int main(int argc, char *argv[])
{
pid_t pid;
/* Reset signal handlers */
if (daemon_reset_sigs(-1) < 0) {
daemon_log(LOG_ERR, "Failed to reset all signal handlers: %s",
strerror(errno));
return 1;
}
/* Unblock signals */
if (daemon_unblock_sigs(-1) < 0) {
daemon_log(LOG_ERR, "Failed to unblock all signals: %s",
strerror(errno));
}
/* Set indetification string for the daemon for both syslog and PID file */
daemon_log_ident = daemon_ident_from_argv0(argv[0]);
daemon_pid_file_ident = daemon_log_ident;
//(LOG_ERR, "The log ident is %s\n",daemon_log_ident);
daemon_pid_file_proc = get_pid_file_proc;
sprintf (image_pid_file, "/var/run/%s.pid", daemon_pid_file_ident);
/* Check if we are called with -k parameter */
if (argc >= 2 && !strcmp(argv[1], "-k")) {
int ret;
/* Kill daemon with SIGTERM */
/* Check if the new function daemon_pid_file_kill_wait() is available,
if it is, use it. */
if ((ret = daemon_pid_file_kill_wait(SIGTERM, 5)) < 0)
daemon_log(LOG_WARNING, "Failed to kill daemon: %s",
strerror(errno));
return ret < 0 ? 1 : 0;
}
/* Check that the daemon is not rung twice a the same time */
if ((pid = daemon_pid_file_is_running()) >= 0) {
daemon_log(LOG_ERR, "Daemon already running on PID file %u", pid);
return 1;
}
/* Prepare for return value passing from the initialization procedure
of the daemon process */
if (daemon_retval_init() < 0) {
daemon_log(LOG_ERR, "Failed to create pipe.");
return 1;
}
/* Do the fork */
if ((pid = daemon_fork()) < 0) {
/* Exit on error */
daemon_retval_done();
return 1;
} else if (pid) { /* The parent */
int ret;
/* Wait for 20 seconds for the return value passed from the daemon
process */
if ((ret = daemon_retval_wait(20)) < 0) {
daemon_log(LOG_ERR, "Count not receive return value from daemon"
"process: %s", strerror(errno));
}
//daemon_log(ret != 0 ? LOG_ERR : LOG_INFO,
// "Daemon returned %i as return value.", ret);
return ret;
} else { /* The daemon */
int fd, quit = 0;
fd_set fds;
pthread_t sock_thread;
pthread_t nl_thread;
/* Close FDs */
if (daemon_close_all(-1) < 0) {
daemon_log(LOG_ERR, "Failed to close all file descriptors: %s",
strerror(errno));
/* Send the error condition to the parent process */
daemon_retval_send(1);
goto finish;
}
/* Create the PID file */
if (daemon_pid_file_create() < 0) {
daemon_log(LOG_ERR, "Could not create PID file (%s).",
strerror(errno));
daemon_retval_send(2);
goto finish;
}
/* Initialize signal handling */
if (daemon_signal_init(SIGINT, SIGTERM, SIGQUIT, SIGHUP, 0) < 0) {
daemon_log(LOG_ERR, "Could not register signal handlers (%s).",
strerror(errno));
daemon_retval_send(3);
goto finish;
}
/* Init task */
init_image_config(argc, argv);
init_netlink();
/* Send OK to parent process */
daemon_retval_send(0);
daemon_log(LOG_INFO, "Sucessfully started");
/* Main task*/
pthread_create(&nl_thread, NULL, (void *)netlink_loop, (void *)NULL);
#if 0
pthread_create(&sock_thread, NULL, (void *)socket_loop, (void *)NULL);
#endif
pthread_create(&sock_thread, NULL, (void *)mq_loop, (void *)NULL);
/* Prepare for select() on the signal fd */
FD_ZERO(&fds);
fd = daemon_signal_fd();
FD_SET(fd, &fds);
while (!quit) {
fd_set fds2 = fds;
/* Wait for an incoming signal */
if (select(FD_SETSIZE, &fds2, 0, 0, 0) < 0) {
