static void LIBUSB_CALL usb_add_pollfd(int fd, short events, void *opaque) {
libusb_context *context = opaque;
log_event_debug("Got told to add libusb pollfd (handle: %d, events: %d)", fd, events);
// FIXME: need to handle libusb timeouts
event_add_source(fd, EVENT_SOURCE_TYPE_USB, events, usb_handle_events, context); // FIXME: handle error?
}
int socat_create(Socat *socat, Socket *socket) {
log_debug("Creating socat from UNIX domain socket (handle: %d)", socket->handle);
socat->socket = socket;
socat->disconnected = false;
socat->notification_used = 0;
return event_add_source(socat->socket->handle, EVENT_SOURCE_TYPE_GENERIC,
"socat", EVENT_READ, socat_handle_receive, socat);
}
int client_create(Client *client, EventHandle socket,
struct sockaddr_in *address, socklen_t length) {
log_debug("Creating client from socket (handle: %d)", socket);
client->socket = socket;
client->packet_used = 0;
// create pending request array
if (array_create(&client->pending_requests, 32,
sizeof(PacketHeader), 1) < 0) {
log_error("Could not create pending request array: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
// get peer name
client->peer = resolve_address(address, length);
if (client->peer == NULL) {
log_warn("Could not get peer name of client (socket: %d): %s (%d)",
socket, get_errno_name(errno), errno);
client->peer = (char *)_unknown_peer_name;
}
// add socket as event source
if (event_add_source(client->socket, EVENT_SOURCE_TYPE_GENERIC, EVENT_READ,
client_handle_receive, client) < 0) {
if (client->peer != _unknown_peer_name) {
free(client->peer);
}
array_destroy(&client->pending_requests, NULL);
return -1;
}
return 0;
}
int client_create(Client *client, const char *name, IO *io,
uint32_t authentication_nonce,
ClientDestroyDoneFunction destroy_done) {
log_debug("Creating client from %s (handle: %d)", io->type, io->handle);
string_copy(client->name, sizeof(client->name), name);
client->io = io;
client->disconnected = false;
client->request_used = 0;
client->request_header_checked = false;
client->pending_request_count = 0;
client->authentication_state = CLIENT_AUTHENTICATION_STATE_DISABLED;
client->authentication_nonce = authentication_nonce;
client->destroy_done = destroy_done;
if (config_get_option_value("authentication.secret")->string != NULL) {
client->authentication_state = CLIENT_AUTHENTICATION_STATE_ENABLED;
}
node_reset(&client->pending_request_sentinel);
// create response writer
if (writer_create(&client->response_writer, client->io,
"response", packet_get_response_signature,
"client", client_get_recipient_signature,
client_recipient_disconnect, client) < 0) {
log_error("Could not create response writer: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
// add I/O object as event source
return event_add_source(client->io->handle, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, client_handle_read, client);
}
int iokit_init(void) {
int phase = 0;
Semaphore handshake;
log_debug("Initializing IOKit subsystem");
// create notification pipe
if (pipe_create(&_notification_pipe) < 0) {
log_error("Could not create notification pipe: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
if (event_add_source(_notification_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, iokit_forward_notifications, NULL) < 0) {
goto cleanup;
}
phase = 2;
// create notification poll thread
if (semaphore_create(&handshake) < 0) {
log_error("Could not create handshake semaphore: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
thread_create(&_poll_thread, iokit_poll_notifications, &handshake);
semaphore_acquire(&handshake);
semaphore_destroy(&handshake);
phase = 3;
if (!_running) {
log_error("Could not start notification poll thread");
goto cleanup;
}
phase = 4;
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 3:
thread_destroy(&_poll_thread);
case 2:
event_remove_source(_notification_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC);
case 1:
pipe_destroy(&_notification_pipe);
default:
break;
}
return phase == 4 ? 0 : -1;
}
int event_run_platform(Array *event_sources, bool *running, EventCleanupFunction cleanup) {
int result = -1;
int i;
EventSource *event_source;
fd_set *fd_read_set;
fd_set *fd_write_set;
fd_set *fd_error_set;
int ready;
int handled;
uint8_t byte = 1;
int rc;
int event_source_count;
uint32_t received_events;
if (event_add_source(_usb_poll_ready_pipe.read_end,
EVENT_SOURCE_TYPE_GENERIC, EVENT_READ,
event_forward_usb_events, event_sources) < 0) {
return -1;
}
*running = true;
_usb_poll_running = true;
thread_create(&_usb_poll_thread, event_poll_usb_events, event_sources);
cleanup();
event_cleanup_sources();
while (*running) {
// update SocketSet arrays
if (event_reserve_socket_set(&_socket_read_set, // FIXME: this over-allocates
event_sources->count) < 0) {
log_error("Could not resize socket read set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
if (event_reserve_socket_set(&_socket_write_set, // FIXME: this over-allocates
event_sources->count) < 0) {
log_error("Could not resize socket write set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
if (event_reserve_socket_set(&_socket_error_set, // FIXME: this over-allocates
event_sources->count) < 0) {
log_error("Could not resize socket error set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
_socket_read_set->count = 0;
_socket_write_set->count = 0;
_socket_error_set->count = 0;
for (i = 0; i < event_sources->count; ++i) {
event_source = array_get(event_sources, i);
if (event_source->type != EVENT_SOURCE_TYPE_GENERIC) {
continue;
}
if ((event_source->events & EVENT_READ) != 0) {
_socket_read_set->sockets[_socket_read_set->count++] = event_source->handle;
}
if ((event_source->events & EVENT_WRITE) != 0) {
_socket_write_set->sockets[_socket_write_set->count++] = event_source->handle;
}
if ((event_source->events & EVENT_PRIO) != 0) {
log_error("Event prio is not supported");
}
if ((event_source->events & EVENT_ERROR) != 0) {
_socket_error_set->sockets[_socket_error_set->count++] = event_source->handle;
}
}
// start to select
log_event_debug("Starting to select on %d + %d + %d %s event source(s)",
_socket_read_set->count, _socket_write_set->count, _socket_error_set->count,
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, false));
semaphore_release(&_usb_poll_resume);
fd_read_set = event_get_socket_set_as_fd_set(_socket_read_set);
fd_write_set = event_get_socket_set_as_fd_set(_socket_write_set);
fd_error_set = event_get_socket_set_as_fd_set(_socket_error_set);
ready = select(0, fd_read_set, fd_write_set, fd_error_set, NULL);
if (_usb_poll_running) {
log_event_debug("Sending suspend signal to USB poll thread");
if (usbi_write(_usb_poll_suspend_pipe[1], &byte, 1) < 0) {
log_error("Could not write to USB suspend pipe");
_usb_poll_stuck = true;
goto cleanup;
}
semaphore_acquire(&_usb_poll_suspend);
if (usbi_read(_usb_poll_suspend_pipe[0], &byte, 1) < 0) {
log_error("Could not read from USB suspend pipe");
_usb_poll_stuck = true;
goto cleanup;
}
}
if (ready == SOCKET_ERROR) {
rc = ERRNO_WINAPI_OFFSET + WSAGetLastError();
if (rc == ERRNO_WINAPI_OFFSET + WSAEINTR) {
continue;
}
log_error("Could not select on %s event sources: %s (%d)",
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, false),
get_errno_name(rc), rc);
goto cleanup;
}
// handle select result
log_event_debug("Select returned %d %s event source(s) as ready",
ready, event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, false));
handled = 0;
// cache event source count here to avoid looking at new event
// sources that got added during the event handling
event_source_count = event_sources->count;
for (i = 0; *running && i < event_source_count && ready > handled; ++i) {
event_source = array_get(event_sources, i);
received_events = 0;
if (event_source->type != EVENT_SOURCE_TYPE_GENERIC) {
continue;
}
if (FD_ISSET(event_source->handle, fd_read_set)) {
received_events |= EVENT_READ;
}
if (FD_ISSET(event_source->handle, fd_write_set)) {
received_events |= EVENT_WRITE;
}
if (FD_ISSET(event_source->handle, fd_error_set)) {
received_events |= EVENT_ERROR;
}
if (received_events == 0) {
continue;
}
event_handle_source(event_source, received_events);
++handled;
}
if (ready == handled) {
log_event_debug("Handled all ready %s event sources",
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, false));
} else if (*running) {
log_warn("Handled only %d of %d ready %s event source(s)",
handled, ready,
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, false));
}
// now cleanup event sources that got marked as disconnected/removed
// during the event handling
cleanup();
event_cleanup_sources();
}
result = 0;
cleanup:
*running = false;
if (_usb_poll_running && !_usb_poll_stuck) {
_usb_poll_running = false;
log_debug("Stopping USB poll thread");
if (usbi_write(_usb_poll_suspend_pipe[1], &byte, 1) < 0) {
log_error("Could not write to USB suspend pipe");
} else {
semaphore_release(&_usb_poll_resume);
thread_join(&_usb_poll_thread);
}
}
thread_destroy(&_usb_poll_thread);
event_remove_source(_usb_poll_ready_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC);
return result;
}
int event_init_platform(void) {
int phase = 0;
// create read set
if (event_reserve_socket_set(&_socket_read_set, 32) < 0) {
log_error("Could not create socket read set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
// create write set
if (event_reserve_socket_set(&_socket_write_set, 32) < 0) {
log_error("Could not create socket write set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 2;
// create error set
if (event_reserve_socket_set(&_socket_error_set, 32) < 0) {
log_error("Could not create socket error set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 3;
// create stop pipe
if (pipe_create(&_stop_pipe, 0) < 0) {
