void Drone::Connected()
{
std::cout << "Connected\n";
m_Client = m_Server.nextPendingConnection(); //m_Client on connection
connect(m_Client, SIGNAL(readyRead()), this, SLOT(ReadCmd())); //If recive data call ReadCmd()
m_Connected = true;
SendAnswer("Hello Client\n");
}
void
PerformIO ( struct AHIRequest *ioreq,
struct AHIBase *AHIBase )
{
struct AHIDevUnit *iounit;
iounit = (struct AHIDevUnit *) ioreq->ahir_Std.io_Unit;
ioreq->ahir_Std.io_Error = 0;
// Just to make sure TermIO won't free a bad address
ioreq->ahir_Extras = NULL;
switch(ioreq->ahir_Std.io_Command)
{
case NSCMD_DEVICEQUERY:
Devicequery(ioreq, AHIBase);
break;
case CMD_RESET:
ResetCmd(ioreq, AHIBase);
break;
case CMD_READ:
ReadCmd(ioreq, AHIBase);
break;
case CMD_WRITE:
if(iounit->StopCnt)
{
AddTail((struct List *) &iounit->RequestQueue,(struct Node *) ioreq);
}
else
{
WriteCmd(ioreq, AHIBase);
}
break;
case CMD_STOP:
StopCmd(ioreq, AHIBase);
break;
case CMD_START:
StartCmd(ioreq, AHIBase);
break;
case CMD_FLUSH:
FlushCmd(ioreq, AHIBase);
break;
default:
ioreq->ahir_Std.io_Error = IOERR_NOCMD;
TermIO(ioreq, AHIBase);
break;
}
}
/*** quote - Editor <quote> function
*
* Purpose:
* Inserts character in text at current cursor position. Delete
* previously selected text if any.
*
* Input:
* the usual
*
* Output:
* TRUE if character successfully inserted (FALSE means line too long)
*
*************************************************************************/
flagType
quote (
CMDDATA argData,
ARG * pArg,
flagType fMeta
)
{
char c;
delarg (pArg);
while ((c = (char)(ReadCmd()->arg)) == 0) {
;
}
return edit (c);
argData; fMeta;
}
static int CreateClientProcess(int fd)
{
int pid=0;
pid=fork();
if(pid==0)
{
signal(SIGCHLD, SIG_DFL);
close(_listenfd);
close(_broadcastfd);
printf("fork new pid=%d, fd=%d\n", pid, fd);
sleep(2);
char *_recvBuf = 0;
int RECV_BUFF_LEN = 1024;
while((_recvBuf = (char *)malloc(RECV_BUFF_LEN))==NULL)
{
sleep(1);
}
printf("_recvBuf=%p\n", _recvBuf);
while(1)
{
int err = ReadCmd(fd, _recvBuf, RECV_BUFF_LEN);
if(err <= 0)
{
printf("ReadCmd connect close %d\n", fd);
break;
}
void* result = HandleCmd(fd, _recvBuf, NULL, 0);
err = SendResult(fd, result);
if(err <= 0)
{
printf("SendResult error\n");
break;
}
free(result);
}
if(_recvBuf) free(_recvBuf);
shutdown(fd, SHUT_RD);
close(fd);
exit(0);
printf("fork new end%d\n", pid);
}
else if(pid>0)
{
printf("CreateClientProcess fork main %d\n", pid);
_pid=pid;
close(fd);
//sleep(2);
}
else if(pid==-1)
{
printf("CreateClientProcess fork error %d\n", pid);
}
return pid;
}
int main (int argc, char *argv[])
{
int Thread;
int c;
char Input[MAXCMD];
char *Arg;
struct sigaction SigAct;
int Fed;
int Len;
int rc;
int IsUrgent;
int KeepRunning=1;
int RunAsDaemon=0;
int ResetQueue=0;
int KillScheduler=0;
int Test=0; /* 1=test and continue, 2=test and quit */
pid_t Pid;
/* check args */
while((c = getopt(argc,argv,"dkHiIL:lvqRtTh")) != -1)
{
switch(c)
{
case 'd':
RunAsDaemon=1;
break;
case 'H':
IgnoreHost=1;
break;
case 'i':
DB = DBopen();
if (!DB)
{
fprintf(stderr, "FATAL: Unable to connect to database\n");
exit(-1);
}
/* Nothing to initialize */
DBclose(DB);
return(0);
case 'I':
UseStdin=1;
break;
case 'k': /* kill the scheduler */
KillScheduler = 1;
case 'l': /* tell the scheduler to redo logs */
break;
case 'L':
LogFile=optarg;
break;
case 'q':
ShowState=0;
break;
case 'R':
ResetQueue=1;
break;
case 't':
Test=2;
break;
case 'T':
Test=1;
break;
case 'v':
Verbose++;
break;
case 'h':
default:
Usage(argv[0]);
DBclose(DB);
exit(-1);
}
}
if ((optind != argc-1) && (optind != argc))
{
Usage(argv[0]);
DBclose(DB);
exit(-1);
}
/* set to PROJECTUSER and PROJECTGROUP */
SetPuserPgrp(ProcessName);
if (KillScheduler)
{
DB = DBopen();
if (!DB)
{
fprintf(stderr, "FATAL: Unable to connect to database\n");
exit(-1);
}
/* kill scheduler */
LogPrint("Scheduler kill requested. Killing scheduler.\n");
StopScheduler(1);
StopWatchdog();
exit(0);
}
/* Become a daemon? */
