/* Load processes using zone-aware ps
* to obtain solaris list of global
* process ids for root and non-root
* users to lookup later */
int ZLoadProcesstable(Seq *pidlist, Seq *rootpidlist)
{
char *names[CF_PROCCOLS];
int start[CF_PROCCOLS];
int end[CF_PROCCOLS];
int index = 0;
const char *pscmd = "/usr/bin/ps -Aleo zone,user,pid";
FILE *psf = cf_popen(pscmd, "r", false);
if (psf == NULL)
{
Log(LOG_LEVEL_ERR, "ZLoadProcesstable: Couldn't open the process list with command %s.", pscmd);
return false;
}
size_t pbuff_size = CF_BUFSIZE;
char *pbuff = xmalloc(pbuff_size);
while (true)
{
ssize_t res = CfReadLine(&pbuff, &pbuff_size, psf);
if (res == -1)
{
if (!feof(psf))
{
Log(LOG_LEVEL_ERR, "IsGlobalProcess(char **, int): Unable to read process list with command '%s'. (fread: %s)", pscmd, GetErrorStr());
cf_pclose(psf);
free(pbuff);
return false;
}
else
{
break;
}
}
Chop(pbuff, pbuff_size);
if (strstr(pbuff, "PID")) /* This line is the header. */
{
GetProcessColumnNames(pbuff, &names[0], start, end);
}
else
{
int pid = ExtractPid(pbuff, &names[0], end);
size_t zone_offset = strspn(pbuff, " ");
size_t zone_end_offset = strcspn(pbuff + zone_offset, " ") + zone_offset;
size_t user_offset = strspn(pbuff + zone_end_offset, " ") + zone_end_offset;
size_t user_end_offset = strcspn(pbuff + user_offset, " ") + user_offset;
bool is_global = (zone_end_offset - zone_offset == 6
&& strncmp(pbuff + zone_offset, "global", 6) == 0);
bool is_root = (user_end_offset - user_offset == 4
&& strncmp(pbuff + user_offset, "root", 4) == 0);
if (is_global && is_root)
{
SeqAppend(rootpidlist, (void*)(intptr_t)pid);
}
else if (is_global && !is_root)
{
SeqAppend(pidlist, (void*)(intptr_t)pid);
}
}
}
cf_pclose(psf);
free(pbuff);
return true;
}
static int HailServer(EvalContext *ctx, char *host)
{
AgentConnection *conn;
char sendbuffer[CF_BUFSIZE], recvbuffer[CF_BUFSIZE], peer[CF_MAXVARSIZE],
digest[CF_MAXVARSIZE], user[CF_SMALLBUF];
bool gotkey;
char reply[8];
FileCopy fc = {
.portnumber = (unsigned short) ParseHostname(host, peer),
};
char ipaddr[CF_MAX_IP_LEN];
if (Hostname2IPString(ipaddr, peer, sizeof(ipaddr)) == -1)
{
Log(LOG_LEVEL_ERR,
"HailServer: ERROR, could not resolve '%s'", peer);
return false;
}
Address2Hostkey(ipaddr, digest);
GetCurrentUserName(user, CF_SMALLBUF);
if (INTERACTIVE)
{
Log(LOG_LEVEL_VERBOSE, "Using interactive key trust...");
gotkey = HavePublicKey(user, peer, digest) != NULL;
if (!gotkey)
{
gotkey = HavePublicKey(user, ipaddr, digest) != NULL;
}
if (!gotkey)
{
printf("WARNING - You do not have a public key from host %s = %s\n",
host, ipaddr);
printf(" Do you want to accept one on trust? (yes/no)\n\n--> ");
while (true)
{
if (fgets(reply, sizeof(reply), stdin) == NULL)
{
FatalError(ctx, "EOF trying to read answer from terminal");
}
if (Chop(reply, CF_EXPANDSIZE) == -1)
{
Log(LOG_LEVEL_ERR, "Chop was called on a string that seemed to have no terminator");
}
if (strcmp(reply, "yes") == 0)
{
printf("Will trust the key...\n");
fc.trustkey = true;
break;
}
else if (strcmp(reply, "no") == 0)
{
printf("Will not trust the key...\n");
fc.trustkey = false;
break;
}
else
{
printf("Please reply yes or no...(%s)\n", reply);
}
}
}
}
/* Continue */
#ifdef __MINGW32__
if (LEGACY_OUTPUT)
{
Log(LOG_LEVEL_INFO, "...........................................................................");
Log(LOG_LEVEL_INFO, " * Hailing %s : %u, with options \"%s\" (serial)", peer, fc.portnumber,
REMOTE_AGENT_OPTIONS);
Log(LOG_LEVEL_INFO, "...........................................................................");
}
else
{
Log(LOG_LEVEL_INFO, "Hailing '%s' : %u, with options '%s' (serial)", peer, fc.portnumber,
REMOTE_AGENT_OPTIONS);
}
#else /* !__MINGW32__ */
if (BACKGROUND)
{
Log(LOG_LEVEL_INFO, "Hailing '%s' : %u, with options '%s' (parallel)", peer, fc.portnumber,
REMOTE_AGENT_OPTIONS);
}
else
{
if (LEGACY_OUTPUT)
{
Log(LOG_LEVEL_INFO, "...........................................................................");
Log(LOG_LEVEL_INFO, " * Hailing %s : %u, with options \"%s\" (serial)", peer, fc.portnumber,
REMOTE_AGENT_OPTIONS);
Log(LOG_LEVEL_INFO, "...........................................................................");
}
else
{
Log(LOG_LEVEL_INFO, "Hailing '%s' : %u, with options '%s' (serial)", peer, fc.portnumber,
REMOTE_AGENT_OPTIONS);
}