log_error("Could not create stop pipe: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 4;
if (event_add_source(_stop_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, NULL, NULL) < 0) {
goto cleanup;
}
phase = 5;
// create USB poll thread
_usb_poll_running = false;
_usb_poll_stuck = false;
if (usbi_pipe(_usb_poll_suspend_pipe) < 0) {
log_error("Could not create USB suspend pipe");
goto cleanup;
}
phase = 6;
if (pipe_create(&_usb_poll_ready_pipe, 0) < 0) {
log_error("Could not create USB ready pipe: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 7;
if (array_create(&_usb_poll_pollfds, 32, sizeof(struct usbi_pollfd), true) < 0) {
log_error("Could not create USB pollfd array: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 8;
if (semaphore_create(&_usb_poll_resume) < 0) {
log_error("Could not create USB resume semaphore: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 9;
if (semaphore_create(&_usb_poll_suspend) < 0) {
log_error("Could not create USB suspend semaphore: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 10;
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 9:
semaphore_destroy(&_usb_poll_suspend);
case 8:
semaphore_destroy(&_usb_poll_resume);
case 7:
pipe_destroy(&_usb_poll_ready_pipe);
case 6:
usbi_close(_usb_poll_suspend_pipe[0]);
usbi_close(_usb_poll_suspend_pipe[1]);
case 5:
event_remove_source(_stop_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC);
case 4:
pipe_destroy(&_stop_pipe);
case 3:
free(_socket_error_set);
case 2:
free(_socket_write_set);
case 1:
free(_socket_read_set);
default:
break;
}
return phase == 10 ? 0 : -1;
}
// NOTE: this function needs to call RegisterServiceCtrlHandlerEx and
// SetServiceStatus in all circumstances if brickd is running as service
static int generic_main(int log_to_file, int debug) {
int exit_code = EXIT_FAILURE;
const char *mutex_name = "Global\\Tinkerforge-Brick-Daemon-Single-Instance";
HANDLE mutex_handle = NULL;
int mutex_error = 0;
DWORD service_exit_code = NO_ERROR;
int rc;
char filename[1024];
int i;
FILE *logfile = NULL;
WSADATA wsa_data;
DEV_BROADCAST_DEVICEINTERFACE notification_filter;
HDEVNOTIFY notification_handle;
mutex_handle = OpenMutex(SYNCHRONIZE, FALSE, mutex_name);
if (mutex_handle == NULL) {
rc = GetLastError();
if (rc == ERROR_ACCESS_DENIED) {
rc = service_is_running();
if (rc < 0) {
mutex_error = 1;
// FIXME: set service_exit_code
goto error_mutex;
} else if (rc) {
mutex_error = 1;
service_exit_code = ERROR_SERVICE_ALREADY_RUNNING;
log_error("Could not start as %s, another instance is already running as service",
_run_as_service ? "service" : "console application");
goto error_mutex;
}
}
if (rc != ERROR_FILE_NOT_FOUND) {
mutex_error = 1;
// FIXME: set service_exit_code
rc += ERRNO_WINAPI_OFFSET;
log_error("Could not open single instance mutex: %s (%d)",
get_errno_name(rc), rc);
goto error_mutex;
}
}
if (mutex_handle != NULL) {
mutex_error = 1;
service_exit_code = ERROR_SERVICE_ALREADY_RUNNING;
log_error("Could not start as %s, another instance is already running",
_run_as_service ? "service" : "console application");
goto error_mutex;
}
mutex_handle = CreateMutex(NULL, FALSE, mutex_name);
if (mutex_handle == NULL) {
mutex_error = 1;
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_error("Could not create single instance mutex: %s (%d)",
get_errno_name(rc), rc);
goto error_mutex;
}
if (!_run_as_service &&
!SetConsoleCtrlHandler(console_ctrl_handler, TRUE)) {
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_warn("Could not set console control handler: %s (%d)",
get_errno_name(rc), rc);
}
if (log_to_file) {
if (GetModuleFileName(NULL, filename, sizeof(filename)) == 0) {
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_warn("Could not get module file name: %s (%d)",
get_errno_name(rc), rc);
} else {
i = strlen(filename);
if (i < 4) {
log_warn("Module file name '%s' is too short", filename);
} else {
strcpy(filename + i - 3, "log");
logfile = fopen(filename, "a+");
if (logfile == NULL) {
log_warn("Could not open logfile '%s'", filename);
} else {
log_set_file(logfile);
}
}
}
}
if (debug) {
log_set_level(LOG_CATEGORY_EVENT, LOG_LEVEL_DEBUG);
log_set_level(LOG_CATEGORY_USB, LOG_LEVEL_DEBUG);
log_set_level(LOG_CATEGORY_NETWORK, LOG_LEVEL_DEBUG);
log_set_level(LOG_CATEGORY_HOTPLUG, LOG_LEVEL_DEBUG);
log_set_level(LOG_CATEGORY_OTHER, LOG_LEVEL_DEBUG);
} else {
log_set_level(LOG_CATEGORY_EVENT, config_get_log_level(LOG_CATEGORY_EVENT));
log_set_level(LOG_CATEGORY_USB, config_get_log_level(LOG_CATEGORY_USB));
log_set_level(LOG_CATEGORY_NETWORK, config_get_log_level(LOG_CATEGORY_NETWORK));
log_set_level(LOG_CATEGORY_HOTPLUG, config_get_log_level(LOG_CATEGORY_HOTPLUG));
log_set_level(LOG_CATEGORY_OTHER, config_get_log_level(LOG_CATEGORY_OTHER));
}
if (_run_as_service) {
log_info("Brick Daemon %s started (as service)", VERSION_STRING);
} else {
log_info("Brick Daemon %s started", VERSION_STRING);
}
if (config_has_error()) {
log_warn("Errors found in config file '%s', run with --check-config option for details",
_config_filename);
}
// initialize service status
error_mutex:
if (_run_as_service) {
if (service_init(service_control_handler) < 0) {
// FIXME: set service_exit_code
goto error;
}
if (!mutex_error) {
// service is starting
service_set_status(SERVICE_START_PENDING, NO_ERROR);
}
}
if (mutex_error) {
goto error;
}
// initialize WinSock2
if (WSAStartup(MAKEWORD(2, 2), &wsa_data) != 0) {
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + WSAGetLastError();
log_error("Could not initialize Windows Sockets 2.2: %s (%d)",
get_errno_name(rc), rc);
goto error_event;
}
if (event_init() < 0) {
// FIXME: set service_exit_code
goto error_event;
}
if (usb_init() < 0) {
// FIXME: set service_exit_code
goto error_usb;
}
// create notification pipe
if (pipe_create(_notification_pipe) < 0) {
// FIXME: set service_exit_code
log_error("Could not create notification pipe: %s (%d)",
get_errno_name(errno), errno);
goto error_pipe;
}
if (event_add_source(_notification_pipe[0], EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, forward_notifications, NULL) < 0) {
// FIXME: set service_exit_code
goto error_pipe_add;
}
// register device notification
ZeroMemory(¬ification_filter, sizeof(notification_filter));
notification_filter.dbcc_size = sizeof(notification_filter);
notification_filter.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
notification_filter.dbcc_classguid = GUID_DEVINTERFACE_USB_DEVICE;
if (_run_as_service) {
notification_handle = RegisterDeviceNotification((HANDLE)service_get_status_handle(),
¬ification_filter,
DEVICE_NOTIFY_SERVICE_HANDLE);
} else {
if (message_pump_start() < 0) {
// FIXME: set service_exit_code
goto error_pipe_add;
}
notification_handle = RegisterDeviceNotification(_message_pump_hwnd,
¬ification_filter,
DEVICE_NOTIFY_WINDOW_HANDLE);
}
if (notification_handle == NULL) {
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_error("Could not register for device notification: %s (%d)",
get_errno_name(rc), rc);
goto error_notification;
}
if (network_init() < 0) {
// FIXME: set service_exit_code
goto error_network;
}
// running
if (_run_as_service) {
service_set_status(SERVICE_RUNNING, NO_ERROR);
}
if (event_run() < 0) {
// FIXME: set service_exit_code
goto error_run;
}
exit_code = EXIT_SUCCESS;
error_run:
network_exit();
error_network:
UnregisterDeviceNotification(notification_handle);
error_notification:
if (!_run_as_service) {
message_pump_stop();
}
event_remove_source(_notification_pipe[0], EVENT_SOURCE_TYPE_GENERIC);
error_pipe_add:
pipe_destroy(_notification_pipe);
error_pipe:
usb_exit();
error_usb:
event_exit();
error_event:
log_info("Brick Daemon %s stopped", VERSION_STRING);
error:
log_exit();
config_exit();
if (_run_as_service) {
// because the service process can be terminated at any time after
// entering SERVICE_STOPPED state the mutex is closed beforehand,
// even though this creates a tiny time window in which the service
// is still running but the mutex is not held anymore
if (mutex_handle != NULL) {
CloseHandle(mutex_handle);
}
// service is now stopped
service_set_status(SERVICE_STOPPED, service_exit_code);
} else {
if (_pause_before_exit) {
printf("Press any key to exit...\n");
getch();
}
if (mutex_handle != NULL) {
CloseHandle(mutex_handle);
}
}
return exit_code;
}
static void bricklet_stack_transceive(BrickletStack *bricklet_stack) {
// If we have not seen any data from the Bricklet we increase a counter.
// If the counter reaches BRICKLET_STACK_FIRST_MESSAGE_TRIES we assume that
// there is no Bricklet and we stop trying to send to initial message (if a
// Bricklet is hotplugged it will send a enumerate itself).
if(!bricklet_stack->data_seen) {
if(bricklet_stack->first_message_tries < BRICKLET_STACK_FIRST_MESSAGE_TRIES) {
bricklet_stack->first_message_tries++;
} else {
bricklet_stack->buffer_send_length = 0;
}
}
const uint16_t length_read = bricklet_stack_check_missing_length(bricklet_stack);
if(bricklet_stack->buffer_send_length == 0) {
// If buffer is empty we try to send request from the queue.
bricklet_stack_check_request_queue(bricklet_stack);
if((bricklet_stack->buffer_send_length == 0) && (bricklet_stack->ack_to_send)) {
// If there is no request in the queue (buffer still empty)
// and we have to send an ACK still, we send the ACK.
bricklet_stack_send_ack(bricklet_stack);
}
}
uint16_t length_write = bricklet_stack->wait_for_ack ? 0 : bricklet_stack->buffer_send_length;
uint16_t length = MAX(MAX(length_read, length_write), 1);
uint8_t rx[SPITFP_MAX_TFP_MESSAGE_LENGTH] = {0};
uint8_t tx[SPITFP_MAX_TFP_MESSAGE_LENGTH] = {0};
if((length == 1) || (!bricklet_stack->data_seen)) {
// If there is nothing to read or to write, we give the Bricklet some breathing
// room before we start polling again.
