int main(int argc, char* argv[])
{
{
// parse command-line arguments
bool background = false;
bool recover = false;
bool watchdog = false;
const char* bhDir = "/home/nao";
for(int i = 1; i < argc; ++i)
if(!strcmp(argv[i], "-b"))
background = true;
else if(!strcmp(argv[i], "-w"))
watchdog = true;
else if(!strcmp(argv[i], "-c") && i + 1 < argc)
bhDir = argv[++i];
else
{
fprintf(stderr, "Usage: %s [-b] [-c <dir>] [-w]\n\
-b run in background (as daemon)\n\
-c <dir> used gt directory (default is /home/nao)\n\
-w use a watchdog for crash recovery and creating trace dumps\n", argv[0]);
exit(EXIT_FAILURE);
}
// avoid duplicated instances
int fd = open("/tmp/bhuman", O_CREAT, 0600);
if(fd == -1 || flock(fd, LOCK_EX | LOCK_NB) == -1)
{
fprintf(stderr, "There is already an instance of this process!\n");
exit(EXIT_FAILURE);
}
// start as daemon
if(background)
{
fprintf(stderr, "Starting as daemon...\n");
pid_t childPid = fork();
if(childPid == -1)
exit(EXIT_FAILURE);
if(childPid != 0)
exit(EXIT_SUCCESS);
}
// change working directory
if(*bhDir && chdir(bhDir) != 0)
{
fprintf(stderr, "chdir to config directory failed!\n");
exit(EXIT_FAILURE);
}
// the watchdog
if(watchdog)
{
for(;;)
{
// create pipe for logging
int stdoutPipe[2];
int stderrPipe[2];
bool pipeReady = true;
if(pipe(stdoutPipe) == -1 || pipe(stderrPipe) == -1)
{
fprintf(stderr, "B-Human: Error while creating pipes for logging. All logs will be printed on console only! \n");
pipeReady = false;
}
bhumanPid = fork();
if(bhumanPid == -1)
exit(EXIT_FAILURE);
if(bhumanPid != 0)
{
int status;
signal(SIGTERM, sighandlerRedirect);
signal(SIGINT, sighandlerRedirect);
if(waitpid(bhumanPid, &status, 0) != bhumanPid)
{
exit(EXIT_FAILURE);
}
signal(SIGTERM, SIG_DFL);
signal(SIGINT, SIG_DFL);
if(pipeReady)
{
// close unused write end
close(stdoutPipe[1]);
close(stderrPipe[1]);
dup2(STDOUT_FILENO, stdoutPipe[0]); // redirect out-pipe to stdout
dup2(STDERR_FILENO, stderrPipe[0]); // redirect err-pipe to stderr
}
// detect requested or normal exit
bool normalExit = !run || (WIFEXITED(status) && WEXITSTATUS(status) == EXIT_SUCCESS);
// dump trace and assert trace
if(!normalExit)
{
NaoBody naoBody;
if(naoBody.init())
{
naoBody.setCrashed(WIFSIGNALED(status) ? int(WTERMSIG(status)) : int(abnormalTerminationState));
naoBody.cleanup();
}
Assert::logDump(true, WIFSIGNALED(status) ? int(WTERMSIG(status)) : 0);
Assert::logDump(false, WIFSIGNALED(status) ? int(WTERMSIG(status)) : 0);
}
// quit here?