}
#endif /* !__MINGW32__ */
fc.servers = RlistFromSplitString(peer, '*');
if (fc.servers == NULL || strcmp(RlistScalarValue(fc.servers), "localhost") == 0)
{
Log(LOG_LEVEL_INFO, "No hosts are registered to connect to");
return false;
}
else
{
int err = 0;
conn = NewServerConnection(fc, false, &err);
if (conn == NULL)
{
RlistDestroy(fc.servers);
Log(LOG_LEVEL_VERBOSE, "No suitable server responded to hail");
return false;
}
}
/* Check trust interaction*/
HailExec(ctx, conn, peer, recvbuffer, sendbuffer);
RlistDestroy(fc.servers);
return true;
}
/********************************************************************/
/* Level 2 */
/********************************************************************/
static void KeepControlPromises(EvalContext *ctx, Policy *policy)
{
Rval retval;
RUNATTR.copy.trustkey = false;
RUNATTR.copy.encrypt = true;
RUNATTR.copy.force_ipv4 = false;
RUNATTR.copy.portnumber = SHORT_CFENGINEPORT;
/* Keep promised agent behaviour - control bodies */
Seq *constraints = ControlBodyConstraints(policy, AGENT_TYPE_RUNAGENT);
if (constraints)
{
for (size_t i = 0; i < SeqLength(constraints); i++)
{
Constraint *cp = SeqAt(constraints, i);
if (!IsDefinedClass(ctx, cp->classes, NULL))
{
continue;
}
VarRef *ref = VarRefParseFromScope(cp->lval, "control_runagent");
if (!EvalContextVariableGet(ctx, ref, &retval, NULL))
{
Log(LOG_LEVEL_ERR, "Unknown lval '%s' in runagent control body", cp->lval);
VarRefDestroy(ref);
continue;
}
VarRefDestroy(ref);
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_FORCE_IPV4].lval) == 0)
{
RUNATTR.copy.force_ipv4 = BooleanFromString(retval.item);
Log(LOG_LEVEL_VERBOSE, "SET force_ipv4 = %d", RUNATTR.copy.force_ipv4);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_TRUSTKEY].lval) == 0)
{
RUNATTR.copy.trustkey = BooleanFromString(retval.item);
Log(LOG_LEVEL_VERBOSE, "SET trustkey = %d", RUNATTR.copy.trustkey);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_ENCRYPT].lval) == 0)
{
RUNATTR.copy.encrypt = BooleanFromString(retval.item);
Log(LOG_LEVEL_VERBOSE, "SET encrypt = %d", RUNATTR.copy.encrypt);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_PORT_NUMBER].lval) == 0)
{
RUNATTR.copy.portnumber = (unsigned short) IntFromString(retval.item);
Log(LOG_LEVEL_VERBOSE, "SET default portnumber = %u", RUNATTR.copy.portnumber);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_BACKGROUND].lval) == 0)
{
/*
* Only process this option if are is no -b or -i options specified on
* command line.
*/
if (BACKGROUND || INTERACTIVE)
{
Log(LOG_LEVEL_WARNING,
"'background_children' setting from 'body runagent control' is overridden by command-line option.");
}
else
{
BACKGROUND = BooleanFromString(retval.item);
}
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_MAX_CHILD].lval) == 0)
{
MAXCHILD = (short) IntFromString(retval.item);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_OUTPUT_TO_FILE].lval) == 0)
{
OUTPUT_TO_FILE = BooleanFromString(retval.item);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_OUTPUT_DIRECTORY].lval) == 0)
{
if (IsAbsPath(retval.item))
{
strncpy(OUTPUT_DIRECTORY, retval.item, CF_BUFSIZE - 1);
Log(LOG_LEVEL_VERBOSE, "Setting output direcory to '%s'", OUTPUT_DIRECTORY);
}
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_TIMEOUT].lval) == 0)
{
RUNATTR.copy.timeout = (short) IntFromString(retval.item);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_HOSTS].lval) == 0)
{
if (HOSTLIST == NULL) // Don't override if command line setting
{
HOSTLIST = retval.item;
}
continue;
}
}
}
if (EvalContextVariableControlCommonGet(ctx, COMMON_CONTROL_LASTSEEN_EXPIRE_AFTER, &retval))
{
LASTSEENEXPIREAFTER = IntFromString(retval.item) * 60;
}
}
bool GetExecOutput(const char *command, char *buffer, bool useshell)
/* Buffer initially contains whole exec string */
{
int offset = 0;
char line[CF_EXPANDSIZE];
FILE *pp;
if (useshell)
{
pp = cf_popen_sh(command, "r");
}
else
{
pp = cf_popen(command, "r", true);
}
if (pp == NULL)
{
Log(LOG_LEVEL_ERR, "Couldn't open pipe to command '%s'. (cf_popen: %s)", command, GetErrorStr());
return false;
}
memset(buffer, 0, CF_EXPANDSIZE);
for (;;)
{
ssize_t res = CfReadLine(line, CF_EXPANDSIZE, pp);
if (res == 0)
{
break;
}
if (res == -1)
{
Log(LOG_LEVEL_ERR, "Unable to read output of command '%s'. (fread: %s)", command, GetErrorStr());