// If we have nothing to send and we are currently not awaiting data from the Bricklet, we will
// poll every 200 us.
uint32_t sleep_us = 200;
if(!bricklet_stack->data_seen) {
// If we have never seen any data, we will first poll every 1ms with the StackEnumerate message
// and switch to polling every 500ms after we tried BRICKLET_STACK_FIRST_MESSAGE_TRIES times.
// In this case there is likely no Bricklet connected. If a Bricklet is hotpluged "data_seen"
// will be true and we will switch to polling every 200us immediately.
if(bricklet_stack->first_message_tries < BRICKLET_STACK_FIRST_MESSAGE_TRIES) {
sleep_us = 1*1000;
} else {
sleep_us = 500*1000;
}
}
struct timespec t;
t.tv_sec = 0;
t.tv_nsec = 1000*sleep_us;
clock_nanosleep(CLOCK_MONOTONIC, 0, &t, NULL);
}
memcpy(tx, bricklet_stack->buffer_send, length_write);
struct spi_ioc_transfer spi_transfer = {
.tx_buf = (unsigned long)tx,
.rx_buf = (unsigned long)rx,
.len = length,
};
// Make sure that we only access SPI once at a time
mutex_lock(bricklet_stack->config.mutex);
// Do chip select by hand if necessary
if(bricklet_stack->config.chip_select_driver == CHIP_SELECT_GPIO) {
if(gpio_sysfs_set_output(&bricklet_stack->config.chip_select_gpio_sysfs, GPIO_SYSFS_VALUE_LOW) < 0) {
log_error("Could not enable chip select");
return;
}
}
int rc = ioctl(bricklet_stack->spi_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
// If the length is 1 (i.e. we wanted to see if the SPI slave has data for us)
// and he does have data for us, we will immediately retrieve the data without
// giving back the mutex.
if((length == 1) && (rx[0] != 0) && (rc == length) && (length_write == 0)) {
// First add the one byte of already received data to the ringbuffer
ringbuffer_add(&bricklet_stack->ringbuffer_recv, rx[0]);
// Set rc to 0, so if there is no more data to read, we don't get the
// "unexpected result" error
rc = 0;
// Get length for rest of message
length = bricklet_stack_check_missing_length(bricklet_stack);
if(length != 0) {
// Set first byte back to 0 and the new length, the rest was not touched
// and we don't need to reinizialize it.
rx[0] = 0;
spi_transfer.len = length;
rc = ioctl(bricklet_stack->spi_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
}
}
// Do chip deselect by hand if necessary
if(bricklet_stack->config.chip_select_driver == CHIP_SELECT_GPIO) {
if(gpio_sysfs_set_output(&bricklet_stack->config.chip_select_gpio_sysfs, GPIO_SYSFS_VALUE_HIGH) < 0) {
log_error("Could not disable chip select");
return;
}
}
mutex_unlock(bricklet_stack->config.mutex);
if (rc < 0) {
log_error("ioctl failed: %s (%d)", get_errno_name(errno), errno);
return;
}
if (rc != length) {
log_error("ioctl has unexpected result (actual: %d != expected: %d)", rc, length);
return;
}
// We don't expect an ACK to be acked, so we can set the length to 0 here
if(bricklet_stack->buffer_send_length == SPITFP_PROTOCOL_OVERHEAD) {
bricklet_stack->buffer_send_length = 0;
}
if(bricklet_stack->buffer_send_length >= SPITFP_MIN_TFP_MESSAGE_LENGTH) {
bricklet_stack->wait_for_ack = true;
}
for(uint16_t i = 0; i < length; i++) {
ringbuffer_add(&bricklet_stack->ringbuffer_recv, rx[i]);
}
}
static void bricklet_stack_spi_thread(void *opaque) {
BrickletStack *bricklet_stack = (BrickletStack*)opaque;
bricklet_stack->spi_thread_running = true;
// Depending on the configuration we wait on startup for
// other Bricklets to identify themself first.
struct timespec t = {
.tv_sec = bricklet_stack->config.startup_wait_time,
};
clock_nanosleep(CLOCK_MONOTONIC, 0, &t, NULL);
// Pre-fill the send buffer with the "StackEnumerate"-Packet.
// This packet will trigger an initial enumeration in the Bricklet.
// If the Brick Daemon is restarted, we need to
// trigger the initial enumeration, since the Bricklet does not know
// that it has to enumerate itself again.
PacketHeader header = {
.uid = 0,
.length = sizeof(PacketHeader),
.function_id = FUNCTION_STACK_ENUMERATE,
.sequence_number_and_options = 0x08, // return expected
.error_code_and_future_use = 0
};
bricklet_stack_send_ack_and_message(bricklet_stack, (uint8_t*)&header, sizeof(PacketHeader));
while (bricklet_stack->spi_thread_running) {
bricklet_stack_transceive(bricklet_stack);
bricklet_stack_check_message(bricklet_stack);
}
}
static int bricklet_stack_init_spi(BrickletStack *bricklet_stack) {
// Use hw chip select if it is done by SPI hardware unit, otherwise set SPI_NO_CS flag.
const int mode = BRICKLET_STACK_SPI_CONFIG_MODE | (bricklet_stack->config.chip_select_driver == CHIP_SELECT_HARDWARE ? 0 : SPI_NO_CS);
const int lsb_first = BRICKLET_STACK_SPI_CONFIG_LSB_FIRST;
const int bits_per_word = BRICKLET_STACK_SPI_CONFIG_BITS_PER_WORD;
const int max_speed_hz = BRICKLET_STACK_SPI_CONFIG_MAX_SPEED_HZ;
// Open spidev
bricklet_stack->spi_fd = open(bricklet_stack->config.spi_device, O_RDWR);
if (bricklet_stack->spi_fd < 0) {
log_error("Could not open %s: : %s (%d)",
bricklet_stack->config.spi_device, get_errno_name(errno), errno);
return -1;
}
if (ioctl(bricklet_stack->spi_fd, SPI_IOC_WR_MODE, &mode) < 0) {
log_error("Could not configure SPI mode: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
if (ioctl(bricklet_stack->spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &max_speed_hz) < 0) {
log_error("Could not configure SPI max speed: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
if (ioctl(bricklet_stack->spi_fd, SPI_IOC_WR_BITS_PER_WORD, &bits_per_word) < 0) {
log_error("Could not configure SPI bits per word: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
if (ioctl(bricklet_stack->spi_fd, SPI_IOC_WR_LSB_FIRST, &lsb_first) < 0) {
log_error("Could not configure SPI lsb first: %s (%d)",
get_errno_name(errno), errno);
return -1;
}
thread_create(&bricklet_stack->spi_thread, bricklet_stack_spi_thread, bricklet_stack);
return 0;
}
BrickletStack* bricklet_stack_init(BrickletStackConfig *config) {
int phase = 0;
char bricklet_stack_name[129] = {'\0'};
char notification_name[129] = {'\0'};
log_debug("Initializing BrickletStack subsystem for '%s' (num %d)", config->spi_device, config->chip_select_gpio_sysfs.num);
if(config->chip_select_driver == CHIP_SELECT_GPIO) {
if(gpio_sysfs_export(&config->chip_select_gpio_sysfs) < 0) {
goto cleanup;
}
if(gpio_sysfs_set_direction(&config->chip_select_gpio_sysfs, GPIO_SYSFS_DIRECTION_OUTPUT) < 0) {
goto cleanup;
}
if(gpio_sysfs_set_output(&config->chip_select_gpio_sysfs, GPIO_SYSFS_VALUE_HIGH) < 0) {
goto cleanup;
}
}
// create bricklet_stack struct
BrickletStack *bricklet_stack = (BrickletStack*)malloc(sizeof(BrickletStack));
if(bricklet_stack == NULL) {
goto cleanup;
}
memset(bricklet_stack, 0, sizeof(BrickletStack));
bricklet_stack->spi_fd = -1;
bricklet_stack->spi_thread_running = false;
memcpy(&bricklet_stack->config, config, sizeof(BrickletStackConfig));
ringbuffer_init(&bricklet_stack->ringbuffer_recv,
BRICKLET_STACK_SPI_RECEIVE_BUFFER_LENGTH,
bricklet_stack->buffer_recv);
// create base stack
if (snprintf(bricklet_stack_name, 128, "bricklet-stack-%s", bricklet_stack->config.spi_device) < 0) {
goto cleanup;
}
if (stack_create(&bricklet_stack->base, bricklet_stack_name, bricklet_stack_dispatch_to_spi) < 0) {
log_error("Could not create base stack for BrickletStack: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
// add to stacks array
if (hardware_add_stack(&bricklet_stack->base) < 0) {
goto cleanup;
}
phase = 2;
if ((bricklet_stack->notification_event = eventfd(0, EFD_NONBLOCK | EFD_SEMAPHORE)) < 0) {
log_error("Could not create bricklet notification event: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 3;
// Add notification pipe as event source.
