void start_services ()
{
init_services ();
bzero (&user_list_head, sizeof (struct socket_list));
bzero (rooms, sizeof (rooms));
int i;
for (i = 0; i < MAXROOM; i++)
rooms[i].index = i;
printf ("running services...\n");
struct epoll_event events[MAXEVENTS];
int nfds;
while (1)
{
nfds = epoll_wait (epoll_fd, events, MAXEVENTS, -1);
if (nfds == -1)
{
perror ("epoll_wait");
continue;
}
for (i = 0; i < nfds; ++i)
{
if (events[i].data.fd == listen_socket)
on_accept ();
else
on_receive (events[i].data.fd);
}
}
}
DJISDKNode::DJISDKNode(ros::NodeHandle& nh, ros::NodeHandle& nh_private)
{
init_publishers(nh);
init_services(nh);
init_actions(nh);
init_parameters_and_activate(nh_private);
}
/* Daemon init sequence */
static void
start_check(void)
{
/* Initialize sub-system */
ipvs_start();
init_checkers_queue();
#ifdef _WITH_VRRP_
init_interface_queue();
kernel_netlink_init();
#endif
#ifdef _WITH_SNMP_
if (!reload && snmp)
check_snmp_agent_init();
#endif
/* Parse configuration file */
global_data = alloc_global_data();
check_data = alloc_check_data();
init_data(conf_file, check_init_keywords);
if (!check_data) {
stop_check();
return;
}
/* Post initializations */
log_message(LOG_INFO, "Configuration is using : %lu Bytes", mem_allocated);
/* SSL load static data & initialize common ctx context */
if (!init_ssl_ctx()) {
stop_check();
return;
}
/* Processing differential configuration parsing */
if (reload) {
clear_diff_services();
copy_srv_states();
}
/* Initialize IPVS topology */
if (!init_services()) {
stop_check();
return;
}
/* Dump configuration */
if (debug & 4) {
dump_global_data(global_data);
dump_check_data(check_data);
}
#ifdef _WITH_VRRP_
/* Initialize linkbeat */
init_interface_linkbeat();
#endif
/* Register checkers thread */
register_checkers_thread();
}
int main(int argc, char **argv)
{
#if ! defined(_WIN32)
__log_error = (void (*)(void *, const char *,...)) log_server; /*set c-icap library log function */
#else
__vlog_error = vlog_server; /*set c-icap library log function */
#endif
mem_init();
init_internal_lookup_tables();
ci_acl_init();
init_http_auth();
if (init_body_system() != CI_OK) {
ci_debug_printf(1, "Can not initialize body system\n");
exit(-1);
}
ci_txt_template_init();
ci_txt_template_set_dir(DATADIR"templates");
commands_init();
if (!(CI_CONF.MAGIC_DB = ci_magic_db_load(CI_CONF.magics_file))) {
ci_debug_printf(1, "Can not load magic file %s!!!\n",
CI_CONF.magics_file);
}
init_conf_tables();
request_stats_init();
init_modules();
init_services();
config(argc, argv);
compute_my_hostname();
ci_debug_printf(2, "My hostname is:%s\n", MY_HOSTNAME);
if (!log_open()) {
ci_debug_printf(1, "Can not init loggers. Exiting.....\n");
exit(-1);
}
#if ! defined(_WIN32)
if (is_icap_running(CI_CONF.PIDFILE)) {
ci_debug_printf(1, "c-icap server already running!\n");
exit(-1);
}
if (DAEMON_MODE)
run_as_daemon();
if (!set_running_permissions(CI_CONF.RUN_USER, CI_CONF.RUN_GROUP))
exit(-1);
store_pid(CI_CONF.PIDFILE);
#endif
if (!init_server(CI_CONF.ADDRESS, CI_CONF.PORT, &(CI_CONF.PROTOCOL_FAMILY)))
return -1;
post_init_modules();
post_init_services();
start_server();
clear_pid(CI_CONF.PIDFILE);
return 0;
}
/**
* @brief Initialize Bluetooth Low Energy and start advertising
*/
void ble_init()
{
nrf_gpio_cfg_output(PIN_LED_ADVERTISING);
nrf_gpio_cfg_output(PIN_LED_CONNECTED);
nrf_gpio_cfg_output(PIN_LED_DATA);
APP_TIMER_INIT(APP_TIMER_PRESCALER, APP_TIMER_MAX_TIMERS, APP_TIMER_OP_QUEUE_SIZE, false);