cf_pclose(pp);
return false;
}
if (strlen(line) + offset > CF_EXPANDSIZE - 10)
{
Log(LOG_LEVEL_ERR, "Buffer exceeded %d bytes in exec '%s'", CF_EXPANDSIZE, command);
break;
}
snprintf(buffer + offset, CF_EXPANDSIZE, "%s\n", line);
offset += strlen(line) + 1;
}
if (offset > 0)
{
if (Chop(buffer, CF_EXPANDSIZE) == -1)
{
Log(LOG_LEVEL_ERR, "Chop was called on a string that seemed to have no terminator");
}
}
Log(LOG_LEVEL_DEBUG, "GetExecOutput got '%s'", buffer);
cf_pclose(pp);
return true;
}
static int SplitProcLine(char *proc, char **names, int *start, int *end, char **line)
{
int i, s, e;
char *sp = NULL;
char cols1[CF_PROCCOLS][CF_SMALLBUF] = { "" };
char cols2[CF_PROCCOLS][CF_SMALLBUF] = { "" };
if ((proc == NULL) || (strlen(proc) == 0))
{
return false;
}
memset(line, 0, sizeof(char *) * CF_PROCCOLS);
// First try looking at all the separable items
sp = proc;
for (i = 0; (i < CF_PROCCOLS) && (names[i] != NULL); i++)
{
while (*sp == ' ')
{
sp++;
}
if ((strcmp(names[i], "CMD") == 0) || (strcmp(names[i], "COMMAND") == 0))
{
sscanf(sp, "%127[^\n]", cols1[i]);
sp += strlen(cols1[i]);
}
else
{
sscanf(sp, "%127s", cols1[i]);
sp += strlen(cols1[i]);
}
// Some ps stimes may contain spaces, e.g. "Jan 25"
if ((strcmp(names[i], "STIME") == 0) && (strlen(cols1[i]) == 3))
{
char s[CF_SMALLBUF] = { 0 };
sscanf(sp, "%127s", s);
strcat(cols1[i], " ");
strcat(cols1[i], s);
sp += strlen(s) + 1;
}
}
// Now try looking at columne alignment
for (i = 0; (i < CF_PROCCOLS) && (names[i] != NULL); i++)
{
// Start from the header/column tab marker and count backwards until we find 0 or space
for (s = start[i]; (s >= 0) && (!isspace((int) *(proc + s))); s--)
{
}
if (s < 0)
{
s = 0;
}
// Make sure to strip off leading spaces
while (isspace((int) proc[s]))
{
s++;
}
if ((strcmp(names[i], "CMD") == 0) || (strcmp(names[i], "COMMAND") == 0))
{
e = strlen(proc);
}
else
{
for (e = end[i]; (e <= end[i] + 10) && (!isspace((int) *(proc + e))); e++)
{
}
while (isspace((int) proc[e]))
{
if (e > 0)
{
e--;
}
if(e == 0)
{
break;
}
}
}
if (s <= e)
{
strncpy(cols2[i], (char *) (proc + s), MIN(CF_SMALLBUF - 1, (e - s + 1)));
}
else
{
cols2[i][0] = '\0';
}
if (Chop(cols2[i], CF_EXPANDSIZE) == -1)
{
Log(LOG_LEVEL_ERR, "Chop was called on a string that seemed to have no terminator");
}
if (strcmp(cols2[i], cols1[i]) != 0)
{
Log(LOG_LEVEL_INFO, "Unacceptable model uncertainty examining processes");
}
line[i] = xstrdup(cols1[i]);
}
return true;
}
int LoadProcessTable(Item **procdata)
{
FILE *prp;
char pscomm[CF_MAXLINKSIZE];
Item *rootprocs = NULL;
Item *otherprocs = NULL;
if (PROCESSTABLE)
{
Log(LOG_LEVEL_VERBOSE, "Reusing cached process table");
return true;
}
CheckPsLineLimitations();
const char *psopts = GetProcessOptions();
snprintf(pscomm, CF_MAXLINKSIZE, "%s %s", VPSCOMM[VPSHARDCLASS], psopts);
Log(LOG_LEVEL_VERBOSE, "Observe process table with %s", pscomm);
if ((prp = cf_popen(pscomm, "r", false)) == NULL)
{
Log(LOG_LEVEL_ERR, "Couldn't open the process list with command '%s'. (popen: %s)", pscomm, GetErrorStr());
return false;
}
size_t vbuff_size = CF_BUFSIZE;
char *vbuff = xmalloc(vbuff_size);
# ifdef HAVE_GETZONEID
char *names[CF_PROCCOLS];
int start[CF_PROCCOLS];
int end[CF_PROCCOLS];
Seq *pidlist = SeqNew(1, NULL);
Seq *rootpidlist = SeqNew(1, NULL);
bool global_zone = IsGlobalZone();
if (global_zone)
{
int res = ZLoadProcesstable(pidlist, rootpidlist);
if (res == false)
{
Log(LOG_LEVEL_ERR, "Unable to load solaris zone process table.");
return false;
}
}
# endif
for (;;)
{
ssize_t res = CfReadLine(&vbuff, &vbuff_size, prp);
if (res == -1)
{
if (!feof(prp))
{
Log(LOG_LEVEL_ERR, "Unable to read process list with command '%s'. (fread: %s)", pscomm, GetErrorStr());
cf_pclose(prp);
free(vbuff);
return false;
}
else
{
break;
}
}
Chop(vbuff, vbuff_size);
# ifdef HAVE_GETZONEID
if (global_zone)
{
if (strstr(vbuff, "PID") != NULL)
{ /* this is the banner so get the column header names for later use*/
GetProcessColumnNames(vbuff, &names[0], start, end);
}
else
{
int gpid = ExtractPid(vbuff, names, end);
if (!IsGlobalProcess(gpid, pidlist, rootpidlist))
{
continue;
}
}
}
# endif
AppendItem(procdata, vbuff, "");
}
cf_pclose(prp);
/* Now save the data */
const char* const statedir = GetStateDir();
snprintf(vbuff, CF_MAXVARSIZE, "%s%ccf_procs", statedir, FILE_SEPARATOR);
