void warn_power_drop(void)
{
if(power_status() == WARN_POWER_OFF)
{
#if ( WARN_EN > 0 )
RT_DEBUG_LOG(DEBUG_WARN, ("power drop warn.\n"));
warn_judge_set(RT_NULL, WARN_POWER_DROP_SET, WHICH_WARN_POWER_DROP);
#endif
}
}
int
main(int argc, char *argv[])
{
const char *fname = apmdev;
int ctl_fd, sock_fd, ch, suspends, standbys, resumes;
int statonly = 0;
int powerstatus = 0, powerbak = 0, powerchange = 0;
int noacsleep = 0;
struct timespec ts = {TIMO, 0}, sts = {0, 0};
struct apm_power_info pinfo;
time_t apmtimeout = 0;
const char *sockname = sockfile;
int kq, nchanges;
struct kevent ev[2];
int ncpu_mib[2] = { CTL_HW, HW_NCPU };
int ncpu;
size_t ncpu_sz = sizeof(ncpu);
while ((ch = getopt(argc, argv, "aACdHLsf:t:S:")) != -1)
switch(ch) {
case 'a':
noacsleep = 1;
break;
case 'd':
debug = 1;
break;
case 'f':
fname = optarg;
break;
case 'S':
sockname = optarg;
break;
case 't':
ts.tv_sec = strtoul(optarg, NULL, 0);
if (ts.tv_sec == 0)
usage();
break;
case 's': /* status only */
statonly = 1;
break;
case 'A':
if (doperf != PERF_NONE)
usage();
doperf = PERF_AUTO;
break;
case 'C':
if (doperf != PERF_NONE)
usage();
doperf = PERF_COOL;
break;
case 'L':
if (doperf != PERF_NONE)
usage();
doperf = PERF_MANUAL;
setperf(PERFMIN);
break;
case 'H':
if (doperf != PERF_NONE)
usage();
doperf = PERF_MANUAL;
setperf(PERFMAX);
break;
case '?':
default:
usage();
}
argc -= optind;
argv += optind;
if (argc != 0)
usage();
if (doperf == PERF_NONE)
doperf = PERF_MANUAL;
if (debug)
openlog(__progname, LOG_CONS, LOG_LOCAL1);
else {
if (daemon(0, 0) < 0)
error("failed to daemonize", NULL);
openlog(__progname, LOG_CONS, LOG_DAEMON);
setlogmask(LOG_UPTO(LOG_NOTICE));
}
(void) signal(SIGTERM, sigexit);
(void) signal(SIGHUP, sigexit);
(void) signal(SIGINT, sigexit);
if ((ctl_fd = open(fname, O_RDWR)) == -1) {
if (errno != ENXIO && errno != ENOENT)
error("cannot open device file `%s'", fname);
} else if (fcntl(ctl_fd, F_SETFD, FD_CLOEXEC) == -1)
error("cannot set close-on-exec for `%s'", fname);
sock_fd = bind_socket(sockname);
if (fcntl(sock_fd, F_SETFD, FD_CLOEXEC) == -1)
error("cannot set close-on-exec for the socket", NULL);
power_status(ctl_fd, 1, &pinfo);
if (statonly)
exit(0);
set_driver_messages(ctl_fd, APM_PRINT_OFF);
kq = kqueue();
if (kq <= 0)
error("kqueue", NULL);
EV_SET(&ev[0], sock_fd, EVFILT_READ, EV_ADD | EV_ENABLE | EV_CLEAR,
0, 0, NULL);
if (ctl_fd == -1)
nchanges = 1;
else {
EV_SET(&ev[1], ctl_fd, EVFILT_READ, EV_ADD | EV_ENABLE |
EV_CLEAR, 0, 0, NULL);
nchanges = 2;
}
if (kevent(kq, ev, nchanges, NULL, 0, &sts) < 0)
error("kevent", NULL);
if (sysctl(ncpu_mib, 2, &ncpu, &ncpu_sz, NULL, 0) < 0)
error("cannot read hw.ncpu", NULL);
if (doperf == PERF_AUTO || doperf == PERF_COOL) {
setperf(0);
setperf(100);
}
for (;;) {
int rv;
sts = ts;
if (doperf == PERF_AUTO || doperf == PERF_COOL) {
sts.tv_sec = 1;
perf_status(&pinfo, ncpu);
}
apmtimeout += sts.tv_sec;
if ((rv = kevent(kq, NULL, 0, ev, 1, &sts)) < 0)
break;
if (apmtimeout >= ts.tv_sec) {
apmtimeout = 0;
/* wakeup for timeout: take status */
powerbak = power_status(ctl_fd, 0, &pinfo);
if (powerstatus != powerbak) {