if (RunAsDaemon)
{
/* do not close stdout/stderr when using a LogFile */
rc = daemon(0,(LogFile!=NULL));
fclose(stdin);
}
/* must be after uid is set since this might create the log file */
LogPrint("Scheduler started. %s\n", BuildVersion);
/* Lock the scheduler, so no other scheduler can run */
rc = LockName(ProcessName);
if (rc > 0) /* already locked */
{
Pid = rc;
}
else if (rc == 0) /* new lock */
{
Pid = LockGetPID(ProcessName);
if (!Pid)
{
LogPrint("*** %s lock error ***\n", ProcessName);
exit(-1);
}
}
else
{
LogPrint("*** %s lock failed. Scheduler exitting. ***\n", ProcessName);
exit(-1);
}
if (Verbose)
LogPrint("*** %s successfully locked, pid %d ***\n", ProcessName, Pid);
/**** From here on, I am the only scheduler running ****/
/**************************************/
/* catch signals */
/**************************************/
memset(&SigAct,0,sizeof(SigAct));
SigAct.sa_sigaction = HandleSig;
sigemptyset(&(SigAct.sa_mask));
SigAct.sa_flags = SA_SIGINFO | SA_RESTART;
sigaction(SIGCHLD,&SigAct,NULL);
/* handle signals to the parent */
SigAct.sa_flags = SA_SIGINFO | SA_RESTART;
SigAct.sa_sigaction = ParentSig;
if (sigaction(SIGSEGV,&SigAct,NULL) != 0) perror("SIGSEGV");
if (sigaction(SIGQUIT,&SigAct,NULL) != 0) perror("SIGQUIT");
if (sigaction(SIGTERM,&SigAct,NULL) != 0) perror("SIGTERM");
if (sigaction(SIGINT,&SigAct,NULL) != 0) perror("SIGINT");
if (sigaction(SIGUSR1,&SigAct,NULL) != 0) perror("SIGUSR1");
if (sigaction(SIGUSR2,&SigAct,NULL) != 0) perror("SIGUSR2");
if (sigaction(SIGALRM,&SigAct,NULL) != 0) perror("SIGALRM");
/* ignore dead pipes when using -lpq -- see http://archives.postgresql.org/pgsql-bugs/2003-03/msg00118.php */
signal(SIGPIPE,SIG_IGN);
signal(SIGALRM,SIG_IGN); /* ignore self-wakeups */
/* Prepare logging */
LogPrint("*** Scheduler started, PID %d ***\n", Pid);
/* Log to file? (Not if I'm killing schedulers) */
if ((dup2(fileno(stdout),fileno(stderr))) < 0)
{
LogPrint("FATAL: Unable to write to redirect stderr to log. Exiting. \n");
DBclose(DB);
exit(-1);
}
/* init queue */
DB = DBopen();
if (!DB)
{
LogPrint("FATAL: Unable to connect to database. Exiting. \n");
exit(-1);
}
DBSetHostname();
/* Prepare for logging errors to DB */
DBErrorInit();
/* If we're resetting the queue */
if (ResetQueue)
{
/* If someone has a start without an end, then it is a hung process */
DBLockAccess(DB,"UPDATE jobqueue SET jq_starttime=null WHERE jq_endtime is NULL;");
LogPrint("Job queue reset.\n");
}
/* init storage */
DBQinit();
if (optind == argc) InitEngines(DEFAULTSETUP);
else InitEngines(argv[optind]);
/* Check for good agents */
if (SelfTest())
{
LogPrint("FATAL: Self Test failed. Inconsistent agent(s) detected. Exiting. \n");
DBclose(DB);
exit(-1);
}
/* Check for competing schedulers */
if (DBCheckSchedulerUnique())
{
/* Yes, a scheduler is running. So log and exit. */
LogPrint("*** Scheduler not starting since another currently running. ***\n");
exit(0);
}
else
DBCheckStatus(); /* clean scheduler_status and jobqueue tables */
/* See if we're testing */
if (Test)
{
rc = TestEngines();
/* rc = number of engine failures */
if (rc == 0)
LogPrint("STATUS: All scheduler agents are operational.\n");
else
LogPrint("STATUS: %d agents failed to initialize.\n",rc);
if ((Test > 1) || rc)
{
LogPrint("*** %d agent failures. Scheduler exiting. \n", rc);
/* clean up scheduler */
StopScheduler(0);
exit(0);
}
}
/**************************************/
/* while there are commands to run... */
/**************************************/
Thread=0;
Fed=0;
while(KeepRunning)
{
SaveStatus();
/* check for data to process */
if (UseStdin)
{
rc = SelectAnyData(1,fileno(stdin));
if (feof(stdin)) SLOWDEATH=1;
}
else rc = SelectAnyData(0,0);
if (rc & 0x01) /* got stdin input to feed to a child */
{
IsUrgent=0;
Len=ReadCmd(stdin,Input,MAXCMD);
if (Len < 0) break; /* skip blank lines and EOF */
if (Len == 0) continue; /* skip blank lines and EOF */
if (Input[0]=='!')
