_PLACE",4);
if (strncmp(buf,"yes",3) == 0) {
// Complete RTLIB_DIR should be <RTLIB_DIR>/<flavor>/<uname -r>
if (get_rtapi_config(buf,"RTLIB_DIR",PATH_MAX) != 0)
return -ENOENT;
if (strcmp(default_flavor()->build_sys,"user-dso") == 0) {
// point user threads to a common directory
snprintf(kmodule_dir,PATH_MAX,"%s/userland/%s",
buf, uts.release);
} else {
// kthreads each have their own directory
snprintf(kmodule_dir,PATH_MAX,"%s/%s/%s",
buf, default_flavor()->name, uts.release);
}
} else {
// Complete RTLIB_DIR should be /lib/modules/<uname -r>/linuxcnc
snprintf(kmodule_dir, PATH_MAX,
"/lib/modules/%s/linuxcnc", uts.release);
}
}
// Look for module in kmodule_dir/RTLIB_DIR
snprintf(result, PATH_MAX, "%s/%s.ko", kmodule_dir, basename);
if ((stat(result, &sb) == 0) && (S_ISREG(sb.st_mode)))
return 0;
// Not found; save result for possible later diagnostic msg
strcpy(rtlib_result,result);
// Check RTDIR as well (RTAI)
has_rtdir = (get_rtapi_config(buf, "RTDIR", PATH_MAX) == 0 && buf[0] != 0);
if (has_rtdir) {
snprintf(result, PATH_MAX, "%s/%s.ko", buf, basename);
if ((stat(result, &sb) == 0) && (S_ISREG(sb.st_mode)))
return 0;
}
// Module not found
fprintf(stderr, "module '%s.ko' not found in directory\n\t%s\n",
basename, kmodule_dir);
if (has_rtdir)
fprintf(stderr, "\tor directory %s\n", buf);
return -ENOENT;
}
int run_module_helper(const char *format, ...)
{
char mod_helper[PATH_MAX+100];
if (get_rtapi_config(mod_helper, "linuxcnc_module_helper", PATH_MAX) != 0) {
fprintf(stderr, "load_module: ERROR: failed to read "
"linuxcnc_module_helper path from rtapi config\n");
return -1;
}
strcat(mod_helper, " ");
int n = strlen(mod_helper);
va_list args;
int retval;
va_start(args, format);
retval = vsnprintf(&mod_helper[n], sizeof(mod_helper) - n, format, args);
va_end(args);
if (retval < 0 ) {
fprintf(stderr, "run_module_helper: invalid arguments\n");
return retval;
}
return system(mod_helper);
}
static char *loadrt_generator(const char *text, int state) {
static int len;
static DIR *d;
struct dirent *ent;
char rtlibdir[PATH_MAX];
if (get_rtapi_config(rtlibdir,"RTLIB_DIR",PATH_MAX) != 0)
return NULL;
strcat(rtlibdir,"/");
strcat(rtlibdir, current_flavor->name);
strcat(rtlibdir,"/");
if(!state) {
len = strlen(text);
d = opendir(rtlibdir);
}
while(d && (ent = readdir(d))) {
char *result;
if(!strstr(ent->d_name, default_flavor()->mod_ext)) continue;
if(startswith(ent->d_name, "rtapi.")) continue;
if(startswith(ent->d_name, "hal_lib.")) continue;
if(strncmp(text, ent->d_name, len) != 0) continue;
result = strdup(ent->d_name);
result[strlen(result) - \
strlen(default_flavor()->mod_ext)] = 0;
return result;
}
if (d != NULL) {
closedir(d);
}
return NULL;
}
int rtapi_get_tags(const char *mod_name)
{
char modpath[PATH_MAX];
int result = 0, n = 0;
char *cp1 = "";
flavor_ptr flavor = default_flavor();
if (kernel_threads(flavor)) {
if (module_path(modpath, mod_name) < 0) {
perror("module_path");
return -1;
}
} else {
if (get_rtapi_config(modpath,"RTLIB_DIR",PATH_MAX) != 0) {
perror("cant get RTLIB_DIR ?\n");
return -1;
}
strcat(modpath,"/");
strcat(modpath, flavor->name);
strcat(modpath,"/");
strcat(modpath,mod_name);
strcat(modpath, flavor->mod_ext);
}
const char **caps = get_caps(modpath);
char **p = (char **)caps;
while (p && *p && strlen(*p)) {
cp1 = *p++;
if (strncmp(cp1,"HAL=", 4) == 0) {
n = strtol(&cp1[4], NULL, 10);
result |= n ;
}
}
free(caps);
return result;
}
static char *loadusr_generator(const char *text, int state) {
static int len;
static DIR *d;
struct dirent *ent;
static int doing_table;
char bindir[PATH_MAX];
if (get_rtapi_config(bindir,"BIN_DIR",PATH_MAX) != 0)
return NULL;
if(!state) {
if(argno == 1) doing_table = 1;
string_table = loadusr_table;
len = strlen(text);
d = opendir(bindir);
}
if(doing_table) {
char *result = table_generator(text, state);
if(result) return result;
doing_table = 0;
}
while(d && (ent = readdir(d))) {
char *result;
if(!startswith(ent->d_name, "hal")) continue;
if(startswith(ent->d_name, "halcmd")) continue;
if(strncmp(text, ent->d_name, len) != 0) continue;
result = strdup(ent->d_name);
return result;
}
if (d != NULL) {
closedir(d);
}
return NULL;
}