void ccMore(char *fileName, char *hostList, int start, char *lockDir)
/* Copy source file to hostList starting at start. Look at
* lock files in lock dir to see which one to do next. */
{
char **hosts;
char *newHost;
char *hostBuf;
int hostCount;
int i;
readAllWords(hostList, &hosts, &hostCount, &hostBuf);
if (hostCount <= 0)
errAbort("%s is empty.", hostList);
for (i=start; i<hostCount; ++i)
{
int lockFd;
newHost = hosts[i];
if ((lockFd = makeLock(newHost, lockDir)) >= 0)
{
char ok = TRUE;
if (scpFile(fileName, newHost, fileName) != 0)
ok = FALSE;
write(lockFd, &ok, 1);
close(lockFd);
if (ok )
{
if (i <= (hostCount+1)/2) /* Don't spawn off on last round. */
sshSelf(hostList, newHost, i+1, fileName, lockDir);
}
}
}
}
int main(int argc, char* argv[]) {
struct bParamList * paramList = NULL;
const char *strPtr;
int ii;
for (ii=0; ii<TCX_MAX_CLIENTS; ii++) {
CLIENT[ii] = NULL;
}
/*
* Set some parameters
*/
/* add some defaults */
paramList = bParametersAddEntry(paramList, "*", "base.bps", "9600");
paramList = bParametersAddEntry(paramList, "*", "base.dev", "/dev/cur0");
paramList = bParametersAddEntry(paramList, "", "TCXHOST", "localhost");
paramList = bParametersAddEntry(paramList, "", "fork", "yes");
/* add some parameter files */
paramList = bParametersAddFile(paramList, "etc/beeSoft.ini");
/* add some enviroment variables */
paramList = bParametersAddEnv(paramList, "", "TCXHOST");
/* add command line arguements */
paramList = bParametersAddArray(paramList, "", argc, argv);
/* here is where we should add non "parameter format" options */
bParametersFillParams(paramList);
strPtr = bParametersGetParam(paramList, "robot", "name");
if (!strPtr) {
fprintf(stderr,
"Robot name not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (!strcmp("none", strPtr)) {
fprintf(stderr,
"Robot name set to 'none'. Check value in beeSoft.ini.\n");
exit(1);
}
strPtr = bParametersGetParam(paramList, strPtr, "base.type");
if (!strPtr) {
fprintf(stderr,
"Base type not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (
strcmp("B14", strPtr) &&
strcmp("B21", strPtr) &&
strcmp("Ramona", strPtr)
) {
fprintf(stderr,
"Arm type set to unrecognized type '%s'. Check the\n"
"value in beeSoft.ini.\n", strPtr);
exit(1);
}
/*
*
*/
argv0 = argv[0];
if (makeLock(BASE_SERVER_LOCK)<0) {
fprintf(stderr,"%s: Already running base server\n",argv[0]);
exit(-1);
}
if (findArg(argc,argv,"-v")) {
VERBOSE = TRUE;
fprintf(stderr,"baseServer started in verbose mode\n");
}
if (findArg(argc,argv,"-noIrs")) {
IRS = FALSE;
fprintf(stderr,"baseServer started without IRs\n");
}
if (findArg(argc,argv,"-noTactiles")) {
TACTILES = FALSE;
fprintf(stderr,"baseServer started without Tactiles\n");
}
if (findArg(argc,argv,"-noSonars")) {
SONARS= FALSE;
fprintf(stderr,"baseServer started without Sonars\n");
}
if (findArg(argc,argv,"-simulator")) {
useSimulator=TRUE;
fprintf(stderr,"baseServer connecting to simulator.\n");
}
RaiInit();
BaseInit(bRobot.base_dev, bRobot.base_bps);
catchInterrupts();
initBaseServerTCX(bRobot.TCXHOST);
if (useSimulator==TRUE) {
simulatorHandle = tcxConnectModule(TCX_SIMULATOR_MODULE_NAME);
}
registerWatchdogCallback(watchdogToClient);
/*
* GRUMBLE - It is going to be a bit ugly to get the sensor
* structures initialized without opening /dev/abus. tds
*/
if (SONARS && !useSimulator) {
sonarInit();