{
IsUrgent=1;
Input[0]=' ';
}
/* Got a command! */
if (Verbose) LogPrint("Parent got command: %s\n",Input);
Arg = strchr(Input,'|');
if (!Arg)
{
LogPrint("ERROR: Unknown command (len=%d) '%s'\n",Len,Input);
continue; /* skip unknown lines */
}
Arg[0]='\0'; Arg++; /* skip space */
while((Arg[0] != '\0') && isspace(Arg[0])) Arg++;
/* feed command to child */
/* handle special commands (scheduler is the child) */
Fed=SchedulerCommand(Input,Arg);
/* if command needs child, find a child to feed it to */
while(!Fed)
{
Thread = GetChild(Input,IsUrgent);
if (Thread < 0)
{
if (SelectAnyData(0,0) & 0x02) /* wait for a child to become ready */
{
Thread = GetChild(Input,IsUrgent);
}
}
if (Thread >= 0)
{
if (CM[Thread].Status != ST_RUNNING)
{
ChangeStatus(Thread,ST_RUNNING);
}
if (Verbose) LogPrint("(a) Feeding child[%d]: '%s'\n",Thread,Arg);
memset(CM[Thread].Parm,'\0',MAXCMD);
strcpy(CM[Thread].Parm,Arg);
Input[Len++]='\n'; /* add a \n to end of Arg */
write(CM[Thread].ChildStdin,Arg,strlen(Arg));
Fed=1;
}
/* Thread == -1 is a timeout -- retry the request */
else if (Thread <= -2)
{
LogPrint("ERROR: No living engines for '%s'\n",Input);
Fed=1; /* skip this bad command */
}
} /* while not Fed */
} /* if processing stdin input */
else
{
/* this will pause if it detects a fast loop */
Fed = DBProcessQueue(DB);
}
// if (Verbose) printf("Time: %d Fed=%d\n",(int)time(NULL),Fed);
if (Fed==0)
{
/* What happens if there was no job to process? */
StaleChild();
if (SLOWDEATH)
{
Thread=0;
while((Thread < MaxThread) && (CM[Thread].Status != ST_RUNNING))
Thread++;
/* nothing running? Quit! */
if (Thread >= MaxThread) KeepRunning=0;
/* else, keep running */
} /* if SLOWDEATH */
}
} /* while reading a command */
/* if it gets here, then either all children are dead or there is
no more input */
/* wait for all children to finish */
while(RunCount > 0)
{
SelectAnyData(0,0);
}
/* tell children "no more food" by closing stdin */
if (Verbose) LogPrint("Telling all children: No more items to process.\n");
for(Thread=0; Thread < MaxThread; Thread++)
{
if (CM[Thread].Status > ST_FREE) CheckClose(CM[Thread].ChildStdin);
}
/* At this point, there should be no children */
SLOWDEATH=1;
SelectAnyData(0,0);
/* clean up: kill children (should be redundant) */
signal(SIGCHLD,SIG_IGN); /* ignore screams of death */
for(Thread=0; (Thread < MaxThread); Thread++)
{
if (CM[Thread].Status > ST_FREE)
{
/* kill the children! kill! kill! */
if (CM[Thread].Status == ST_RUNNING)
{
if (CM[Thread].IsDB) DBremoveChild(Thread,1,"Scheduler ended");
}
CM[Thread].IsDB=0;
CheckClose(CM[Thread].ChildStdin);
CheckClose(CM[Thread].ChildStdinRev);
CheckClose(CM[Thread].ChildStdout);
CheckClose(CM[Thread].ChildStdoutRev);
CM[Thread].ChildStdin = 0;
CM[Thread].ChildStdinRev = 0;
CM[Thread].ChildStdout = 0;
CM[Thread].ChildStdoutRev = 0;
ChangeStatus(Thread,ST_FREE);
if (CM[Thread].ChildPid) kill(CM[Thread].ChildPid,SIGKILL);
}
}
/* scheduler cleanup */
if (DB) DBErrorClose(); /* currently a noop */
DBQclose();
/* cleanup scheduler */
StopScheduler(0);
/* print statistics */
DebugThreads(1);
LogPrint("*** Scheduler completed. Exiting. ***\n");
return(0);
} /* main() */