init_softdevice();
init_ble_stack();
init_gap();
init_services();
init_characteristics();
init_advertising();
init_connection_parameters();
init_security_parameters();
start_advertising();
}
/* Daemon init sequence */
static void
start_check(void)
{
/* Initialize sub-system */
if (ipvs_start() != IPVS_SUCCESS) {
stop_check(KEEPALIVED_EXIT_FATAL);
return;
}
init_checkers_queue();
#ifdef _WITH_VRRP_
init_interface_queue();
kernel_netlink_init();
#endif
/* Parse configuration file */
global_data = alloc_global_data();
check_data = alloc_check_data();
if (!check_data)
stop_check(KEEPALIVED_EXIT_FATAL);
init_data(conf_file, check_init_keywords);
init_global_data(global_data);
/* Post initializations */
#ifdef _MEM_CHECK_
log_message(LOG_INFO, "Configuration is using : %zu Bytes", mem_allocated);
#endif
/* Remove any entries left over from previous invocation */
if (!reload && global_data->lvs_flush)
ipvs_flush_cmd();
#ifdef _WITH_SNMP_CHECKER_
if (!reload && global_data->enable_snmp_checker)
check_snmp_agent_init(global_data->snmp_socket);
#endif
/* SSL load static data & initialize common ctx context */
if (!init_ssl_ctx())
stop_check(KEEPALIVED_EXIT_FATAL);
/* fill 'vsg' members of the virtual_server_t structure.
* We must do that after parsing config, because
* vs and vsg declarations may appear in any order
*/
link_vsg_to_vs();
/* Set the process priority and non swappable if configured */
if (global_data->checker_process_priority)
set_process_priority(global_data->checker_process_priority);
if (global_data->checker_no_swap)
set_process_dont_swap(4096); /* guess a stack size to reserve */
/* Processing differential configuration parsing */
if (reload)
clear_diff_services();
/* Initialize IPVS topology */
if (!init_services())
stop_check(KEEPALIVED_EXIT_FATAL);
/* Dump configuration */
if (__test_bit(DUMP_CONF_BIT, &debug)) {
dump_global_data(global_data);
dump_check_data(check_data);
}
#ifdef _WITH_VRRP_
/* Initialize linkbeat */
init_interface_linkbeat();
#endif
/* Register checkers thread */
register_checkers_thread();
}
/* Daemon init sequence */
static void
start_check(void)
{
/* Initialize sub-system */
if (ipvs_start() != IPVS_SUCCESS) {
stop_check();
return;
}
init_checkers_queue();
#ifdef _WITH_VRRP_
init_interface_queue();
kernel_netlink_init();
#endif
#ifdef _WITH_SNMP_
if (!reload && snmp)
check_snmp_agent_init(snmp_socket);
#endif
/* Parse configuration file */
global_data = alloc_global_data();
check_data = alloc_check_data();
init_data(conf_file, check_init_keywords);
if (!check_data) {
stop_check();
return;
}
init_global_data(global_data);
/* Post initializations */
#ifdef _DEBUG_
log_message(LOG_INFO, "Configuration is using : %lu Bytes", mem_allocated);
#endif
/* SSL load static data & initialize common ctx context */
if (!init_ssl_ctx()) {
stop_check();
return;
}
/* fill 'vsg' members of the virtual_server_t structure.
* We must do that after parsing config, because
* vs and vsg declarations may appear in any order
*/
link_vsg_to_vs();
/* Processing differential configuration parsing */
if (reload)
clear_diff_services();
/* Initialize IPVS topology */
if (!init_services()) {
stop_check();
return;
}
/* Dump configuration */
if (__test_bit(DUMP_CONF_BIT, &debug)) {
dump_global_data(global_data);
dump_check_data(check_data);
}
#ifdef _WITH_VRRP_
/* Initialize linkbeat */
init_interface_linkbeat();
#endif
/* Register checkers thread */
register_checkers_thread();
}