if(normalExit)
exit(WIFEXITED(status) ? WEXITSTATUS(status) : EXIT_FAILURE);
// don't restart if the child process got killed
if(WIFSIGNALED(status) && WTERMSIG(status) == SIGKILL)
exit(EXIT_FAILURE);
// restart in release mode only
#ifndef NDEBUG
exit(EXIT_FAILURE);
#endif
// deactivate the pre-initial state
recover = true;
usleep(2000 * 1000);
}
else
{
if(pipeReady)
{
// close unused read end
close(stdoutPipe[0]);
close(stderrPipe[0]);
dup2(STDOUT_FILENO, stdoutPipe[1]); // redirect stdout to out-pipe
dup2(STDERR_FILENO, stderrPipe[1]); // redirect stderr to err-pipe
}
break;
}
}
}
// wait for NaoQi/libbhuman
NaoBody naoBody;
if(!naoBody.init())
{
fprintf(stderr, "B-Human: Waiting for NaoQi/libbhuman...\n");
do
{
usleep(1000000);
}
while(!naoBody.init());
}
// load first settings instance
Settings settings;
settings.recover = recover;
if(!settings.loadingSucceeded())
return EXIT_FAILURE;
// register signal handler for strg+c and termination signal
signal(SIGTERM, sighandlerShutdown);
signal(SIGINT, sighandlerShutdown);
//
bhumanStart();
}
while(run)
pause();
bhumanStop();
return EXIT_SUCCESS;
}
int main(int argc, char *argv[])
{
{
// parse command-line arguments
bool background = false;
bool recover = false;
bool watchdog = false;
const char* gtDir = "/media/userdata";
for(int i = 1; i < argc; ++i)
if(!strcmp(argv[i], "-b"))
background = true;
else if(!strcmp(argv[i], "-w"))
watchdog = true;
else if(!strcmp(argv[i], "-c") && i + 1 < argc)
gtDir = argv[++i];
else
{
fprintf(stderr, "Usage: %s [-b] [-c <dir>] [-w]\n\
-b run in background (as daemon)\n\
-c <dir> used gt directory (default is /media/userdata)\n\
-w use a watchdog for crash recovery and creating trace dumps\n", argv[0]);
exit(EXIT_FAILURE);
}
// avoid duplicated instances
int fd = open("/tmp/bhuman", O_CREAT, 0600);
if(fd == -1 || flock(fd, LOCK_EX | LOCK_NB) == -1)
{
fprintf(stderr, "There is already an instance of this process!\n");
exit(EXIT_FAILURE);
}
// start as deamon
if(background)
{
fprintf(stderr, "Starting as daemon...\n");
pid_t childPid = fork();
if(childPid == -1)
exit(EXIT_FAILURE);
if(childPid != 0)
exit(EXIT_SUCCESS);
}
// change working directory
if(*gtDir && chdir(gtDir) != 0)
{
fprintf(stderr, "chdir to config directory failed! assuming we aren't on a robot\n");
}
// the watchdog
if(watchdog)
for(;;)
{
bhumanPid = fork();
if(bhumanPid == -1)
exit(EXIT_FAILURE);
if(bhumanPid != 0)
{
int status;
signal(SIGTERM, sighandlerRedirect);
signal(SIGINT, sighandlerRedirect);
if(waitpid(bhumanPid, &status, 0) != bhumanPid)
exit(EXIT_FAILURE);
signal(SIGTERM, SIG_DFL);
signal(SIGINT, SIG_DFL);
// detect requested or normal exit
if(!run || (WIFEXITED(status) && WEXITSTATUS(status) == EXIT_SUCCESS ))
exit(WIFEXITED(status) ? WEXITSTATUS(status) : EXIT_FAILURE);
// trace dump
NaoBody naoBody;
if(naoBody.init())
{
naoBody.setCrashed(WIFSIGNALED(status) ? int(WTERMSIG(status)) : int(abnormalTermination));
naoBody.dumpTrace();
}
// don't restart if we got killed
if(WIFSIGNALED(status) && WTERMSIG(status) == SIGKILL)
exit(EXIT_FAILURE);
// restart in release mode only
#ifndef RELEASE
exit(EXIT_FAILURE);
#endif
// deactivate the pre-initial state
recover = true;
usleep(2000 * 1000);
}
else
break;
}
// wait for NaoQi/libbhuman
if(!naoBody.init())
{
fprintf(stderr, "BHuman: Waiting for NaoQi/libbhuman...\n");
do
{
usleep(1000000);
} while(!naoBody.init());
}
// register signal handler for strg+c and termination signal
signal(SIGTERM, sighandlerShutdown);
signal(SIGINT, sighandlerShutdown);
//
bhumanStart(recover);
}
while(run)
pause();
bhumanStop();
return EXIT_SUCCESS;
}