RawSaveItemList(*procdata, vbuff, NewLineMode_Unix);
# ifdef HAVE_GETZONEID
if (global_zone) /* pidlist and rootpidlist are empty if we're not in the global zone */
{
Item *ip = *procdata;
while (ip != NULL)
{
ZCopyProcessList(&rootprocs, ip, rootpidlist, names, end);
ip = ip->next;
}
ReverseItemList(rootprocs);
ip = *procdata;
while (ip != NULL)
{
ZCopyProcessList(&otherprocs, ip, pidlist, names, end);
ip = ip->next;
}
ReverseItemList(otherprocs);
}
else
# endif
{
CopyList(&rootprocs, *procdata);
CopyList(&otherprocs, *procdata);
while (DeleteItemNotContaining(&rootprocs, "root"))
{
}
while (DeleteItemContaining(&otherprocs, "root"))
{
}
}
if (otherprocs)
{
PrependItem(&rootprocs, otherprocs->name, NULL);
}
snprintf(vbuff, CF_MAXVARSIZE, "%s%ccf_rootprocs", statedir, FILE_SEPARATOR);
RawSaveItemList(rootprocs, vbuff, NewLineMode_Unix);
DeleteItemList(rootprocs);
snprintf(vbuff, CF_MAXVARSIZE, "%s%ccf_otherprocs", statedir, FILE_SEPARATOR);
RawSaveItemList(otherprocs, vbuff, NewLineMode_Unix);
DeleteItemList(otherprocs);
free(vbuff);
return true;
}
int GetExecOutput(char *command, char *buffer, int useshell)
/* Buffer initially contains whole exec string */
{
int offset = 0;
char line[CF_EXPANDSIZE], *sp;
FILE *pp;
int flatten_newlines = false;
CfDebug("GetExecOutput(%s,%s) - use shell = %d\n", command, buffer, useshell);
if (useshell)
{
pp = cf_popen_sh(command, "r");
}
else
{
pp = cf_popen(command, "r");
}
if (pp == NULL)
{
CfOut(cf_error, "cf_popen", "Couldn't open pipe to command %s\n", command);
return false;
}
memset(buffer, 0, CF_EXPANDSIZE);
while (!feof(pp))
{
if (ferror(pp)) /* abortable */
{
fflush(pp);
break;
}
CfReadLine(line, CF_EXPANDSIZE, pp);
if (ferror(pp)) /* abortable */
{
fflush(pp);
break;
}
if (flatten_newlines)
{
for (sp = line; *sp != '\0'; sp++)
{
if (*sp == '\n')
{
*sp = ' ';
}
}
}
if (strlen(line) + offset > CF_EXPANDSIZE - 10)
{
CfOut(cf_error, "", "Buffer exceeded %d bytes in exec %s\n", CF_EXPANDSIZE, command);
break;
}
if (flatten_newlines)
{
snprintf(buffer + offset, CF_EXPANDSIZE, "%s ", line);
}
else
{
snprintf(buffer + offset, CF_EXPANDSIZE, "%s\n", line);
}
offset += strlen(line) + 1;
}
if (offset > 0)
{
Chop(buffer);
}
CfDebug("GetExecOutput got: [%s]\n", buffer);
cf_pclose(pp);
return true;
}
void cfPS(enum cfreport level, char status, char *errstr, const Promise *pp, Attributes attr, char *fmt, ...)
{
va_list ap;
char buffer[CF_BUFSIZE], output[CF_BUFSIZE], *v, handle[CF_MAXVARSIZE];
const char *sp;
Item *ip, *mess = NULL;
int verbose;
Rval retval;
if ((fmt == NULL) || (strlen(fmt) == 0))
{
return;
}
va_start(ap, fmt);
vsnprintf(buffer, CF_BUFSIZE - 1, fmt, ap);
va_end(ap);
Chop(buffer);
AppendItem(&mess, buffer, NULL);
if ((errstr == NULL) || (strlen(errstr) > 0))
{
snprintf(output, CF_BUFSIZE - 1, " !!! System reports error for %s: \"%s\"", errstr, GetErrorStr());
AppendItem(&mess, output, NULL);
}
if (level == cf_error)
{
if (GetVariable("control_common", "version", &retval) != cf_notype)
{
v = (char *) retval.item;
}
else
{
v = "not specified";
}
if ((sp = GetConstraintValue("handle", pp, CF_SCALAR)) || (sp = PromiseID(pp)))
{
strncpy(handle, sp, CF_MAXVARSIZE - 1);
}
else
{
strcpy(handle, "(unknown)");
}
if (INFORM || VERBOSE || DEBUG)
{
snprintf(output, CF_BUFSIZE - 1, "I: Report relates to a promise with handle \"%s\"", handle);
AppendItem(&mess, output, NULL);
}
if (pp && pp->audit)
{
snprintf(output, CF_BUFSIZE - 1, "I: Made in version \'%s\' of \'%s\' near line %zu",
v, pp->audit->filename, pp->offset.line);
}
else
{
snprintf(output, CF_BUFSIZE - 1, "I: Promise is made internally by cfengine");
}
AppendItem(&mess, output, NULL);
if (pp != NULL)
{
switch (pp->promisee.rtype)
{
case CF_SCALAR:
snprintf(output, CF_BUFSIZE - 1, "I: The promise was made to: \'%s\'", (char *) pp->promisee.item);
AppendItem(&mess, output, NULL);
break;
case CF_LIST:
snprintf(output, CF_BUFSIZE - 1, "I: The promise was made to (stakeholders): ");
PrintRlist(output+strlen(output), CF_BUFSIZE, (Rlist *)pp->promisee.item);
AppendItem(&mess, output, NULL);
break;
}
if (pp->ref)
{
snprintf(output, CF_BUFSIZE - 1, "I: Comment: %s\n", pp->ref);
AppendItem(&mess, output, NULL);
}
}
}
verbose = (attr.transaction.report_level == cf_verbose) || VERBOSE;
switch (level)
{
case cf_inform:
if (INFORM || verbose || DEBUG || attr.transaction.report_level == cf_inform)
{
LogList(stdout, mess, verbose);
}
if (attr.transaction.log_level == cf_inform)
{
MakeLog(mess, level);
}
break;
case cf_reporting:
case cf_cmdout:
if (attr.report.to_file)
{
FileReport(mess, verbose, attr.report.to_file);
}
else
{
LogList(stdout, mess, verbose);
}
if (attr.transaction.log_level == cf_inform)
{
MakeLog(mess, level);
}
break;
case cf_verbose:
if (verbose || DEBUG)
{
LogList(stdout, mess, verbose);
}
if (attr.transaction.log_level == cf_verbose)
{
MakeLog(mess, level);
}
break;
case cf_error:
if (attr.report.to_file)
{
FileReport(mess, verbose, attr.report.to_file);
}
else
{
LogList(stdout, mess, verbose);
}
if (attr.transaction.log_level == cf_error)
{
MakeLog(mess, level);
}
break;
case cf_log:
MakeLog(mess, level);
break;
default:
break;
}
if (pp != NULL)
{
LogPromiseResult(pp->promiser, pp->promisee.rtype, pp->promisee.item, status, attr.transaction.log_level, mess);
}
/* Now complete the exits status classes and auditing */
if (pp != NULL)
{
for (ip = mess; ip != NULL; ip = ip->next)
{
ClassAuditLog(pp, attr, ip->name, status, buffer);
}
}
DeleteItemList(mess);
}
/*
* Common functionality of CfFOut and CfOut.
*/
static void VLog(FILE *fh, enum cfreport level, const char *errstr, const char *fmt, va_list args)
{
char buffer[CF_BUFSIZE], output[CF_BUFSIZE];
Item *mess = NULL;
if ((fmt == NULL) || (strlen(fmt) == 0))
{
return;
}
memset(output, 0, CF_BUFSIZE);
vsnprintf(buffer, CF_BUFSIZE - 1, fmt, args);
Chop(buffer);
AppendItem(&mess, buffer, NULL);
if ((errstr == NULL) || (strlen(errstr) > 0))
{
snprintf(output, CF_BUFSIZE - 1, " !!! System reports error for %s: \"%s\"", errstr, GetErrorStr());
AppendItem(&mess, output, NULL);
}
switch (level)
{
case cf_inform:
if (INFORM || VERBOSE || DEBUG)
{
LogList(fh, mess, VERBOSE);
}
break;
case cf_verbose:
if (VERBOSE || DEBUG)
{
LogList(fh, mess, VERBOSE);
}
break;
case cf_error:
case cf_reporting:
case cf_cmdout:
LogList(fh, mess, VERBOSE);
MakeLog(mess, level);
break;
case cf_log:
if (VERBOSE || DEBUG)
{
LogList(fh, mess, VERBOSE);
}
MakeLog(mess, cf_verbose);
break;
default:
FatalError("Report level unknown");
break;
}
DeleteItemList(mess);
}
static void MonLogSymbolicValue(EvalContext *ctx, const char *handle, Item *stream,
Attributes a, const Promise *pp, PromiseResult *result)
{
char value[CF_BUFSIZE], sdate[CF_MAXVARSIZE], filename[CF_BUFSIZE], *v;
int count = 1, found = false, match_count = 0;
Item *ip, *match = NULL, *matches = NULL;
time_t now = time(NULL);
FILE *fout;
if (stream == NULL)
{
Log(LOG_LEVEL_VERBOSE, "No stream to measure");
return;
}
Log(LOG_LEVEL_VERBOSE, "Locate and log sample ...");
for (ip = stream; ip != NULL; ip = ip->next)
{
if (ip->name == NULL)
{
continue;
}
if (count == a.measure.select_line_number)
{
Log(LOG_LEVEL_VERBOSE, "Found line %d by number...", count);
found = true;
match_count = 1;
match = ip;
if (a.measure.extraction_regex)
{
Log(LOG_LEVEL_VERBOSE, "Now looking for a matching extractor \"%s\"", a.measure.extraction_regex);
strncpy(value, ExtractFirstReference(a.measure.extraction_regex, match->name), CF_MAXVARSIZE - 1);
Log(LOG_LEVEL_INFO, "Extracted value \"%s\" for promise \"%s\"", value, handle);
AppendItem(&matches, value, NULL);
}
break;
}
if (a.measure.select_line_matching && StringMatchFull(a.measure.select_line_matching, ip->name))
{
Log(LOG_LEVEL_VERBOSE, "Found line %d by pattern...", count);
found = true;
match = ip;
match_count++;
if (a.measure.extraction_regex)
{
Log(LOG_LEVEL_VERBOSE, "Now looking for a matching extractor \"%s\"", a.measure.extraction_regex);
strncpy(value, ExtractFirstReference(a.measure.extraction_regex, match->name), CF_MAXVARSIZE - 1);
Log(LOG_LEVEL_INFO, "Extracted value \"%s\" for promise \"%s\"", value, handle);
AppendItem(&matches, value, NULL);
}
}
count++;
}
if (!found)
{
cfPS(ctx, LOG_LEVEL_ERR, PROMISE_RESULT_FAIL, pp, a, "Promiser '%s' found no matching line.", pp->promiser);
*result = PromiseResultUpdate(*result, PROMISE_RESULT_FAIL);
return;
}
if (match_count > 1)
{
Log(LOG_LEVEL_INFO, "Warning: %d lines matched the line_selection \"%s\"- matching to last", match_count,
a.measure.select_line_matching);
}
switch (a.measure.data_type)
{
case CF_DATA_TYPE_COUNTER:
Log(LOG_LEVEL_VERBOSE, "Counted %d for %s", match_count, handle);
snprintf(value, CF_MAXVARSIZE, "%d", match_count);
break;
case CF_DATA_TYPE_STRING_LIST:
v = ItemList2CSV(matches);
snprintf(value, CF_BUFSIZE, "%s", v);
free(v);
break;
default:
snprintf(value, CF_BUFSIZE, "%s", matches->name);
}
DeleteItemList(matches);
if (a.measure.history_type && strcmp(a.measure.history_type, "log") == 0)
{
snprintf(filename, CF_BUFSIZE, "%s%cstate%c%s_measure.log", CFWORKDIR, FILE_SEPARATOR, FILE_SEPARATOR, handle);
if ((fout = fopen(filename, "a")) == NULL)
{
cfPS(ctx, LOG_LEVEL_ERR, PROMISE_RESULT_FAIL, pp, a, "Unable to open the output log \"%s\"", filename);
*result = PromiseResultUpdate(*result, PROMISE_RESULT_FAIL);
PromiseRef(LOG_LEVEL_ERR, pp);
return;
}
strncpy(sdate, ctime(&now), CF_MAXVARSIZE - 1);
if (Chop(sdate, CF_EXPANDSIZE) == -1)
{
Log(LOG_LEVEL_ERR, "Chop was called on a string that seemed to have no terminator");
}
fprintf(fout, "%s,%ld,%s\n", sdate, (long) now, value);
Log(LOG_LEVEL_VERBOSE, "Logging: %s,%s to %s", sdate, value, filename);
fclose(fout);
}
else // scalar or static
{
CF_DB *dbp;
char id[CF_MAXVARSIZE];
if (!OpenDB(&dbp, dbid_static))
{
return;
}
snprintf(id, CF_MAXVARSIZE - 1, "%s:%d", handle, a.measure.data_type);
WriteDB(dbp, id, value, strlen(value) + 1);
CloseDB(dbp);
}
}
void Drift_correction()
{
//Compensation the Roll, Pitch and Yaw drift.
static float Scaled_Omega_P[3];
static float Scaled_Omega_I[3];
float Accel_magnitude;
float Accel_weight;
float Integrator_magnitude;
// Local Working Variables
float errorRollPitch[3];
float errorYaw[3];
float errorCourse;
//*****Roll and Pitch***************
// Calculate the magnitude of the accelerometer vector
Accel_magnitude = sqrtf(accel_float.x * accel_float.x + accel_float.y * accel_float.y + accel_float.z * accel_float.z);
Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
// Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
Accel_weight = Chop(1 - 2 * fabs(1 - Accel_magnitude), 0, 1); //
#if PERFORMANCE_REPORTING == 1
{
//amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction
float tempfloat = ((Accel_weight - 0.5) * 256.0f);
imu_health += tempfloat;
Bound(imu_health, 129, 65405);
}
#endif
Vector_Cross_Product(&errorRollPitch[0], &accel_float.x, &DCM_Matrix[2][0]); //adjust the ground of reference
Vector_Scale(&Omega_P[0], &errorRollPitch[0], Kp_ROLLPITCH * Accel_weight);
Vector_Scale(&Scaled_Omega_I[0], &errorRollPitch[0], Ki_ROLLPITCH * Accel_weight);
Vector_Add(Omega_I, Omega_I, Scaled_Omega_I);
//*****YAW***************
#if USE_MAGNETOMETER
// We make the gyro YAW drift correction based on compass magnetic heading
// float mag_heading_x = cos(MAG_Heading);
// float mag_heading_y = sin(MAG_Heading);
// 2D dot product
//Calculating YAW error
errorCourse = (DCM_Matrix[0][0] * MAG_Heading_Y) + (DCM_Matrix[1][0] * MAG_Heading_X);
//Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(errorYaw, &DCM_Matrix[2][0], errorCourse);
Vector_Scale(&Scaled_Omega_P[0], &errorYaw[0], Kp_YAW);
Vector_Add(Omega_P, Omega_P, Scaled_Omega_P); //Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0], &errorYaw[0], Ki_YAW);
Vector_Add(Omega_I, Omega_I, Scaled_Omega_I); //adding integrator to the Omega_I
#else // Use GPS Ground course to correct yaw gyro drift
if (ahrs_dcm.gps_course_valid) {
float course = ahrs_dcm.gps_course - M_PI; //This is the runaway direction of you "plane" in rad
float COGX = cosf(course); //Course overground X axis
float COGY = sinf(course); //Course overground Y axis
errorCourse = (DCM_Matrix[0][0] * COGY) - (DCM_Matrix[1][0] * COGX); //Calculating YAW error
//Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(errorYaw, &DCM_Matrix[2][0], errorCourse);
Vector_Scale(&Scaled_Omega_P[0], &errorYaw[0], Kp_YAW);
Vector_Add(Omega_P, Omega_P, Scaled_Omega_P); //Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0], &errorYaw[0], Ki_YAW);
Vector_Add(Omega_I, Omega_I, Scaled_Omega_I); //adding integrator to the Omega_I
}
#if USE_MAGNETOMETER_ONGROUND == 1
PRINT_CONFIG_MSG("AHRS_FLOAT_DCM uses magnetometer prior to takeoff and GPS during flight")
else if (launch == FALSE) {
float COGX = mag->x; // Non-Tilt-Compensated (for filter stability reasons)
float COGY = mag->y; // Non-Tilt-Compensated (for filter stability reasons)