// Event is used to dispatch packets.
if (snprintf(notification_name, 128, "bricklet-stack-notification-%s", bricklet_stack->config.spi_device) < 0) {
goto cleanup;
}
if (event_add_source(bricklet_stack->notification_event, EVENT_SOURCE_TYPE_GENERIC,
notification_name, EVENT_READ,
bricklet_stack_dispatch_from_spi, bricklet_stack) < 0) {
log_error("Could not add bricklet notification pipe as event source");
goto cleanup;
}
phase = 4;
// Initialize SPI packet queues
if (queue_create(&bricklet_stack->request_queue, sizeof(Packet)) < 0) {
log_error("Could not create SPI request queue: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
mutex_create(&bricklet_stack->request_queue_mutex);
phase = 5;
if (queue_create(&bricklet_stack->response_queue, sizeof(Packet)) < 0) {
log_error("Could not create SPI response queue: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
mutex_create(&bricklet_stack->response_queue_mutex);
phase = 6;
if (bricklet_stack_init_spi(bricklet_stack) < 0) {
goto cleanup;
}
phase = 7;
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 6:
mutex_destroy(&bricklet_stack->response_queue_mutex);
queue_destroy(&bricklet_stack->response_queue, NULL);
// fall through
case 5:
mutex_destroy(&bricklet_stack->request_queue_mutex);
queue_destroy(&bricklet_stack->request_queue, NULL);
// fall through
case 4:
event_remove_source(bricklet_stack->notification_event, EVENT_SOURCE_TYPE_GENERIC);
// fall through
case 3:
robust_close(bricklet_stack->notification_event);
// fall through
case 2:
hardware_remove_stack(&bricklet_stack->base);
// fall through
case 1:
stack_destroy(&bricklet_stack->base);
// fall through
default:
break;
}
return phase == 7 ? bricklet_stack : NULL;
}
void bricklet_stack_exit(BrickletStack *bricklet_stack) {
// Remove event as possible poll source
event_remove_source(bricklet_stack->notification_event, EVENT_SOURCE_TYPE_GENERIC);
// Make sure that Thread shuts down properly
if (bricklet_stack->spi_thread_running) {
bricklet_stack->spi_thread_running = false;
thread_join(&bricklet_stack->spi_thread);
thread_destroy(&bricklet_stack->spi_thread);
}
hardware_remove_stack(&bricklet_stack->base);
stack_destroy(&bricklet_stack->base);
queue_destroy(&bricklet_stack->request_queue, NULL);
mutex_destroy(&bricklet_stack->request_queue_mutex);
queue_destroy(&bricklet_stack->response_queue, NULL);
mutex_destroy(&bricklet_stack->response_queue_mutex);
// Close file descriptors
robust_close(bricklet_stack->notification_event);
robust_close(bricklet_stack->spi_fd);
// Everything is closed and the threads are destroyed. We can
// now free the Bricklet Stack memory. It will not be accessed anymore.
free(bricklet_stack);
}
int usb_create_context(libusb_context **context) {
int phase = 0;
int rc;
const struct libusb_pollfd **pollfds = NULL;
const struct libusb_pollfd **pollfd;
const struct libusb_pollfd **last_added_pollfd = NULL;
rc = libusb_init(context);
if (rc < 0) {
log_error("Could not initialize libusb context: %s (%d)",
usb_get_error_name(rc), rc);
goto cleanup;
}
switch (log_get_effective_level()) {
case LOG_LEVEL_ERROR:
libusb_set_debug(*context, 1);
break;
case LOG_LEVEL_WARN:
libusb_set_debug(*context, 2);
break;
case LOG_LEVEL_INFO:
libusb_set_debug(*context, 3);
break;
case LOG_LEVEL_DEBUG:
if (log_is_included(LOG_LEVEL_DEBUG, &_libusb_log_source,
LOG_DEBUG_GROUP_LIBUSB)) {
libusb_set_debug(*context, 4);
} else {
libusb_set_debug(*context, 3);
}
break;
default:
break;
}
phase = 1;
// get pollfds from main libusb context
pollfds = libusb_get_pollfds(*context);
if (pollfds == NULL) {
log_error("Could not get pollfds from libusb context");
goto cleanup;
}
for (pollfd = pollfds; *pollfd != NULL; ++pollfd) {
if (event_add_source((*pollfd)->fd, EVENT_SOURCE_TYPE_USB,
(*pollfd)->events, usb_handle_events,
*context) < 0) {
goto cleanup;
}
last_added_pollfd = pollfd;
phase = 2;
}
phase = 3;
// register pollfd notifiers
libusb_set_pollfd_notifiers(*context, usb_add_pollfd, usb_remove_pollfd,
*context);
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 2:
for (pollfd = pollfds; pollfd != last_added_pollfd; ++pollfd) {
event_remove_source((*pollfd)->fd, EVENT_SOURCE_TYPE_USB);
}
case 1:
libusb_exit(*context);
default:
break;
}
#if defined(_WIN32) || (defined(LIBUSB_API_VERSION) && LIBUSB_API_VERSION >= 0x01000104) // libusb 1.0.20
libusb_free_pollfds(pollfds); // avoids possible heap-mismatch on Windows
#else
free(pollfds);
#endif
return phase == 3 ? 0 : -1;
}
int udev_init(void) {
int phase = 0;
int rc;
log_debug("Initializing udev subsystem");
#ifdef BRICKD_WITH_LIBUDEV_DLOPEN
if (udev_dlopen() < 0) {
goto cleanup;
}
phase = 1;
#endif
// create udev context
_udev_context = udev_new();
if (_udev_context == NULL) {
log_error("Could not create udev context");
goto cleanup;
}
phase = 2;
// create udev monitor
_udev_monitor = udev_monitor_new_from_netlink(_udev_context, "udev");
if (_udev_monitor == NULL) {
log_error("Could not initialize udev monitor");
goto cleanup;
}
phase = 3;
// create filter for USB
rc = udev_monitor_filter_add_match_subsystem_devtype(_udev_monitor, "usb", 0);
if (rc != 0) {
log_error("Could not initialize udev monitor filter for 'usb' subsystem: %d", rc);
goto cleanup;
}
rc = udev_monitor_enable_receiving(_udev_monitor);
if (rc != 0) {
log_error("Could not enable the udev monitor: %d", rc);
goto cleanup;
}
// add event source
_udev_monitor_fd = udev_monitor_get_fd(_udev_monitor);
if (event_add_source(_udev_monitor_fd, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, udev_handle_event, NULL) < 0) {
goto cleanup;
}
phase = 4;
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 3:
udev_monitor_unref(_udev_monitor);
case 2:
udev_unref(_udev_context);
#ifdef BRICKD_WITH_LIBUDEV_DLOPEN
case 1:
udev_dlclose();
#endif
default:
break;
}
return phase == 4 ? 0 : -1;
}
static int network_open_server_socket(Socket *server_socket, uint16_t port,
SocketCreateAllocatedFunction create_allocated) {
int phase = 0;
const char *address = config_get_option_value("listen.address")->string;
struct addrinfo *resolved_address = NULL;
bool dual_stack;
log_debug("Opening server socket on port %u", port);
// resolve listen address
// FIXME: bind to all returned addresses, instead of just the first one.
// requires special handling if IPv4 and IPv6 addresses are returned
// and dual-stack mode is enabled
resolved_address = socket_hostname_to_address(address, port);
if (resolved_address == NULL) {
log_error("Could not resolve listen address '%s' (port: %u): %s (%d)",
address, port, get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
// create socket
if (socket_create(server_socket) < 0) {
log_error("Could not create socket: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 2;
if (socket_open(server_socket, resolved_address->ai_family,
resolved_address->ai_socktype, resolved_address->ai_protocol) < 0) {
log_error("Could not open %s server socket: %s (%d)",
network_get_address_family_name(resolved_address->ai_family, false),
get_errno_name(errno), errno);
goto cleanup;
}
if (resolved_address->ai_family == AF_INET6) {
dual_stack = config_get_option_value("listen.dual_stack")->boolean;
if (socket_set_dual_stack(server_socket, dual_stack) < 0) {
log_error("Could not %s dual-stack mode for IPv6 server socket: %s (%d)",
dual_stack ? "enable" : "disable",
get_errno_name(errno), errno);
goto cleanup;
}
}
#ifndef _WIN32
// on Unix the SO_REUSEADDR socket option allows to rebind sockets in
// CLOSE-WAIT state. this is a desired effect. on Windows SO_REUSEADDR
// allows to rebind sockets in any state. this is dangerous. therefore,
// don't set SO_REUSEADDR on Windows. sockets can be rebound in CLOSE-WAIT
// state on Windows by default.