registerSonarCallback(sonarToClient);
SIM_sonarStop(); /* turn off sonar until we have a client */
}
if (IRS && !useSimulator) {
irInit();
registerIrCallback(irToClient);
SIM_irStop(); /* turn off ir until we have a client */
}
if (TACTILES && !useSimulator) {
tactileInit();
registerTactileCallback(tactileToClient);
tactileStop();
}
registerStatusCallback(statusToClient);
registerBaseCallback(baseToClient);
initBaseServerModules();
if (bRobot.fork) {
bDaemonize("baseServer.log");
}
rotateLimp();
translateLimp();
RaiStart();
exit(0);
}
void ccFirst(char *source, char *dest, char *hostList, char *lockDir)
/* Do first instance of this program. Copy file to first host,
* make up lock directory, and then poll lock directory to see
* if we're done. */
{
char *firstHost, *lastHost;
char **hosts;
char *hostBuf;
int hostCount;
int firstLock;
int childPid;
char *thisHost = getenv("HOST");
char ok;
long startTime = clock1000();
if (thisHost == NULL)
errAbort("HOST environment variable undefined\n");
readAllWords(hostList, &hosts, &hostCount, &hostBuf);
if (hostCount <= 0)
errAbort("%s is empty.", hostList);
if (stringArrayIx(thisHost, hosts, hostCount) < 0)
errAbort("Current host (%s) not in host list\n", thisHost);
if (mkdir(lockDir, 0777) < 0)
errAbort("Couldn't make lock directory %s\n", lockDir);
firstHost = thisHost;
lastHost = hosts[hostCount-1];
if (sameString(lastHost, thisHost) && hostCount > 1)
lastHost = hosts[hostCount-2];
firstLock = makeLock(firstHost, lockDir);
if (firstLock < 0)
errAbort("Couldn't make lock file %s/%s\n", lockDir, firstHost);
if (cpFile(source, dest) != 0)
{
warn("Couldn't copy %s to %s:%d\n", source, firstHost, dest);
close(firstLock);
cleanupLocks(lockDir);
errAbort("Cleaned up locks in %s, aborting copy.", lockDir);
}
ok = 1;
write(firstLock, &ok, 1);
close(firstLock);
childPid = fork();
if (childPid == 0)
{
/* Have child process keep copying. */
ccMore(dest, hostList, 0, lockDir);
}
else
{
int sleepIx = 0;
int sleepTime = 10;
int lastStart = 0, lastErr = 0, lastEnd = 0;
/* Have parent process wait until last file done. */
for (sleepIx = 0; ; ++sleepIx)
{
int lockFd;
int i;
int startCount = 0;
int endCount = 0;
int errCount = 0;
int toGo = 0;
int procCount = 0;
int lastProcCount = 0;
int finCount;
boolean reportErr;
for (i=0; i<hostCount; ++i)
{
char *ln = lockName(lockDir, hosts[i]);
lockFd = open(ln, O_RDONLY);
if (lockFd < 0)
++toGo;
else
{
char ok;
if (read(lockFd, &ok, 1) < 1)
++startCount;
else
{
if (ok)
++endCount;
else
++errCount;
}
close(lockFd);
}
}
finCount = endCount + errCount;
// if (lastStart != startCount || lastEnd != endCount || lastErr != errCount)
{
printf(" copies in progress %d finished %d errors %d total %d\n",
startCount, endCount, errCount, hostCount);
lastStart = startCount;
lastEnd = endCount;
lastErr = errCount;
}
if (finCount >= hostCount)
{
if (errCount > 0)
{
fprintf(stderr, "Errors copying to hosts:");
for (i=0; i<hostCount; ++i)
{
char *ln = lockName(lockDir, hosts[i]);
lockFd = open(ln, O_RDONLY);
if (lockFd < 0)
{
fprintf(stderr, " ??%s??", hosts[i]);
}
else
{
char ok;
if (read(lockFd, &ok, 1) < 1)
{
fprintf(stderr, " ?%s?", hosts[i]);
++startCount;
}
else
{
if (!ok)
{
fprintf(stderr, " %s", hosts[i]);
++errCount;
}
}
close(lockFd);
}
}
fprintf(stderr, "\n");
}
cleanupLocks(lockDir);
break;
}
sleep(sleepTime);
}
}
}