powerstatus = powerbak;
powerchange = 1;
}
}
if (!rv)
continue;
if (ev->ident == ctl_fd) {
suspends = standbys = resumes = 0;
syslog(LOG_DEBUG, "apmevent %04x index %d",
(int)APM_EVENT_TYPE(ev->data),
(int)APM_EVENT_INDEX(ev->data));
switch (APM_EVENT_TYPE(ev->data)) {
case APM_SUSPEND_REQ:
case APM_USER_SUSPEND_REQ:
case APM_CRIT_SUSPEND_REQ:
case APM_BATTERY_LOW:
suspends++;
break;
case APM_USER_STANDBY_REQ:
case APM_STANDBY_REQ:
standbys++;
break;
#if 0
case APM_CANCEL:
suspends = standbys = 0;
break;
#endif
case APM_NORMAL_RESUME:
case APM_CRIT_RESUME:
case APM_SYS_STANDBY_RESUME:
powerbak = power_status(ctl_fd, 0, &pinfo);
if (powerstatus != powerbak) {
powerstatus = powerbak;
powerchange = 1;
}
resumes++;
break;
case APM_POWER_CHANGE:
powerbak = power_status(ctl_fd, 0, &pinfo);
if (powerstatus != powerbak) {
powerstatus = powerbak;
powerchange = 1;
}
break;
default:
;
}
if ((standbys || suspends) && noacsleep &&
power_status(ctl_fd, 0, &pinfo))
syslog(LOG_DEBUG, "no! sleep! till brooklyn!");
else if (suspends)
suspend(ctl_fd);
else if (standbys)
stand_by(ctl_fd);
else if (resumes) {
do_etc_file(_PATH_APM_ETC_RESUME);
syslog(LOG_NOTICE,
"system resumed from sleep");
}
if (powerchange) {
if (powerstatus)
do_etc_file(_PATH_APM_ETC_POWERUP);
else
do_etc_file(_PATH_APM_ETC_POWERDOWN);
powerchange = 0;
}
} else if (ev->ident == sock_fd)
switch (handle_client(sock_fd, ctl_fd)) {
case NORMAL:
break;
case SUSPENDING:
suspend(ctl_fd);
break;
case STANDING_BY:
stand_by(ctl_fd);
break;
case HIBERNATING:
hibernate(ctl_fd);
break;
}
}
error("kevent loop", NULL);
return 1;
}
void notify_touch(int perc)
{
power_status(perc);
}
enum apm_state
handle_client(int sock_fd, int ctl_fd)
{
/* accept a handle from the client, process it, then clean up */
int cli_fd;
struct sockaddr_un from;
socklen_t fromlen;
struct apm_command cmd;
struct apm_reply reply;
int cpuspeed_mib[] = {CTL_HW, HW_CPUSPEED};
int cpuspeed = 0;
size_t cpuspeed_sz = sizeof(cpuspeed);
fromlen = sizeof(from);
cli_fd = accept(sock_fd, (struct sockaddr *)&from, &fromlen);
if (cli_fd == -1) {
syslog(LOG_INFO, "client accept failure: %m");
return NORMAL;
}
if (recv(cli_fd, &cmd, sizeof(cmd), 0) != sizeof(cmd)) {
(void) close(cli_fd);
syslog(LOG_INFO, "client size botch");
return NORMAL;
}
if (cmd.vno != APMD_VNO) {
close(cli_fd); /* terminate client */
/* no error message, just drop it. */
return NORMAL;
}
power_status(ctl_fd, 0, &reply.batterystate);
switch (cmd.action) {
case SUSPEND:
reply.newstate = SUSPENDING;
break;
case STANDBY:
reply.newstate = STANDING_BY;
break;
case HIBERNATE:
reply.newstate = HIBERNATING;
break;
case SETPERF_LOW:
doperf = PERF_MANUAL;
reply.newstate = NORMAL;
syslog(LOG_NOTICE, "setting hw.setperf to %d", PERFMIN);
setperf(PERFMIN);
break;
case SETPERF_HIGH:
doperf = PERF_MANUAL;
reply.newstate = NORMAL;
syslog(LOG_NOTICE, "setting hw.setperf to %d", PERFMAX);
setperf(PERFMAX);
break;
case SETPERF_AUTO:
doperf = PERF_AUTO;
reply.newstate = NORMAL;
syslog(LOG_NOTICE, "setting hw.setperf automatically");
break;
case SETPERF_COOL:
doperf = PERF_COOL;
reply.newstate = NORMAL;