if (socket_set_address_reuse(server_socket, true) < 0) {
log_error("Could not enable address-reuse mode for server socket: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
#endif
// bind socket and start to listen
if (socket_bind(server_socket, resolved_address->ai_addr,
resolved_address->ai_addrlen) < 0) {
log_error("Could not bind %s server socket to '%s' on port %u: %s (%d)",
network_get_address_family_name(resolved_address->ai_family, true),
address, port, get_errno_name(errno), errno);
goto cleanup;
}
if (socket_listen(server_socket, 10, create_allocated) < 0) {
log_error("Could not listen to %s server socket bound to '%s' on port %u: %s (%d)",
network_get_address_family_name(resolved_address->ai_family, true),
address, port, get_errno_name(errno), errno);
goto cleanup;
}
log_debug("Started listening to '%s' (%s) on port %u",
address,
network_get_address_family_name(resolved_address->ai_family, true),
port);
if (event_add_source(server_socket->base.handle, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, network_handle_accept, server_socket) < 0) {
goto cleanup;
}
phase = 3;
freeaddrinfo(resolved_address);
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 2:
socket_destroy(server_socket);
case 1:
freeaddrinfo(resolved_address);
default:
break;
}
return phase == 3 ? 0 : -1;
}
// public API
APIE process_spawn(ObjectID executable_id, ObjectID arguments_id,
ObjectID environment_id, ObjectID working_directory_id,
uint32_t uid, uint32_t gid, ObjectID stdin_id,
ObjectID stdout_id, ObjectID stderr_id, Session *session,
uint16_t object_create_flags, bool release_on_death,
ProcessStateChangedFunction state_changed, void *opaque,
ObjectID *id, Process **object) {
int phase = 0;
APIE error_code;
String *executable;
List *arguments;
Array arguments_array;
int i;
char **item;
List *environment;
Array environment_array;
String *working_directory;
File *stdin;
File *stdout;
File *stderr;
pid_t pid;
int status_pipe[2];
int sc_open_max;
FILE *log_file;
Process *process;
// acquire and lock executable string object
error_code = string_get_acquired_and_locked(executable_id, &executable);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 1;
if (*executable->buffer == '\0') {
error_code = API_E_INVALID_PARAMETER;
log_warn("Cannot spawn child process using empty executable name");
goto cleanup;
}
// lock arguments list object
error_code = list_get_acquired_and_locked(arguments_id, OBJECT_TYPE_STRING,
&arguments);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 2;
// prepare arguments array for execvpe
if (array_create(&arguments_array, 1 + arguments->items.count + 1, sizeof(char *), true) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not create arguments array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
phase = 3;
item = array_append(&arguments_array);
if (item == NULL) {
error_code = api_get_error_code_from_errno();
log_error("Could not append to arguments array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
*item = executable->buffer;
for (i = 0; i < arguments->items.count; ++i) {
item = array_append(&arguments_array);
if (item == NULL) {
error_code = api_get_error_code_from_errno();
log_error("Could not append to arguments array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
*item = (*(String **)array_get(&arguments->items, i))->buffer;
}
item = array_append(&arguments_array);
if (item == NULL) {
error_code = api_get_error_code_from_errno();
log_error("Could not append to arguments array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
*item = NULL;
// lock environment list object
error_code = list_get_acquired_and_locked(environment_id, OBJECT_TYPE_STRING,
&environment);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 4;
// prepare environment array for execvpe
if (array_create(&environment_array, environment->items.count + 1, sizeof(char *), true) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not create environment array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
phase = 5;
for (i = 0; i < environment->items.count; ++i) {
item = array_append(&environment_array);
if (item == NULL) {
error_code = api_get_error_code_from_errno();
log_error("Could not append to environment array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
// FIXME: if item is not <name>=<value>, but just <name> then use the parent <value>
*item = (*(String **)array_get(&environment->items, i))->buffer;
}
item = array_append(&environment_array);
if (item == NULL) {
error_code = api_get_error_code_from_errno();
log_error("Could not append to environment array for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
*item = NULL;
// acquire and lock working directory string object
error_code = string_get_acquired_and_locked(working_directory_id, &working_directory);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 6;
if (*working_directory->buffer == '\0') {
error_code = API_E_INVALID_PARAMETER;
log_warn("Cannot spawn child process (executable: %s) using empty working directory name",
executable->buffer);
goto cleanup;
}
if (*working_directory->buffer != '/') {
error_code = API_E_INVALID_PARAMETER;
log_warn("Cannot spawn child process (executable: %s) using working directory with relative name '%s'",
executable->buffer, working_directory->buffer);
goto cleanup;
}
// acquire stdin file object
error_code = file_get_acquired(stdin_id, &stdin);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 7;
// acquire stdout file object
error_code = file_get_acquired(stdout_id, &stdout);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 8;
// acquire stderr file object
error_code = file_get_acquired(stderr_id, &stderr);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 9;
// create status pipe
if (pipe(status_pipe) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not create status pipe for spawning child process (executable: %s): %s (%d)",
executable->buffer, get_errno_name(errno), errno);
goto cleanup;
}
phase = 10;
// fork
log_debug("Forking to spawn child process (executable: %s)", executable->buffer);
error_code = process_fork(&pid);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
if (pid == 0) { // child
close(status_pipe[0]);
// change user and groups
error_code = process_set_identity(uid, gid);
if (error_code != API_E_SUCCESS) {
goto child_error;
}
// change directory
if (chdir(working_directory->buffer) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not change directory to '%s' for child process (executable: %s, pid: %u): %s (%d)",
working_directory->buffer, executable->buffer, getpid(), get_errno_name(errno), errno);
goto child_error;
}
// get open FD limit
sc_open_max = sysconf(_SC_OPEN_MAX);
if (sc_open_max < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not get SC_OPEN_MAX value: %s (%d)",
get_errno_name(errno), errno);
goto child_error;
}
// redirect stdin
if (dup2(file_get_read_handle(stdin), STDIN_FILENO) != STDIN_FILENO) {
error_code = api_get_error_code_from_errno();
log_error("Could not redirect stdin for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, getpid(), get_errno_name(errno), errno);
goto child_error;
}
// redirect stdout
if (dup2(file_get_write_handle(stdout), STDOUT_FILENO) != STDOUT_FILENO) {
error_code = api_get_error_code_from_errno();
log_error("Could not redirect stdout for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, getpid(), get_errno_name(errno), errno);
goto child_error;
}
// stderr is the default log output in non-daemon mode. if this is
// the case then disable the log output before redirecting stderr to
// avoid polluting stderr for the new process
log_file = log_get_file();
if (log_file != NULL && fileno(log_file) == STDERR_FILENO) {
log_debug("Disable logging to stderr for child process (executable: %s, pid: %u)",
executable->buffer, getpid());
log_set_file(NULL);
}
// redirect stderr
if (dup2(file_get_write_handle(stderr), STDERR_FILENO) != STDERR_FILENO) {
error_code = api_get_error_code_from_errno();
log_error("Could not redirect stderr for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, getpid(), get_errno_name(errno), errno);
goto child_error;
}
// notify parent
if (robust_write(status_pipe[1], &error_code, sizeof(error_code)) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not write to status pipe for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, getpid(), get_errno_name(errno), errno);
goto child_error;
}
// disable log output. if stderr was not the current log output then
// the log file is still open at this point. the next step is to close
// all remaining file descriptors. just for good measure disable the
// log output beforehand
log_set_file(NULL);
// close all file descriptors except the std* ones
for (i = STDERR_FILENO + 1; i < sc_open_max; ++i) {
close(i);
}
// execvpe only returns in case of an error
execvpe(executable->buffer, (char **)arguments_array.bytes, (char **)environment_array.bytes);
if (errno == ENOENT) {
_exit(PROCESS_E_DOES_NOT_EXIST);
} else {
_exit(PROCESS_E_CANNOT_EXECUTE);
}
child_error:
// notify parent in all cases
if (robust_write(status_pipe[1], &error_code, sizeof(error_code)) < 0) {
log_error("Could not write to status pipe for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, getpid(), get_errno_name(errno), errno);
}
close(status_pipe[1]);
_exit(PROCESS_E_INTERNAL_ERROR);
}
phase = 11;
// wait for child to start successfully
if (robust_read(status_pipe[0], &error_code, sizeof(error_code)) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not read from status pipe for child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, pid, get_errno_name(errno), errno);
goto cleanup;
}
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
// create process object
process = calloc(1, sizeof(Process));
if (process == NULL) {
error_code = API_E_NO_FREE_MEMORY;
log_error("Could not allocate process object: %s (%d)",
get_errno_name(ENOMEM), ENOMEM);
goto cleanup;
}
phase = 12;
// setup process object
process->executable = executable;
process->arguments = arguments;
process->environment = environment;
process->working_directory = working_directory;
process->uid = uid;
process->gid = gid;
process->pid = pid;
process->stdin = stdin;
process->stdout = stdout;
process->stderr = stderr;
process->release_on_death = release_on_death;
process->state_changed = state_changed;
process->opaque = opaque;
process->state = PROCESS_STATE_RUNNING;
process->timestamp = time(NULL);
process->exit_code = 0; // invalid
if (pipe_create(&process->state_change_pipe, 0) < 0) {
error_code = api_get_error_code_from_errno();
log_error("Could not create state change pipe child process (executable: %s, pid: %u): %s (%d)",
executable->buffer, pid, get_errno_name(errno), errno);
goto cleanup;
}
phase = 13;
if (event_add_source(process->state_change_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, process_handle_state_change, process) < 0) {
goto cleanup;
}
phase = 14;
// create process object
error_code = object_create(&process->base,
OBJECT_TYPE_PROCESS,
session,
object_create_flags |
OBJECT_CREATE_FLAG_INTERNAL,
process_destroy,
process_signature);
if (error_code != API_E_SUCCESS) {
goto cleanup;
}
phase = 15;
if (id != NULL) {
*id = process->base.id;
}
if (object != NULL) {
*object = process;
}
// start thread to wait for child process state changes
thread_create(&process->wait_thread, process_wait, process);
log_debug("Spawned process object (id: %u, executable: %s, pid: %u)",
process->base.id, executable->buffer, process->pid);
close(status_pipe[0]);
close(status_pipe[1]);
array_destroy(&arguments_array, NULL);
array_destroy(&environment_array, NULL);
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 14:
event_remove_source(process->state_change_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC);
case 13:
pipe_destroy(&process->state_change_pipe);
case 12:
free(process);
case 11:
kill(pid, SIGKILL);
case 10:
close(status_pipe[0]);
close(status_pipe[1]);
case 9:
file_release(stderr);
case 8:
file_release(stdout);
case 7:
file_release(stdin);
case 6:
string_unlock_and_release(working_directory);
case 5:
array_destroy(&environment_array, NULL);
case 4:
list_unlock_and_release(environment);
case 3:
array_destroy(&arguments_array, NULL);
case 2:
list_unlock_and_release(arguments);
case 1:
string_unlock_and_release(executable);
default:
break;
}
return phase == 15 ? API_E_SUCCESS : error_code;
}
int red_stack_init(void) {
int i = 0;
int phase = 0;
log_debug("Initializing RED Brick SPI Stack subsystem");
_red_stack_spi_poll_delay = config_get_option_value("poll_delay.spi")->integer;
if (gpio_sysfs_export(RED_STACK_RESET_PIN_GPIO_NUM) < 0) {
// Just issue a warning, RED Brick will work without reset interrupt
log_warn("Could not export GPIO %d in sysfs, disabling reset interrupt",
RED_STACK_RESET_PIN_GPIO_NUM);
} else {
if ((_red_stack_reset_fd = gpio_sysfs_get_value_fd(RED_STACK_RESET_PIN_GPIO_NAME)) < 0) {
// Just issue a warning, RED Brick will work without reset interrupt
log_warn("Could not retrieve fd for GPIO %s in sysfs, disabling reset interrupt",
RED_STACK_RESET_PIN_GPIO_NAME);
} else {
// If everything worked we can set the interrupt to falling.
