int chpst_main(int argc ATTRIBUTE_UNUSED, char **argv)
{
INIT_G();
if (applet_name[3] == 'd') envdir(argc, argv);
if (applet_name[1] == 'o') softlimit(argc, argv);
if (applet_name[0] == 's') setuidgid(argc, argv);
if (applet_name[0] == 'e') envuidgid(argc, argv);
// otherwise we are chpst
{
char *m,*d,*o,*p,*f,*c,*r,*t,*n;
getopt32(argv, "+u:U:e:m:d:o:p:f:c:r:t:/:n:vP012",
&set_user,&env_user,&env_dir,
&m,&d,&o,&p,&f,&c,&r,&t,&root,&n);
// if (option_mask32 & 0x1) // -u
// if (option_mask32 & 0x2) // -U
// if (option_mask32 & 0x4) // -e
if (option_mask32 & 0x8) limits = limitl = limita = limitd = xatoul(m); // -m
if (option_mask32 & 0x10) limitd = xatoul(d); // -d
if (option_mask32 & 0x20) limito = xatoul(o); // -o
if (option_mask32 & 0x40) limitp = xatoul(p); // -p
if (option_mask32 & 0x80) limitf = xatoul(f); // -f
if (option_mask32 & 0x100) limitc = xatoul(c); // -c
if (option_mask32 & 0x200) limitr = xatoul(r); // -r
if (option_mask32 & 0x400) limitt = xatoul(t); // -t
// if (option_mask32 & 0x800) // -/
if (option_mask32 & 0x1000) nicelvl = xatoi(n); // -n
// The below consts should match #defines at top!
//if (option_mask32 & 0x2000) OPT_verbose = 1; // -v
//if (option_mask32 & 0x4000) OPT_pgrp = 1; // -P
//if (option_mask32 & 0x8000) OPT_nostdin = 1; // -0
//if (option_mask32 & 0x10000) OPT_nostdout = 1; // -1
//if (option_mask32 & 0x20000) OPT_nostderr = 1; // -2
}
argv += optind;
if (!argv || !*argv) bb_show_usage();
if (OPT_pgrp) setsid();
if (env_dir) edir(env_dir);
if (root) {
xchdir(root);
xchroot(".");
}
slimit();
if (nicelvl) {
errno = 0;
if (nice(nicelvl) == -1)
bb_perror_msg_and_die("nice");
}
if (env_user) euidgid(env_user);
if (set_user) suidgid(set_user);
if (OPT_nostdin) close(0);
if (OPT_nostdout) close(1);
if (OPT_nostderr) close(2);
BB_EXECVP(argv[0], argv);
bb_perror_msg_and_die("exec %s", argv[0]);
}
void envdir(int argc, const char *const *argv) {
const char *dir;
if (! (dir =*++argv)) envdir_usage();
if (! *++argv) envdir_usage();
edir(dir);
pathexec(argv);
fatal2("unable to run", *argv);
}
static void envdir(int argc, char **argv)
{
const char *dir;
dir = *++argv;
if (!dir) bb_show_usage();
if (!*++argv) bb_show_usage();
edir(dir);
BB_EXECVP(argv[0], argv);
bb_perror_msg_and_die("exec %s", argv[0]);
}
/**
* This method fills in the adjacentState reference with
* the state for a given adjacency.
*
* @param index Index of adjacency
* @param adjacency State of adjacency is copied here
* @param goal Goal state
*
* @return True if this is a valid adjacency.
*/
bool WaypointState::getAdjacency(int index,
WaypointState& adjacency, const WaypointGoalState& goal) const
{
Vector2 src, dst, p1, p2, movementVector, next;
float p, cp1, cp2;
// If this edge on waypoint is not passable, forget it.
const WaypointSet * pAdjSet = pWaypoint_->adjacentWaypointSet(index);
if (pWaypoint_->adjacentWaypoint(index) == NULL && pAdjSet == NULL)
return false;
// We need 2d vectors for intersection tests.
src.x = position_.x;
src.y = position_.z;
dst.x = goal.position_.x;
dst.y = goal.position_.z;
movementVector = dst - src;
p1 = pWaypoint_->vertexPosition(index);
p2 = pWaypoint_->vertexPosition((index + 1) % pWaypoint_->vertexCount());
// move the pts towards each other if we have extra radius
if (goal.extraRadius() > 0.f)
{
const float ger = goal.extraRadius();
Vector2 edir( p2 - p1 );
const float elen = edir.length();
// for now can only pass edges that are long enough
// (need to only move in conditionally, e.g. if adj to black)
if (elen < ger * 2.f) return false;
edir *= ger / elen;
p1 += edir;
p2 -= edir;
}
cp1 = movementVector.crossProduct(p1 - src);
cp2 = movementVector.crossProduct(p2 - src);
// If our desired path takes us through this line segment,
// find the intersection and use it. Otherwise use the
// vertex whose crossproduct is closest to zero.
