/// Make a unique key for core/app shared memory segment.
/// Windows: also create and attach to the segment.
///
/// \return 0 on success, #ERR_SHMEM_NAME or #ERR_SHMGET on error.
int ACTIVE_TASK::get_shmem_seg_name() {
#ifdef _WIN32
int i;
char seg_name[256];
bool try_global = (sandbox_account_service_token != NULL);
for (i=0; i<1024; i++) {
sprintf(seg_name, "%sboinc_%d", SHM_PREFIX, i);
shm_handle = create_shmem(seg_name, sizeof(SHARED_MEM), (void**)&app_client_shm.shm,
try_global);
if (shm_handle) {
break;
}
}
if (!shm_handle) {
return ERR_SHMGET;
}
sprintf(shmem_seg_name, "boinc_%d", i);
#else
// shmem_seg_name is not used with mmap() shared memory
if (app_version->api_major_version() >= 6) {
shmem_seg_name = -1;
return 0;
}
std::string init_data_path = slot_dir + std::string("/") + std::string(INIT_DATA_FILE);
// ftok() only works if there's a file at the given location
//
FILE* f = boinc_fopen(init_data_path.c_str(), "w");
if (f) fclose(f);
shmem_seg_name = ftok(init_data_path.c_str(), 1);
if (shmem_seg_name == -1) return ERR_SHMEM_NAME;
#endif
return 0;
}
int main(int argc, char **argv)
{
struct sigaction actions;
parse_options(&argc, &argv);
if (asprintf(&libmemtrace, "%s/libmemtrace.so", lib_path) == -1)
fatal("asprintf (%s)", strerror(errno));
create_shmem();
main_pid = app_start((char **)(argv + 1));
atexit(cleanup);
signal(SIGINT, sigint_handler);
sigemptyset(&actions.sa_mask);
actions.sa_flags = SA_RESTART;
actions.sa_handler = sigchld_handler;
if (sigaction(SIGCHLD, &actions, NULL)) {
perror("sigaction(SIGCHLD)");
return 1;
}
create_socket();
create_comm();
init_server();
server_run();
return EXIT_SUCCESS;
}
int main()
{
int key = 123 ;
int memsize = sizeof(int) ;
int shmemId = create_shmem(key, memsize) ;
if (shmemId == -1) {
perror("shared segment creation error") ;
exit(EXIT_FAILURE) ;
}
int* buffer = (int*) attach_shmem(shmemId) ;
*buffer = 0 ;
int emptySemKey = 100 ;
int emptySemId = create_semaphore(emptySemKey) ;
int fullSemKey = 101 ;
int fullSemId = create_semaphore(fullSemKey) ;
if ((emptySemId == -1) || (fullSemId == -1)) {
perror("semaphore creation error") ;
exit(EXIT_FAILURE) ;
}
init_semaphore(fullSemId, 0) ;
init_semaphore(emptySemId, 1) ;
while (*buffer >= 0) {
down(emptySemId) ;
if (!scanf("%d", buffer))
*buffer = -1 ;
up(fullSemId) ;
}
remove_semaphore(fullSemId) ;
remove_semaphore(emptySemId) ;
detach_shmem(buffer) ;
remove_shmem(shmemId) ;
}
void main(int argc, char *argv[])
{int i,j,k,res;
int cnt_K2=0;
pid_t pid_timer;
timer_t id_timer;
struct itimerspec timer;
struct sigevent event;
// obmen_41_31_t from41;
short b2,num_KS=0; //номер канала связи 1 - нр-к1, 2 - пр-к2
unsigned int N_TIMER=0;//кол-во срабатываний таймера
short TIMER10=0;//обмен с пр1.0
short TIMER41=0;
float A; //угол поправки по разности
struct ispr_mo3k *ispr;
int direction=0; //направление движения антенны
float U1,U2; //расчет направления