syslog(LOG_NOTICE, "setting hw.setperf for cool running");
break;
default:
reply.newstate = NORMAL;
break;
}
if (sysctl(cpuspeed_mib, 2, &cpuspeed, &cpuspeed_sz, NULL, 0) < 0)
syslog(LOG_INFO, "cannot read hw.cpuspeed");
reply.cpuspeed = cpuspeed;
reply.perfmode = doperf;
reply.vno = APMD_VNO;
if (send(cli_fd, &reply, sizeof(reply), 0) != sizeof(reply))
syslog(LOG_INFO, "client reply botch");
close(cli_fd);
return reply.newstate;
}
int main (int argc, char *argv[]) {
spawn_term((argc >= 2) ? argv[1] : NULL);
char cmd[51]; // stores the command that was entered
char* token[MAX_TOKENS]; // points to parts of the command
unsigned i;
int pwm, motor_num, target_setting;
for (;;) {
printf (LINE_START);
cmd_ok = 0;
assert(fgets (cmd, 50, stdin));
// use strtok to grab each part of the command
token[0] = strtok (cmd, " \n");
for (i = 1; i < MAX_TOKENS; i++)
token[i] = strtok (NULL, " \n");
if (token[0] == NULL)
help ();
else if (!strcmp(token[0], "q") || !strcmp(token[0], "exit"))
exit_safe();
else if (!strcmp(token[0], ":q"))
printf ("this isnt vim lol\n");
else if (!strcmp(token[0], "help")) {
if (token[1] == NULL)
help ();
else if (!strcmp(token[1],"motor") || !strcmp(token[1],"m"))
help_motor();
else if (!strcmp(token[1],"dyn") || !strcmp(token[1],"d"))
help_dyn();
else if (!strcmp(token[1],"power") || !strcmp(token[1],"p"))
help_power();
}
else if (!strcmp(token[0], "motor") || !strcmp(token[0], "m")) {
if (token[1] == NULL || !strcmp (token[1], "status"))
motor_status();
else if (!strcmp (token[1], "all")) {
pwm = atoi_safe(token[2]); // note an invalid token will cause pwm = 0, which is ok
motor_set (pwm, H_ALL);
}
else if (!strcmp (token[1], "fwd")) {
pwm = atoi_safe(token[2]); // note an invalid token will cause pwm = 0, which is ok
motor_set (pwm, H_FWD);
}
else if (!strcmp (token[1], "rise")) {
pwm = atoi_safe(token[2]); // note an invalid token will cause pwm = 0, which is ok
motor_set (pwm, H_RISE);
}
else {
motor_num = atoi_safe (token[1]); // 1-indexed
motor_num--; // Internally, this is 0-indexed
pwm = atoi_safe (token[2]);
switch (motor_num) {
case M_FRONT_LEFT: motor_set (pwm, H_FRONT_LEFT); break;
case M_FRONT_RIGHT: motor_set (pwm, H_FRONT_RIGHT); break;
case M_FWD_LEFT: motor_set (pwm, H_FWD_LEFT); break;
case M_FWD_RIGHT: motor_set (pwm, H_FWD_RIGHT); break;
case M_REAR: motor_set (pwm, H_REAR); break;
default: printf ("**** Invalid motor number.\n");
}
}
}
else if (!strcmp(token[0], "power") || !strcmp(token[0], "p")) {
if (token[1] == NULL || !strcmp (token[1], "status"))
power_status();
else if (!strcmp (token[1], "on") || !strcmp (token[1], "1")) {
power_on();
}
else if (!strcmp (token[1], "start") || !strcmp (token[1], "2")) {
startup_sequence();
}
else if (!strcmp (token[1], "off") || !strcmp (token[1], "0")) {
power_off();
}
}
else if (!strcmp(token[0], "dyn") || !strcmp(token[0], "d")) {
if (token[1] == NULL)
dyn_status();
else if (!strcmp (token[1], "depth")) {
target_setting = atoi_safe(token[2]); // Note an invalid token will cause target_setting = 0, which is ok
dyn_set_target_depth(target_setting);
}
}
if (cmd_ok != 1)
cmd_error();
}
}