if(cp1 > 0.0f && cp2 < 0.0f)
{
LineEq moveLine(src, dst, true);
LineEq edgeLine(p1, p2, true);
p = moveLine.intersect(edgeLine);
next = moveLine.param(p);
}
else if(fabs(cp1) < fabs(cp2))
{
next = p1;
}
else
{
next = p2;
}
adjacency.pWPSet_ = (pAdjSet == NULL) ? pWPSet_ : pAdjSet;
adjacency.waypointID_ = pWaypoint_->adjacentID(index);
adjacency.pWaypoint_ = pWaypoint_->adjacentWaypoint(index);
adjacency.position_.x = next.x;
adjacency.position_.y = position_.y;
adjacency.position_.z = next.y;
adjacency.distanceFromParent_ = (position_ - adjacency.position_).length();
return true;
}
int main(int argc, const char **argv) {
int opt;
int i;
unsigned long ul;
progname =argv[0];
for (i =str_len(progname); i; --i)
if (progname[i -1] == '/') {
progname +=i;
break;
}
if (progname[0] == 'd') ++progname;
/* argv[0] */
if (str_equal(progname, "setuidgid")) setuidgid(argc, argv);
if (str_equal(progname, "envuidgid")) envuidgid(argc, argv);
if (str_equal(progname, "envdir")) envdir(argc, argv);
if (str_equal(progname, "pgrphack")) pgrphack(argc, argv);
if (str_equal(progname, "setlock")) setlock(argc, argv);
if (str_equal(progname, "softlimit")) softlimit(argc, argv);
while ((opt =getopt(argc, argv, "u:U:b:e:m:d:o:p:f:c:r:t:/:n:l:L:vP012V"))
!= opteof)
switch(opt) {
case 'u': set_user =(char*)optarg; break;
case 'U': env_user =(char*)optarg; break;
case 'b': argv0 =(char*)optarg; break;
case 'e': env_dir =optarg; break;
case 'm':
if (optarg[scan_ulong(optarg, &ul)]) usage();
limits =limitl =limita =limitd =ul;
break;
case 'd': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitd =ul; break;
case 'o': if (optarg[scan_ulong(optarg, &ul)]) usage(); limito =ul; break;
case 'p': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitp =ul; break;
case 'f': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitf =ul; break;
case 'c': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitc =ul; break;
case 'r': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitr =ul; break;
case 't': if (optarg[scan_ulong(optarg, &ul)]) usage(); limitt =ul; break;
case '/': root =optarg; break;
case 'n':
switch (*optarg) {
case '-':
if (optarg[scan_ulong(++optarg, &ul)]) usage(); nicelvl =ul;
nicelvl *=-1;
break;
case '+': ++optarg;
default:
if (optarg[scan_ulong(optarg, &ul)]) usage(); nicelvl =ul;
break;
}
break;
case 'l': if (lock) usage(); lock =optarg; lockdelay =1; break;
case 'L': if (lock) usage(); lock =optarg; lockdelay =0; break;
case 'v': verbose =1; break;
case 'P': pgrp =1; break;
case '0': nostdin =1; break;
case '1': nostdout =1; break;
case '2': nostderr =1; break;
case 'V': strerr_warn1("$Id: f279d44141c981dd7535a12260efcf1ef7beed26 $", 0);
case '?': usage();
}
argv +=optind;
if (! argv || ! *argv) usage();
if (pgrp) setsid();
if (env_dir) edir(env_dir);
if (root) {
if (chdir(root) == -1) fatal2("unable to change directory", root);
if (chroot(".") == -1) fatal("unable to change root directory");
}
if (nicelvl) {
errno =0;
if (nice(nicelvl) == -1) if (errno) fatal("unable to set nice level");
}
if (env_user) euidgid(env_user, 1);
if (set_user) suidgid(set_user, 1);
if (lock) slock(lock, lockdelay, 0);
if (nostdin) if (close(0) == -1) fatal("unable to close stdin");
if (nostdout) if (close(1) == -1) fatal("unable to close stdout");
if (nostderr) if (close(2) == -1) fatal("unable to close stderr");
slimit();
progname =*argv;
if (argv0) *argv =argv0;
pathexec_env_run(progname, argv);
fatal2("unable to run", *argv);
return(0);
}