// We ignore the return value here, it may work despite error.
gpio_sysfs_set_edge(RED_STACK_RESET_PIN_GPIO_NAME, "falling");
}
}
// create base stack
if (stack_create(&_red_stack.base, "red_stack", red_stack_dispatch_to_spi) < 0) {
log_error("Could not create base stack for RED Brick SPI Stack: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
// add to stacks array
if (hardware_add_stack(&_red_stack.base) < 0) {
goto cleanup;
}
phase = 2;
if ((_red_stack_notification_event = eventfd(0, 0)) < 0) {
log_error("Could not create red stack notification event: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 3;
// Add notification pipe as event source.
// Event is used to dispatch packets.
if (event_add_source(_red_stack_notification_event, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, red_stack_dispatch_from_spi, NULL) < 0) {
log_error("Could not add red stack notification pipe as event source");
goto cleanup;
}
phase = 4;
// Initialize SPI packet queues
for (i = 0; i < RED_STACK_SPI_MAX_SLAVES; i++) {
if (queue_create(&_red_stack.slaves[i].packet_to_spi_queue, sizeof(REDStackPacket)) < 0) {
log_error("Could not create SPI queue %d: %s (%d)",
i, get_errno_name(errno), errno);
goto cleanup;
}
}
if (semaphore_create(&_red_stack_dispatch_packet_from_spi_semaphore) < 0) {
log_error("Could not create SPI request semaphore: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
for (i = 0; i < RED_STACK_SPI_MAX_SLAVES; i++) {
mutex_create(&_red_stack.slaves[i].packet_queue_mutex);
}
phase = 5;
if (red_stack_init_spi() < 0) {
goto cleanup;
}
// Add reset interrupt as event source
if (_red_stack_reset_fd > 0) {
char buf[2];
lseek(_red_stack_reset_fd, 0, SEEK_SET);
if (read(_red_stack_reset_fd, buf, 2) < 0) {} // ignore return value
if (event_add_source(_red_stack_reset_fd, EVENT_SOURCE_TYPE_GENERIC,
EVENT_PRIO | EVENT_ERROR, red_stack_reset_handler, NULL) < 0) {
log_error("Could not add reset fd event");
goto cleanup;
}
}
phase = 6;
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 5:
for (i = 0; i < RED_STACK_SPI_MAX_SLAVES; i++) {
mutex_destroy(&_red_stack.slaves[i].packet_queue_mutex);
}
semaphore_destroy(&_red_stack_dispatch_packet_from_spi_semaphore);
case 4:
for (i--; i >= 0; i--) {
queue_destroy(&_red_stack.slaves[i].packet_to_spi_queue, NULL);
}
event_remove_source(_red_stack_notification_event, EVENT_SOURCE_TYPE_GENERIC);
case 3:
close(_red_stack_notification_event);
case 2:
hardware_remove_stack(&_red_stack.base);
case 1:
stack_destroy(&_red_stack.base);
default:
break;
}
return phase == 6 ? 0 : -1;
}
int event_run_platform(Array *event_sources, int *running) {
int result = -1;
int i;
EventSource *event_source;
fd_set *fd_read_set;
fd_set *fd_write_set;
int ready;
int handled;
uint8_t byte = 1;
int rc;
int event_source_count;
int received_events;
if (event_add_source(_usb_poller.ready_pipe[0], EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, event_forward_usb_events,
event_sources) < 0) {
return -1;
}
*running = 1;
_usb_poller.running = 1;
thread_create(&_usb_poller.thread, event_poll_usb_events, event_sources);
event_cleanup_sources();
while (*running) {
// update SocketSet arrays
if (event_reserve_socket_set(&_socket_read_set, // FIXME: this over allocates
event_sources->count) < 0) {
log_error("Could not resize socket read set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
if (event_reserve_socket_set(&_socket_write_set, // FIXME: this over allocates
event_sources->count) < 0) {
log_error("Could not resize socket write set: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
_socket_read_set->count = 0;
_socket_write_set->count = 0;
for (i = 0; i < event_sources->count; i++) {
event_source = array_get(event_sources, i);
if (event_source->type != EVENT_SOURCE_TYPE_GENERIC) {
continue;
}
if (event_source->events & EVENT_READ) {
_socket_read_set->sockets[_socket_read_set->count++] = event_source->handle;
}
if (event_source->events & EVENT_WRITE) {
_socket_write_set->sockets[_socket_write_set->count++] = event_source->handle;
}
}
// start to select
log_debug("Starting to select on %d + %d %s event source(s)",
_socket_read_set->count, _socket_write_set->count,
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, 0));
semaphore_release(&_usb_poller.resume);
fd_read_set = event_get_socket_set_as_fd_set(_socket_read_set);
fd_write_set = event_get_socket_set_as_fd_set(_socket_write_set);
ready = select(0, fd_read_set, fd_write_set, NULL, NULL);
if (_usb_poller.running) {
log_debug("Sending suspend signal to USB poll thread");
if (usbi_write(_usb_poller.suspend_pipe[1], &byte, 1) < 0) {
log_error("Could not write to USB suspend pipe");
_usb_poller.stuck = 1;
*running = 0;
goto cleanup;
}
semaphore_acquire(&_usb_poller.suspend);
if (usbi_read(_usb_poller.suspend_pipe[0], &byte, 1) < 0) {
log_error("Could not read from USB suspend pipe");
_usb_poller.stuck = 1;
*running = 0;
goto cleanup;
}
}
if (ready < 0) {
rc = ERRNO_WINAPI_OFFSET + WSAGetLastError();
if (rc == ERRNO_WINAPI_OFFSET + WSAEINTR) {
continue;
}
log_error("Could not select on %s event sources: %s (%d)",
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, 0),
get_errno_name(rc), rc);
*running = 0;
goto cleanup;
}
// handle select result
log_debug("Select returned %d %s event source(s) as ready",
ready,
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, 0));
handled = 0;
// cache event source count here to avoid looking at new event
// sources that got added during the event handling
event_source_count = event_sources->count;
for (i = 0; i < event_source_count && ready > handled; ++i) {
event_source = array_get(event_sources, i);
received_events = 0;
if (event_source->type != EVENT_SOURCE_TYPE_GENERIC) {
continue;
}
if (FD_ISSET(event_source->handle, fd_read_set)) {
received_events |= EVENT_READ;
}
if (FD_ISSET(event_source->handle, fd_write_set)) {
received_events |= EVENT_WRITE;
}
if (received_events == 0) {
continue;
}
if (event_source->state != EVENT_SOURCE_STATE_NORMAL) {
log_debug("Ignoring %s event source (handle: %d, received events: %d) marked as removed at index %d",
event_get_source_type_name(event_source->type, 0),
event_source->handle, received_events, i);
} else {
log_debug("Handling %s event source (handle: %d, received events: %d) at index %d",
event_get_source_type_name(event_source->type, 0),
event_source->handle, received_events, i);
if (event_source->function != NULL) {
event_source->function(event_source->opaque);
}
}
++handled;
if (!*running) {
break;
}
}
if (ready == handled) {
log_debug("Handled all ready %s event sources",
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, 0));
} else {
log_warn("Handled only %d of %d ready %s event source(s)",
handled, ready,
event_get_source_type_name(EVENT_SOURCE_TYPE_GENERIC, 0));
}
// now remove event sources that got marked as removed during the
// event handling
event_cleanup_sources();
}
result = 0;
cleanup:
if (_usb_poller.running && !_usb_poller.stuck) {
_usb_poller.running = 0;
log_debug("Stopping USB poll thread");
if (usbi_write(_usb_poller.suspend_pipe[1], &byte, 1) < 0) {
log_error("Could not write to USB suspend pipe");
} else {
semaphore_release(&_usb_poller.resume);
thread_join(&_usb_poller.thread);
}
}
event_remove_source(_usb_poller.ready_pipe[0], EVENT_SOURCE_TYPE_GENERIC);
return result;
}
// Init function called from central brickd code
int rs485_extension_init(void) {
uint8_t _tmp_eeprom_read_buf[4];
int _eeprom_read_status;
int phase = 0;
log_info("RS485: Checking presence of extension");
// Modbus config: TYPE
_eeprom_read_status =
i2c_eeprom_read((uint16_t)RS485_EXTENSION_MODBUS_CONFIG_LOCATION_TYPE,
_tmp_eeprom_read_buf, 4);
if (_eeprom_read_status <= 0) {
log_error("RS485: EEPROM read error. Most probably no RS485 extension present");
return 0;
}
_modbus_serial_config_type = (uint32_t)((_tmp_eeprom_read_buf[0] << 0) |
(_tmp_eeprom_read_buf[1] << 8) |
(_tmp_eeprom_read_buf[2] << 16) |
(_tmp_eeprom_read_buf[3] << 24));
if (_modbus_serial_config_type == RS485_EXTENSION_TYPE) {
log_info("RS485: Initializing extension subsystem");
// Create base stack
if(stack_create(&_rs485_extension.base, "rs485_extension",
(StackDispatchRequestFunction)rs485_extension_dispatch_to_modbus) < 0) {
log_error("RS485: Could not create base stack for extension: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
phase = 1;
// Add to stacks array
if(hardware_add_stack(&_rs485_extension.base) < 0) {