errorCourse = (DCM_Matrix[0][0] * COGY) - (DCM_Matrix[1][0] * COGX); //Calculating YAW error
//Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(errorYaw, &DCM_Matrix[2][0], errorCourse);
// P only
Vector_Scale(&Scaled_Omega_P[0], &errorYaw[0], Kp_YAW / 10.0);
Vector_Add(Omega_P, Omega_P, Scaled_Omega_P); //Adding Proportional.fi
}
#endif // USE_MAGNETOMETER_ONGROUND
#endif
// Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I, Omega_I));
if (Integrator_magnitude > RadOfDeg(300)) {
Vector_Scale(Omega_I, Omega_I, 0.5f * RadOfDeg(300) / Integrator_magnitude);
}
}
static int HailServer(const EvalContext *ctx, const GenericAgentConfig *config,
char *host)
{
assert(host != NULL);
AgentConnection *conn;
char hostkey[CF_HOSTKEY_STRING_SIZE], user[CF_SMALLBUF];
bool gotkey;
char reply[8];
bool trustkey = false;
char *hostname, *port;
ParseHostPort(host, &hostname, &port);
if (hostname == NULL)
{
Log(LOG_LEVEL_INFO, "No remote hosts were specified to connect to");
return false;
}
if (port == NULL)
{
port = "5308";
}
char ipaddr[CF_MAX_IP_LEN];
if (Hostname2IPString(ipaddr, hostname, sizeof(ipaddr)) == -1)
{
Log(LOG_LEVEL_ERR,
"HailServer: ERROR, could not resolve '%s'", hostname);
return false;
}
Address2Hostkey(hostkey, sizeof(hostkey), ipaddr);
GetCurrentUserName(user, sizeof(user));
if (INTERACTIVE)
{
Log(LOG_LEVEL_VERBOSE, "Using interactive key trust...");
gotkey = HavePublicKey(user, ipaddr, hostkey) != NULL;
if (!gotkey)
{
/* TODO print the hash of the connecting host. But to do that we
* should open the connection first, and somehow pass that hash
* here! redmine#7212 */
printf("WARNING - You do not have a public key from host %s = %s\n",
hostname, ipaddr);
printf(" Do you want to accept one on trust? (yes/no)\n\n--> ");
while (true)
{
if (fgets(reply, sizeof(reply), stdin) == NULL)
{
FatalError(ctx, "EOF trying to read answer from terminal");
}
if (Chop(reply, CF_EXPANDSIZE) == -1)
{
Log(LOG_LEVEL_ERR, "Chop was called on a string that seemed to have no terminator");
}
if (strcmp(reply, "yes") == 0)
{
printf("Will trust the key...\n");
trustkey = true;
break;
}
else if (strcmp(reply, "no") == 0)
{
printf("Will not trust the key...\n");
trustkey = false;
break;
}
else
{
printf("Please reply yes or no...(%s)\n", reply);
}
}
}
}
#ifndef __MINGW32__
if (BACKGROUND)
{
Log(LOG_LEVEL_INFO, "Hailing %s : %s (in the background)",
hostname, port);
}
else
#endif
{
Log(LOG_LEVEL_INFO,
"........................................................................");
Log(LOG_LEVEL_INFO, "Hailing %s : %s",
hostname, port);
Log(LOG_LEVEL_INFO,
"........................................................................");
}
ConnectionFlags connflags = {
.protocol_version = config->protocol_version,
.trust_server = trustkey
};
int err = 0;
conn = ServerConnection(hostname, port, CONNTIMEOUT, connflags, &err);
if (conn == NULL)
{
Log(LOG_LEVEL_ERR, "Failed to connect to host: %s", hostname);
return false;
}
/* Send EXEC command. */
HailExec(conn, hostname);
return true;
}
/********************************************************************/
/* Level 2 */
/********************************************************************/
static void KeepControlPromises(EvalContext *ctx, const Policy *policy)
{
Seq *constraints = ControlBodyConstraints(policy, AGENT_TYPE_RUNAGENT);
if (constraints)
{
for (size_t i = 0; i < SeqLength(constraints); i++)
{
Constraint *cp = SeqAt(constraints, i);
if (!IsDefinedClass(ctx, cp->classes))
{
continue;
}
VarRef *ref = VarRefParseFromScope(cp->lval, "control_runagent");
DataType value_type;
const void *value = EvalContextVariableGet(ctx, ref, &value_type);
VarRefDestroy(ref);
/* If var not found, or if it's an empty list. */
if (value_type == CF_DATA_TYPE_NONE || value == NULL)
{
Log(LOG_LEVEL_ERR, "Unknown lval '%s' in runagent control body", cp->lval);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_FORCE_IPV4].lval) == 0)
{
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_TRUSTKEY].lval) == 0)
{
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_ENCRYPT].lval) == 0)
{
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_PORT_NUMBER].lval) == 0)
{
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_BACKGROUND].lval) == 0)
{
/*
* Only process this option if are is no -b or -i options specified on
* command line.