/* If we've been interrupted by an incoming signal, continue */
if (errno == EINTR)
continue;
daemon_log(LOG_ERR, "select(): %s", strerror(errno));
break;
}
/* Check if a signal has been recieved */
if (FD_ISSET(fd, &fds2)) {
int sig;
/* Get signal */
if ((sig = daemon_signal_next()) <= 0) {
daemon_log(LOG_ERR, "daemon_signal_next() failed: %s",
strerror(errno));
break;
}
/* Dispatch signal */
switch (sig) {
case SIGINT:
case SIGQUIT:
case SIGTERM:
daemon_log(LOG_WARNING, "Got SIGINT, SIGQUIT or"
"SIGTERM.");
if (nl_image_config.nl_connected == 1) {
nl_image_config.nl_connected = 0;
if (nl_send_image_session_cmd(
IMAGE_SESSION_CMD_DISCONNECT) < 0) {
printf("Failed to remove connection with"
"kernel!\n");
}
}
quit = 1;
break;
case SIGHUP:
daemon_log(LOG_INFO, "Got a HUP");
daemon_exec("/", NULL, "/bin/ls", "ls", (char*) NULL);
break;
}
}
}
/* Do a cleanup */
finish:
delete_pid_file(IMAGE_SERVER_PROC);
daemon_log(LOG_INFO, "Exiting...");
daemon_retval_send(255);
daemon_signal_done();
daemon_pid_file_remove();
return 0;
}
}
/** Punto de entrada de la aplicacion de navegacion.
* @return Estado de la aplicacion al terminar.
*/
int main(int argc, char *argv[]) {
pid_t pid;
/* Reset signal handlers */
if (daemon_reset_sigs(-1) < 0) {
daemon_log(LOG_ERR, "Failed to reset all signal handlers: %s",
strerror(errno));
return 1;
}
/* Unblock signals */
if (daemon_unblock_sigs(-1) < 0) {
daemon_log(LOG_ERR, "Failed to unblock all signals: %s",
strerror(errno));
return 1;
}
/* Set indetification string for the daemon for both syslog and PID file */
daemon_pid_file_ident = daemon_log_ident = daemon_ident_from_argv0(argv[0]);
/* Check if we are called with -k parameter */
if (argc >= 2 && !strcmp(argv[1], "-k")) {
int ret;
/* Kill daemon with SIGTERM */
/* Check if the new function daemon_pid_file_kill_wait() is available, if it is, use it. */
if ((ret = daemon_pid_file_kill_wait(SIGTERM, 5)) < 0)
daemon_log(LOG_WARNING, "Failed to kill daemon: %s",
strerror(errno));
return ret < 0 ? 1 : 0;
}
/* Check that the daemon is not rung twice a the same time */
if ((pid = daemon_pid_file_is_running()) >= 0) {
daemon_log(LOG_ERR, "Daemon already running on PID file %u", pid);
return 1;
}
/* Prepare for return value passing from the initialization procedure of the daemon process */
if (daemon_retval_init() < 0) {
daemon_log(LOG_ERR, "Failed to create pipe.");
return 1;
}
/* Do the fork */
if ((pid = daemon_fork()) < 0) {
/* Exit on error */
daemon_retval_done();
return 1;
} else if (pid) { /* The parent */
int ret;
/* Wait for 20 seconds for the return value passed from the daemon process */
if ((ret = daemon_retval_wait(20)) < 0) {
daemon_log(LOG_ERR,
"Could not recieve return value from daemon process: %s",
strerror(errno));
return 255;
}
daemon_log(ret != 0 ? LOG_ERR : LOG_INFO,
"Daemon returned %i as return value.", ret);
return ret;
} else { /* The daemon */
int fd, quit = 0;
fd_set fds;
char * config_file;
config_t cfg;
config_setting_t *setting;
/* Base de Datos de Tiempo Real */
struct rtdb rtdb;
/* Controlador de estado de la MTi-G */
struct mti_g mti_g;
struct time_tracker tracker;
struct sharksoft sharksoft;
/* Close FDs */
if (daemon_close_all(-1) < 0) {
daemon_log(LOG_ERR, "Failed to close all file descriptors: %s",