goto cleanup;
}
phase = 2;
// Initialize modbus packet queue
if(queue_create(&_rs485_extension.packet_to_modbus_queue, sizeof(RS485ExtensionPacket)) < 0) {
log_error("RS485: Could not create Modbus queue: %s (%d)",
get_errno_name(errno), errno);
goto cleanup;
}
// Reading and storing eeprom config
// Modbus config: ADDRESS
_eeprom_read_status =
i2c_eeprom_read((uint16_t)RS485_EXTENSION_MODBUS_CONFIG_LOCATION_ADDRESS,
_tmp_eeprom_read_buf, 4);
if (_eeprom_read_status <= 0) {
log_error("RS485: Could not read config ADDRESS from EEPROM");
goto cleanup;
}
_modbus_serial_config_address = (uint32_t)((_tmp_eeprom_read_buf[0] << 0) |
(_tmp_eeprom_read_buf[1] << 8) |
(_tmp_eeprom_read_buf[2] << 16) |
(_tmp_eeprom_read_buf[3] << 24));
// Modbus config: BAUDRATE
_eeprom_read_status = i2c_eeprom_read((uint16_t)RS485_EXTENSION_MODBUS_CONFIG_LOCATION_BAUDRATE,
_tmp_eeprom_read_buf, 4);
if (_eeprom_read_status <= 0) {
log_error("RS485: Could not read config BAUDRATE from EEPROM");
goto cleanup;
}
_modbus_serial_config_baudrate = (uint32_t)((_tmp_eeprom_read_buf[0] << 0) |
(_tmp_eeprom_read_buf[1] << 8) |
(_tmp_eeprom_read_buf[2] << 16) |
(_tmp_eeprom_read_buf[3] << 24));
// Modbus config: PARITY
_eeprom_read_status = i2c_eeprom_read((uint16_t)RS485_EXTENSION_MODBUS_CONFIG_LOCATION_PARTIY,
_tmp_eeprom_read_buf, 1);
if (_eeprom_read_status <= 0) {
log_error("RS485: Could not read config PARITY from EEPROM");
goto cleanup;
}
if(_tmp_eeprom_read_buf[0] == RS485_EXTENSION_SERIAL_PARITY_NONE) {
_modbus_serial_config_parity = RS485_EXTENSION_SERIAL_PARITY_NONE;
}
else if (_tmp_eeprom_read_buf[0] == RS485_EXTENSION_SERIAL_PARITY_EVEN){
_modbus_serial_config_parity = RS485_EXTENSION_SERIAL_PARITY_EVEN;
}
else {
_modbus_serial_config_parity = RS485_EXTENSION_SERIAL_PARITY_ODD;
}
// Modbus config: STOPBITS
_eeprom_read_status =
i2c_eeprom_read((uint16_t)RS485_EXTENSION_MODBUS_CONFIG_LOCATION_STOPBITS,
_tmp_eeprom_read_buf, 1);
if (_eeprom_read_status <= 0) {
log_error("RS485: Could not read config STOPBITS from EEPROM");
goto cleanup;
}
_modbus_serial_config_stopbits = _tmp_eeprom_read_buf[0];
// Modbus config (if master): SLAVE ADDRESSES
if(_modbus_serial_config_address == 0) {
_rs485_extension.slave_num = 0;
uint16_t _current_eeprom_location =
RS485_EXTENSION_MODBUS_CONFIG_LOCATION_SLAVE_ADDRESSES_START;
uint32_t _current_slave_address;
_rs485_extension.slave_num = 0;
do {
_eeprom_read_status = i2c_eeprom_read(_current_eeprom_location, _tmp_eeprom_read_buf, 4);
if (_eeprom_read_status <= 0) {
log_error("RS485: Could not read config SLAVE ADDRESSES from EEPROM");
goto cleanup;
}
_current_slave_address = (uint32_t)((_tmp_eeprom_read_buf[0] << 0) |
(_tmp_eeprom_read_buf[1] << 8) |
(_tmp_eeprom_read_buf[2] << 16) |
(_tmp_eeprom_read_buf[3] << 24));
if(_current_slave_address != 0) {
_rs485_extension.slaves[_rs485_extension.slave_num] = _current_slave_address;
_rs485_extension.slave_num ++;
}
_current_eeprom_location = _current_eeprom_location + 4;
}
while(_current_slave_address != 0
&&
_rs485_extension.slave_num < RS485_EXTENSION_MODBUS_MAX_SLAVES);
}
// Configuring serial interface from the configs
if(rs485_extension_serial_init(RS485_EXTENSION_SERIAL_DEVICE) < 0) {
goto cleanup;
}
// Initial RS485 TX/RX state
init_tx_rx_state();
phase = 3;
// Setup partial data receive timer
setup_timer(&partial_receive_timer, TIME_UNIT_NSEC, PARTIAL_RECEIVE_TIMEOUT);
_partial_receive_timeout_event = timerfd_create(CLOCK_MONOTONIC, TFD_NONBLOCK);
if(!(_partial_receive_timeout_event < 0)) {
if(event_add_source(_partial_receive_timeout_event, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, partial_receive_timeout_handler, NULL) < 0) {
log_error("RS485: Could not add partial receive timeout notification pipe as event source");
goto cleanup;
}
}
else {
log_error("RS485: Could not create partial receive timer");
goto cleanup;
}
phase = 4;
// Adding serial data available event
if(event_add_source(_rs485_serial_fd, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, rs485_serial_data_available_handler, NULL) < 0) {
log_error("RS485: Could not add new serial data event");
goto cleanup;
}
phase = 5;
// Setup master retry timer
setup_timer(&master_retry_timer, TIME_UNIT_NSEC, MASTER_RETRY_TIMEOUT);
_master_retry_event = timerfd_create(CLOCK_MONOTONIC, TFD_NONBLOCK);
if(!(_master_retry_event < 0)) {
if(event_add_source(_master_retry_event, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, master_retry_timeout_handler, NULL) < 0) {
log_error("RS485: Could not add Modbus master retry notification pipe as event source");
goto cleanup;
}
}
else {
log_error("RS485: Could not create Modbus master retry timer");
goto cleanup;
}
phase = 6;
// Setup send verify timer
setup_timer(&send_verify_timer, TIME_UNIT_NSEC, SEND_VERIFY_TIMEOUT);
_send_verify_event = timerfd_create(CLOCK_MONOTONIC, TFD_NONBLOCK);
if(!(_send_verify_event < 0)) {
if(event_add_source(_send_verify_event, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, send_verify_timeout_handler, NULL) < 0) {
log_error("RS485: Could not add Modbus send verify notification pipe as event source");
goto cleanup;
}
}
else {
log_error("RS485: Could not create Modbus send verify timer");
goto cleanup;
}
phase = 7;
// Get things going in case of a master
if(_modbus_serial_config_address == 0 && _rs485_extension.slave_num > 0) {
// Setup master poll slave timer
setup_timer(&master_poll_slave_timer, TIME_UNIT_NSEC, MASTER_POLL_SLAVE_TIMEOUT);
_master_poll_slave_event = timerfd_create(CLOCK_MONOTONIC, TFD_NONBLOCK);
if(!(_master_poll_slave_event < 0) ) {
if(event_add_source(_master_poll_slave_event, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, master_poll_slave_timeout_handler, NULL) < 0) {
log_error("RS485: Could not add Modbus master poll slave notification pipe as event source");
goto cleanup;
}
}
else {
log_error("RS485: Could not create Modbus master poll slave timer");
goto cleanup;
}
master_poll_slave_timeout_handler(NULL);
}
phase = 8;
_initialized = true;
}
else {
log_info("RS485: Extension not present");
goto cleanup;
}
cleanup:
switch (phase) { // no breaks, all cases fall through intentionally
case 7:
close(_send_verify_event);
event_remove_source(_send_verify_event, EVENT_SOURCE_TYPE_GENERIC);
case 6:
close(_master_retry_event);
event_remove_source(_master_retry_event, EVENT_SOURCE_TYPE_GENERIC);
case 5:
close(_rs485_serial_fd);
event_remove_source(_rs485_serial_fd, EVENT_SOURCE_TYPE_GENERIC);
case 4:
close(_partial_receive_timeout_event);
event_remove_source(_partial_receive_timeout_event, EVENT_SOURCE_TYPE_GENERIC);
case 3:
queue_destroy(&_rs485_extension.packet_to_modbus_queue, NULL);
case 2:
hardware_remove_stack(&_rs485_extension.base);
case 1:
stack_destroy(&_rs485_extension.base);
default:
break;
}
return phase == 8 ? 0 : -1;
}
int mesh_start_listening(Socket *mesh_listen_socket,
uint16_t mesh_listen_socket_port,
SocketCreateAllocatedFunction create_allocated) {
int phase = 0;
struct addrinfo *resolved_address = NULL;
const char *address = config_get_option_value("listen.address")->string;
log_info("Opening mesh listen socket (P: %u)", mesh_listen_socket_port);
resolved_address = socket_hostname_to_address(address, mesh_listen_socket_port);
// Currently no IPv6 support for mesh.
if(resolved_address->ai_family == AF_INET6) {
log_error("Mesh gateway does not support IPv6");
goto CLEANUP;
}
if (resolved_address == NULL) {
log_error("Could not resolve mesh listen address '%s' (P: %u): %s (%d)",
address,
mesh_listen_socket_port,
get_errno_name(errno),
errno);
goto CLEANUP;
}
phase = 1;
// Create socket.
if (socket_create(mesh_listen_socket) < 0) {
log_error("Could not create mesh listen socket: %s (%d)",
get_errno_name(errno),
errno);
goto CLEANUP;
}
phase = 2;
if (socket_open(mesh_listen_socket,
resolved_address->ai_family,
resolved_address->ai_socktype,
resolved_address->ai_protocol) < 0) {
log_error("Could not open %s mesh listen socket: %s (%d)",
network_get_address_family_name(resolved_address->ai_family, false),
get_errno_name(errno),
errno);
goto CLEANUP;
}
#ifndef _WIN32
/*
* On Unix the SO_REUSEADDR socket option allows to rebind sockets in
* CLOSE-WAIT state. this is a desired effect. On Windows SO_REUSEADDR
* allows to rebind sockets in any state. This is dangerous. Therefore,
* don't set SO_REUSEADDR on Windows. Sockets can be rebound in CLOSE-WAIT
* state on Windows by default.
