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 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 get_rtapi_config(char *result, const char *param, int n)
{
/* Read a parameter value from rtapi.ini. First try the flavor
section, then the global section. Copy max n-1 bytes into
result buffer. */
char *val;
val = get_rtapi_param(default_flavor()->name, param);
// Return if nothing found
if (val==NULL) {
result[0] = 0;
return -1;
}
// Otherwise copy result into buffer (see 'WTF' comment in inifile.cc)
strncpy(result, val, n-1);
return 0;
}
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;
}
int main(int argc, char **argv)
{
int c, i, retval;
int option = LOG_NDELAY;
pid_t pid, sid;
size_t argv0_len, procname_len, max_procname_len;
progname = argv[0];
shm_common_init();
while (1) {
int option_index = 0;
int curind = optind;
c = getopt_long (argc, argv, "hI:sFf:i:S",
long_options, &option_index);
if (c == -1)
break;
switch (c) {
case 'F':
foreground++;
break;
case 'I':
rtapi_instance = atoi(optarg);
break;
case 'R':
hal_thread_stack_size = atoi(optarg);
break;
case 'i':
instance_name = optarg;
break;
case 'f':
if ((flavor = flavor_byname(optarg)) == NULL) {
fprintf(stderr, "no such flavor: '%s' -- valid flavors are:\n", optarg);
flavor_ptr f = flavors;
while (f->name) {
fprintf(stderr, "\t%s\n", f->name);
f++;
}
exit(1);
}
break;
case 'u':
usr_msglevel = atoi(optarg);
break;
case 'r':
rt_msglevel = atoi(optarg);
break;
case 'H':
halsize = atoi(optarg);
break;
case 'S':
use_shmdrv++;
break;
case 's':
log_stderr++;
option |= LOG_PERROR;
break;
case '?':
if (optopt) fprintf(stderr, "bad short opt '%c'\n", optopt);
else fprintf(stderr, "bad long opt \"%s\"\n", argv[curind]);
exit(1);
break;
default:
usage(argc, argv);
exit(0);
}
}
// sanity
if (getuid() == 0) {
fprintf(stderr, "%s: FATAL - will not run as root\n", progname);
exit(EXIT_FAILURE);
}
if (geteuid() == 0) {
fprintf(stderr, "%s: FATAL - will not run as setuid root\n", progname);
exit(EXIT_FAILURE);
}
if (flavor == NULL)
flavor = default_flavor();
if (flavor == NULL) {
fprintf(stderr, "%s: FATAL - failed to detect thread flavor\n", progname);
exit(EXIT_FAILURE);
}
// can we actually run what's being suggested?
if (!flavor_and_kernel_compatible(flavor)) {
fprintf(stderr, "%s: FATAL - cant run the %s flavor on this kernel\n",
progname, flavor->name);
exit(EXIT_FAILURE);
}
// catch installation error: user not in xenomai group
if (flavor->id == RTAPI_XENOMAI_ID) {
int retval = user_in_xenomai_group();
switch (retval) {
case 1: // yes
break;
case 0:
fprintf(stderr, "this user is not member of group xenomai\n");
fprintf(stderr, "please 'sudo adduser <username> xenomai',"
" logout and login again\n");
exit(EXIT_FAILURE);
default:
fprintf(stderr, "cannot determine if this user "
"is a member of group xenomai: %s\n",
strerror(-retval));
exit(EXIT_FAILURE);
}
}
// do we need the shmdrv module?
if (((flavor->flags & FLAVOR_KERNEL_BUILD) ||
use_shmdrv) &&
!shmdrv_available()) {
fprintf(stderr, "%s: FATAL - %s requires the shmdrv module loaded\n",
progname, use_shmdrv ? "--shmdrv" : flavor->name);
exit(EXIT_FAILURE);
}
// the global segment every entity in HAL/RTAPI land attaches to
if ((retval = create_global_segment()) != 1) // must be a new shm segment
exit(retval);
// good to go
if (!foreground) {
pid = fork();
if (pid < 0) {
exit(EXIT_FAILURE);
}
if (pid > 0) {
exit(EXIT_SUCCESS);
}
umask(0);
sid = setsid();
if (sid < 0) {
exit(EXIT_FAILURE);
}
#if 0
if ((chdir("/")) < 0) {
exit(EXIT_FAILURE);
}
#endif
}
snprintf(proctitle, sizeof(proctitle), "msgd:%d",rtapi_instance);
openlog_async(proctitle, option , SYSLOG_FACILITY);
// set new process name
argv0_len = strlen(argv[0]);
procname_len = strlen(proctitle);
max_procname_len = (argv0_len > procname_len) ? (procname_len) : (argv0_len);
strncpy(argv[0], proctitle, max_procname_len);
memset(&argv[0][max_procname_len], '\0', argv0_len - max_procname_len);
for (i = 1; i < argc; i++)
memset(argv[i], '\0', strlen(argv[i]));
// this is the single place in all of linuxCNC where the global segment
// gets initialized - no reinitialization from elsewhere
init_global_data(global_data, flavor->id, rtapi_instance,
halsize, rt_msglevel, usr_msglevel,
instance_name,hal_thread_stack_size);
syslog_async(LOG_INFO,
"startup instance=%s pid=%d flavor=%s "
"rtlevel=%d usrlevel=%d halsize=%d shm=%s gcc=%s version=%s",
global_data->instance_name, getpid(),
flavor->name,
global_data->rt_msg_level,
global_data->user_msg_level,
global_data->hal_size,
shmdrv_loaded ? "shmdrv" : "Posix",
__VERSION__,
GIT_VERSION);
syslog_async(LOG_INFO,"configured: %s sha=%s", CONFIG_DATE, GIT_CONFIG_SHA);
syslog_async(LOG_INFO,"built: %s %s sha=%s", __DATE__, __TIME__, GIT_BUILD_SHA);
if (strcmp(GIT_CONFIG_SHA,GIT_BUILD_SHA))
syslog_async(LOG_WARNING, "WARNING: git SHA's for configure and build do not match!");
if ((global_data->rtapi_msgd_pid != 0) &&
kill(global_data->rtapi_msgd_pid, 0) == 0) {
fprintf(stderr,"%s: another rtapi_msgd is already running (pid %d), exiting\n",
progname, global_data->rtapi_msgd_pid);
exit(EXIT_FAILURE);
} else {
global_data->rtapi_msgd_pid = getpid();
}
close(STDIN_FILENO);
close(STDOUT_FILENO);
if (!log_stderr)
close(STDERR_FILENO);
message_thread();
// signal received - check if rtapi_app running, and shut it down
cleanup_actions();
closelog_async();
exit(exit_code);
}