*/
if (BACKGROUND || INTERACTIVE)
{
Log(LOG_LEVEL_WARNING,
"'background_children' setting from 'body runagent control' is overridden by command-line option.");
}
else
{
BACKGROUND = BooleanFromString(value);
}
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_MAX_CHILD].lval) == 0)
{
MAXCHILD = (short) IntFromString(value);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_OUTPUT_TO_FILE].lval) == 0)
{
OUTPUT_TO_FILE = BooleanFromString(value);
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_OUTPUT_DIRECTORY].lval) == 0)
{
if (IsAbsPath(value))
{
strlcpy(OUTPUT_DIRECTORY, value, CF_BUFSIZE);
Log(LOG_LEVEL_VERBOSE, "Setting output direcory to '%s'", OUTPUT_DIRECTORY);
}
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_TIMEOUT].lval) == 0)
{
continue;
}
if (strcmp(cp->lval, CFR_CONTROLBODY[RUNAGENT_CONTROL_HOSTS].lval) == 0)
{
if (HOSTLIST == NULL) // Don't override if command line setting
{
HOSTLIST = value;
}
continue;
}
}
}
const char *expire_after = EvalContextVariableControlCommonGet(ctx, COMMON_CONTROL_LASTSEEN_EXPIRE_AFTER);
if (expire_after)
{
LASTSEENEXPIREAFTER = IntFromString(expire_after) * 60;
}
}
String *SwigType_str(SwigType *s, const String_or_char *id) {
String *result;
String *element = 0, *nextelement;
List *elements;
int nelements, i;
if (id) {
result = NewString(id);
} else {
result = NewStringEmpty();
}
elements = SwigType_split(s);
nelements = Len(elements);
if (nelements > 0) {
element = Getitem(elements, 0);
}
/* Now, walk the type list and start emitting */
for (i = 0; i < nelements; i++) {
if (i < (nelements - 1)) {
nextelement = Getitem(elements, i + 1);
} else {
nextelement = 0;
}
if (SwigType_isqualifier(element)) {
DOH *q = 0;
q = SwigType_parm(element);
Insert(result, 0, " ");
Insert(result, 0, q);
Delete(q);
} else if (SwigType_ispointer(element)) {
Insert(result, 0, "*");
if ((nextelement) && ((SwigType_isfunction(nextelement) || (SwigType_isarray(nextelement))))) {
Insert(result, 0, "(");
Append(result, ")");
}
} else if (SwigType_ismemberpointer(element)) {
String *q;
q = SwigType_parm(element);
Insert(result, 0, "::*");
Insert(result, 0, q);
if ((nextelement) && ((SwigType_isfunction(nextelement) || (SwigType_isarray(nextelement))))) {
Insert(result, 0, "(");
Append(result, ")");
}
Delete(q);
} else if (SwigType_isreference(element)) {
Insert(result, 0, "&");
if ((nextelement) && ((SwigType_isfunction(nextelement) || (SwigType_isarray(nextelement))))) {
Insert(result, 0, "(");
Append(result, ")");
}
} else if (SwigType_isarray(element)) {
DOH *size;
Append(result, "[");
size = SwigType_parm(element);
Append(result, size);
Append(result, "]");
Delete(size);
} else if (SwigType_isfunction(element)) {
DOH *parms, *p;
int j, plen;
Append(result, "(");
parms = SwigType_parmlist(element);
plen = Len(parms);
for (j = 0; j < plen; j++) {
p = SwigType_str(Getitem(parms, j), 0);
Append(result, p);
if (j < (plen - 1))
Append(result, ",");
}
Append(result, ")");
Delete(parms);
} else {
if (strcmp(Char(element), "v(...)") == 0) {
Insert(result, 0, "...");
} else {
String *bs = SwigType_namestr(element);
Insert(result, 0, " ");
Insert(result, 0, bs);
Delete(bs);
}
}
element = nextelement;
}
Delete(elements);
Chop(result);
return result;
}
void Drift_correction(void)
{
//Compensation the Roll, Pitch and Yaw drift.
static float Scaled_Omega_P[3];
static float Scaled_Omega_I[3];
float Accel_magnitude;
float Accel_weight;
float Integrator_magnitude;
// Local Working Variables
float errorRollPitch[3];
float errorYaw[3];
float errorCourse;
// ***** Roll and Pitch ***************
// Calculate the magnitude of the accelerometer vector
Accel_magnitude = sqrt(accel_float.x*accel_float.x +
accel_float.y*accel_float.y +
accel_float.z*accel_float.z);
Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
// Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
#if PERFORMANCE_REPORTING == 1
{
// amount added was determined to give imu_health a time constant about
// twice the time constant of the roll/pitch drift correction
float tempfloat = ((Accel_weight - 0.5f) * 256.0f);
imu_health += tempfloat;
Bound(imu_health,129,65405);
}
#endif
//adjust the ground of reference
Vector_Cross_Product(&errorRollPitch[0],&accel_float.x,&DCM_Matrix[2][0]);
Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
// ***** Yaw ***************
#ifdef USE_MAGNETOMETER
// We make the gyro YAW drift correction based on compass magnetic heading
float mag_heading_x = cosf(MAG_Heading);
float mag_heading_y = sinf(MAG_Heading);
//Calculating YAW error
errorCourse=(DCM_Matrix[0][0]*mag_heading_y) -
(DCM_Matrix[1][0]*mag_heading_x);
// Applys the yaw correction to the XYZ rotation of the aircraft,
// depeding the position.
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse);
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
#elif defined USE_GPS // Use GPS Ground course to correct yaw gyro drift
//got a 3d fix and ground speed is more than 0.5 m/s
if(gps_mode==3 && gps_gspeed>= 500) {
//This is the runaway direction of you "plane" in degrees
float ground_course = gps_course/10. - 180.;
float COGX = cosf(RadOfDeg(ground_course)); //Course overground X axis
float COGY = sinf(RadOfDeg(ground_course)); //Course overground Y axis
//Calculating YAW error
errorCourse=(DCM_Matrix[0][0]*COGY) - (DCM_Matrix[1][0]*COGX);
// Applys the yaw correction to the XYZ rotation of the aircraft,
// depeding the position.
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse);
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
//Adding Proportional.
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
//adding integrator to the Omega_I
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
}
#endif
// Here we will place a limit on the integrator so that the integrator cannot
// ever exceed half the saturation limit of the gyros
Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I,Omega_I));
if (Integrator_magnitude > DegOfRad(300)) {
Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude);
}
}