*/
if (socket_set_address_reuse(mesh_listen_socket, true) < 0) {
log_error("Could not enable address-reuse mode for mesh listen socket: %s (%d)",
get_errno_name(errno),
errno);
goto CLEANUP;
}
#endif
// Bind socket and start to listen.
if (socket_bind(mesh_listen_socket,
resolved_address->ai_addr,
resolved_address->ai_addrlen) < 0) {
log_error("Could not bind %s mesh listen socket to (A: %s, P: %u): %s (%d)",
network_get_address_family_name(resolved_address->ai_family, true),
address,
mesh_listen_socket_port,
get_errno_name(errno),
errno);
goto CLEANUP;
}
if (socket_listen(mesh_listen_socket, 10, create_allocated) < 0) {
log_error("Could not listen to %s mesh socket (A: %s, P: %u): %s (%d)",
network_get_address_family_name(resolved_address->ai_family, true),
address,
mesh_listen_socket_port,
get_errno_name(errno),
errno);
goto CLEANUP;
}
log_info("Mesh gateway started listening on (A: %s, P: %u, F: %s)",
address,
mesh_listen_socket_port,
network_get_address_family_name(resolved_address->ai_family, true));
if(event_add_source(mesh_listen_socket->base.handle,
EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ,
mesh_handle_accept,
mesh_listen_socket) < 0) {
goto CLEANUP;
}
phase = 3;
freeaddrinfo(resolved_address);
CLEANUP:
switch(phase) { // No breaks, all cases fall through intentionally.
case 2:
socket_destroy(mesh_listen_socket);
case 1:
freeaddrinfo(resolved_address);
default:
break;
}
return phase == 3 ? 0 : -1;
}
// NOTE: this function needs to call RegisterServiceCtrlHandlerEx and
// SetServiceStatus in all circumstances if brickd is running as service
static int generic_main(bool log_to_file, bool debug, bool libusb_debug) {
int exit_code = EXIT_FAILURE;
const char *mutex_name = "Global\\Tinkerforge-Brick-Daemon-Single-Instance";
HANDLE mutex_handle = NULL;
bool fatal_error = false;
DWORD service_exit_code = NO_ERROR;
int rc;
char filename[1024];
int i;
FILE *log_file = NULL;
WSADATA wsa_data;
DEV_BROADCAST_DEVICEINTERFACE notification_filter;
HDEVNOTIFY notification_handle;
mutex_handle = OpenMutex(SYNCHRONIZE, FALSE, mutex_name);
if (mutex_handle == NULL) {
rc = GetLastError();
if (rc == ERROR_ACCESS_DENIED) {
rc = service_is_running();
if (rc < 0) {
fatal_error = true;
// FIXME: set service_exit_code
goto error_mutex;
} else if (rc) {
fatal_error = true;
service_exit_code = ERROR_SERVICE_ALREADY_RUNNING;
log_error("Could not start as %s, another instance is already running as service",
_run_as_service ? "service" : "console application");
goto error_mutex;
}
}
if (rc != ERROR_FILE_NOT_FOUND) {
fatal_error = true;
// FIXME: set service_exit_code
rc += ERRNO_WINAPI_OFFSET;
log_error("Could not open single instance mutex: %s (%d)",
get_errno_name(rc), rc);
goto error_mutex;
}
}
if (mutex_handle != NULL) {
fatal_error = true;
service_exit_code = ERROR_SERVICE_ALREADY_RUNNING;
log_error("Could not start as %s, another instance is already running",
_run_as_service ? "service" : "console application");
goto error_mutex;
}
mutex_handle = CreateMutex(NULL, FALSE, mutex_name);
if (mutex_handle == NULL) {
fatal_error = true;
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_error("Could not create single instance mutex: %s (%d)",
get_errno_name(rc), rc);
goto error_mutex;
}
if (log_to_file) {
if (GetModuleFileName(NULL, filename, sizeof(filename)) == 0) {
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_warn("Could not get module file name: %s (%d)",
get_errno_name(rc), rc);
} else {
i = strlen(filename);
if (i < 4) {
log_warn("Module file name '%s' is too short", filename);
} else {
filename[i - 3] = '\0';
string_append(filename, "log", sizeof(filename));
log_file = fopen(filename, "a+");
if (log_file == NULL) {
log_warn("Could not open log file '%s'", filename);
} else {
printf("Logging to '%s'\n", filename);
log_set_file(log_file);
}
}
}
} else if (_run_as_service) {
log_set_file(NULL);
}
if (!_run_as_service &&
!SetConsoleCtrlHandler(console_ctrl_handler, TRUE)) {
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_warn("Could not set console control handler: %s (%d)",
get_errno_name(rc), rc);
}
log_set_debug_override(debug);
log_set_level(LOG_CATEGORY_EVENT, config_get_option("log_level.event")->value.log_level);
log_set_level(LOG_CATEGORY_USB, config_get_option("log_level.usb")->value.log_level);
log_set_level(LOG_CATEGORY_NETWORK, config_get_option("log_level.network")->value.log_level);
log_set_level(LOG_CATEGORY_HOTPLUG, config_get_option("log_level.hotplug")->value.log_level);
log_set_level(LOG_CATEGORY_HARDWARE, config_get_option("log_level.hardware")->value.log_level);
log_set_level(LOG_CATEGORY_WEBSOCKET, config_get_option("log_level.websocket")->value.log_level);
log_set_level(LOG_CATEGORY_OTHER, config_get_option("log_level.other")->value.log_level);
if (config_has_error()) {
log_error("Error(s) in config file '%s', run with --check-config option for details",
_config_filename);
fatal_error = true;
goto error_config;
}
if (_run_as_service) {
log_info("Brick Daemon %s started (as service)", VERSION_STRING);
} else {
log_info("Brick Daemon %s started", VERSION_STRING);
}
if (config_has_warning()) {
log_warn("Warning(s) in config file '%s', run with --check-config option for details",
_config_filename);
}
// initialize service status
error_config:
error_mutex:
if (_run_as_service) {
if (service_init(service_control_handler) < 0) {
// FIXME: set service_exit_code
goto error;
}
if (!fatal_error) {
// service is starting
service_set_status(SERVICE_START_PENDING, NO_ERROR);
}
}
if (fatal_error) {
goto error;
}
// initialize WinSock2
if (WSAStartup(MAKEWORD(2, 2), &wsa_data) != 0) {
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + WSAGetLastError();
log_error("Could not initialize Windows Sockets 2.2: %s (%d)",
get_errno_name(rc), rc);
goto error_event;
}
if (event_init() < 0) {
// FIXME: set service_exit_code
goto error_event;
}
if (hardware_init() < 0) {
// FIXME: set service_exit_code
goto error_hardware;
}
if (usb_init(libusb_debug) < 0) {
// FIXME: set service_exit_code
goto error_usb;
}
// create notification pipe
if (pipe_create(&_notification_pipe) < 0) {
// FIXME: set service_exit_code
log_error("Could not create notification pipe: %s (%d)",
get_errno_name(errno), errno);
goto error_pipe;
}
if (event_add_source(_notification_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC,
EVENT_READ, forward_notifications, NULL) < 0) {
// FIXME: set service_exit_code
goto error_pipe_add;
}
// register device notification
ZeroMemory(¬ification_filter, sizeof(notification_filter));
notification_filter.dbcc_size = sizeof(notification_filter);
notification_filter.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
notification_filter.dbcc_classguid = GUID_DEVINTERFACE_USB_DEVICE;
if (_run_as_service) {
notification_handle = RegisterDeviceNotification((HANDLE)service_get_status_handle(),
¬ification_filter,
DEVICE_NOTIFY_SERVICE_HANDLE);
} else {
if (message_pump_start() < 0) {
// FIXME: set service_exit_code
goto error_pipe_add;
}
notification_handle = RegisterDeviceNotification(_message_pump_hwnd,
¬ification_filter,
DEVICE_NOTIFY_WINDOW_HANDLE);
}
if (notification_handle == NULL) {
// FIXME: set service_exit_code
rc = ERRNO_WINAPI_OFFSET + GetLastError();
log_error("Could not register for device notification: %s (%d)",
get_errno_name(rc), rc);
goto error_notification;
}
if (network_init() < 0) {
// FIXME: set service_exit_code
goto error_network;
}
// running
if (_run_as_service) {
service_set_status(SERVICE_RUNNING, NO_ERROR);
}
if (event_run(network_cleanup_clients_and_zombies) < 0) {
// FIXME: set service_exit_code
goto error_run;
}
exit_code = EXIT_SUCCESS;
error_run:
network_exit();
error_network:
UnregisterDeviceNotification(notification_handle);
error_notification:
if (!_run_as_service) {
message_pump_stop();
}
event_remove_source(_notification_pipe.read_end, EVENT_SOURCE_TYPE_GENERIC);
error_pipe_add:
pipe_destroy(&_notification_pipe);
error_pipe:
usb_exit();
error_usb:
hardware_exit();
error_hardware:
event_exit();
error_event:
log_info("Brick Daemon %s stopped", VERSION_STRING);
error:
if (!_run_as_service) {
// unregister the console handler before exiting the log. otherwise a
// control event might be send to the control handler after the log
// is not available anymore and the control handler tries to write a
// log messages triggering a crash. this situation could easily be
// created by clicking the close button of the command prompt window
// while the getch call is waiting for the user to press a key.
SetConsoleCtrlHandler(console_ctrl_handler, FALSE);
}
log_exit();
config_exit();
if (_run_as_service) {
// because the service process can be terminated at any time after
// entering SERVICE_STOPPED state the mutex is closed beforehand,
// even though this creates a tiny time window in which the service
// is still running but the mutex is not held anymore
if (mutex_handle != NULL) {
CloseHandle(mutex_handle);
}
// service is now stopped
service_set_status(SERVICE_STOPPED, service_exit_code);
} else {
if (_pause_before_exit) {
printf("Press any key to exit...\n");
getch();
}
if (mutex_handle != NULL) {
CloseHandle(mutex_handle);
}
}
return exit_code;
}