strerror(errno));
/* Send the error condition to the parent process */
daemon_retval_send(1);
goto finish;
}
/* Create the PID file */
if (daemon_pid_file_create() < 0) {
daemon_log(LOG_ERR, "Could not create PID file (%s).",
strerror(errno));
daemon_retval_send(2);
goto finish;
}
/* Initialize signal handling */
if (daemon_signal_init(SIGINT, SIGTERM, SIGQUIT, SIGHUP, 0) < 0) {
daemon_log(LOG_ERR, "Could not register signal handlers (%s).",
strerror(errno));
daemon_retval_send(3);
goto finish;
}
/*... do some further init work here */
daemon_log(LOG_INFO, "Starting");
/* cargar la configuración de la aplicación */
config_init(&cfg);
config_file = malloc(strlen(CONFIG_PATH) + strlen(CONFIG_FILE) + 1);
assert(config_file != NULL);
strcpy(config_file, CONFIG_PATH);
strcpy(config_file + strlen(CONFIG_PATH), CONFIG_FILE);
/* Read the file. If there is an error, report it and exit. */
if (!config_read_file(&cfg, CONFIG_FILE)) {
daemon_log(LOG_ERR, "%s:%d - %s\n", config_error_file(&cfg),
config_error_line(&cfg), config_error_text(&cfg));
daemon_retval_send(4);
goto finish;
}
daemon_log(LOG_INFO, "Config file readed");
/* Inicializar el controlador de estado de la MTi-G, enlazando
* la RTDB como area de almacenamiento */
setting = config_lookup(&cfg, "mti_g");
mti_g_init(&mti_g, setting, &(rtdb.imu), &(rtdb.gps));
daemon_log(LOG_INFO, "MTi-G state controller inited");
setting = config_lookup(&cfg, "time_tracker");
time_tracker_init(&tracker, setting);
daemon_log(LOG_INFO, "Time Tracker service inited");
setting = config_lookup(&cfg, "sharksoft");
sharksoft_init(&sharksoft, setting, &(rtdb.imu), &(rtdb.gps));
daemon_log(LOG_INFO, "Sharksoft data provider service inited");
/* Send OK to parent process */
daemon_retval_send(0);
daemon_log(LOG_INFO, "Sucessfully started");
/* Prepare for select() on the signals */
FD_ZERO(&fds);
fd = daemon_signal_fd();
FD_SET(fd, &fds);
FD_SET(mti_g.fd, &fds);
FD_SET(sharksoft.fd, &fds);
while (!quit) {
fd_set fds2 = fds;
/* Wait for an incoming signal */
if (select(FD_SETSIZE, &fds2, 0, 0, 0) < 0) {
/* If we've been interrupted by an incoming signal, continue */
if (errno == EINTR)
continue;
daemon_log(LOG_ERR, "select(): %s", strerror(errno));
break;
}
/* Check if a signal has been recieved */
if (FD_ISSET(fd, &fds2)) {
int sig;
/* Get signal */
if ((sig = daemon_signal_next()) <= 0) {
daemon_log(LOG_ERR, "daemon_signal_next() failed: %s",
strerror(errno));
break;
}
/* Dispatch signal */
switch (sig) {
case SIGINT:
case SIGQUIT:
case SIGTERM:
daemon_log(LOG_WARNING, "Got SIGINT, SIGQUIT or SIGTERM.");
quit = 1;
break;
case SIGHUP:
daemon_log(LOG_INFO, "Got a HUP");
daemon_exec("/", NULL, "/bin/ls", "ls", (char*) NULL);
break;
}
}
/* Procesar señales desde la MTi-G */
if (FD_ISSET(mti_g.fd, &fds2)) {
mti_g_handle_request(&mti_g);
//sharksoft_handle_getdata(&sharksoft);
//time_tracker_handle(&tracker);
}
/* Procesar señales desde el HMI Sharksoft */
if (FD_ISSET(sharksoft.fd, &fds2)) {
//time_tracker_handle(&tracker);
sharksoft_handle_request(&sharksoft);
}
}
time_tracker_dispose(&tracker);
config_destroy(&cfg);
/* Do a cleanup */
finish: daemon_log(LOG_INFO, "Exiting...");
daemon_retval_send(255);
daemon_signal_done();
daemon_pid_file_remove();
return 0;
}
}