//----- onucaHue gaHHblx npu pa6ome c MK -----//
int short owu6ka,i1;
pid_t pid,pid_K1,pid_41,pid_42;
dev_tx_t *dev;
unsigned short Kypc,Ckopocmb,KpeH,DuHT;
unsigned short q=1,ncu=2,mema=3;
int StateK1=1,StateK2=0;//0 - stop, 1-start
int TestK2=0;//доп настройки К2
float C1,C2,C3,C4,C5,C6,C7,C8;
int A1;
int TIMESEV,setANT=0,minus_x;
double PSI=0,TETA=0,oldPSI,oldTETA;
double x,y,x1,y1,C,S,ri,r1,r2,r3,
x2=0,y2=0;//дельты по качкам
double prim,primq,primcos;
float KK=0,KK1=0; //курс корабля
//const AgpecHK=28,AgpecCEB=31,nogAgpecHK=0,nogAgpecCEB=0;// agpeca OY
const AgpecHK=18,AgpecCEB=18,nogAgpecHK=0,nogAgpecCEB=0;// agpeca OY ???(CEB=17,18)
const Ynp_np1=1,HK=2,CEB=0;// No KAH MK
const Cnp1=1,CK1=Cnp1+8,CK2=CK1+20;//cMeweHue gaHHblx B Dout
const Cq=16,C42np1=10;//cMeweHue gaHHblx B Dout
unsigned pci_index=0;
unsigned char s,pewuM_K1;
int SIMF[6]={0,0,0,0}; //наличие симфонии 0,1 - ModA : 2,3 - ModB : 4,5 - sevA
int MODB[2]={0,0};
//----- onucaHue daHHblx npu pa6ome c np.4-1,4-2 -----//
#define V 1400
unsigned short DCEB[6];//Dout42[V];
C1=2048./pi;C2=4096.0/360.0;C3=180./pi;C4=C1*Kncu;
C5=C2*Kncu;C6=C1*Kq;C7=C3;C8=C2*Kq;
pid_timer = qnx_proxy_attach( 0, 0, 0, -1 );
if( pid_timer == -1 ) {printf( "Unable to attach proxy." );return;}
/* Attach to the timer */
event.sigev_signo = -pid_timer;
id_timer = timer_create( CLOCK_REALTIME, &event );
if( id_timer == -1 ) {printf( "Unable to attach timer." );return;}
timer.it_value.tv_sec = 1L; //start after X sec
timer.it_value.tv_nsec = 0L;
timer.it_interval.tv_sec = 0;
timer.it_interval.tv_nsec = 100*msec;
timer_settime( id_timer, 0, &timer, NULL );
printf("\nCTAPT M3\n");
create_shmem();
delay(1000);
open_shmem();
ispr = (struct ispr_mo3k *) & p->to_MO3.to42.Mispr;
p->pr1_c=0;
//----- Hacmpouka MaH4ecm.KaH. -----//
owu6ka=0;dev=OpenTx(pci_index);
if(regim_kk(dev,Ynp_np1,true)==-1){owu6ka|=0x4000;}//Heucnp-Mble.owu6ku
if(regim_ou(dev,HK,AgpecHK,true)==-1){owu6ka|=0x2000;}
if(regim_ou(dev,CEB,AgpecCEB,true)==-1) printf("Error OU CEB\n");
Init_ModB();
p->to_MO3.to42.Mispr=0;
p->toPR1[0]=0x07C7;
//p->toPR1[1]=p->toPR1[2]=p->toPR1[3]=0x0000;
p->M[0]=0;
p->M[1]=0x000e;
p->M[2]=0x0000;
p->M[3]=0x8410;
// p->M[3]=0xC430; //включение УМ
for(;;)//----- CEPBEP -----//
{
pid=Receive(0,dev->tx_B,N_B*2);s=0;owu6ka&=0xF000;//ucnp-Mble.owu6ku
if(pid==dev->proxyR[Ynp_np1])s=1;
if(pid==dev->proxyERR[Ynp_np1])s=2;
if(pid==dev->proxyR[HK])s=3;
if(pid==dev->proxyOUT[HK])s=4;
if(pid==dev->proxyMODE[HK])s=5;
if(pid==dev->proxyR[CEB])s=6;
if(pid==dev->proxyOUT[CEB])s=7;
if(pid==dev->proxyMODE[CEB])s=8;
if(pid==proxy_RS)s=9;
if(pid==pid_timer)s=12;
switch(s)
{ case 0:owu6ka|=1;break; // HEBEPEH proxy
case 1://--- ЧТЕНИЕ ДАННЫХ ИЗ ПР1
if(KK_end(dev,Ynp_np1,2)==-1){owu6ka|=2;break;}
p->pr1_c++;
for(i=0;i<8;i++) p->PR1[i]=dev->tx_B[10+i];
//for(i=3;i<7;i++) printf(" %d=%04x",i,dev->tx_B[10+i]);printf(" from\n");
//for(i=3;i<7;i++) printf(" %d=%x",i,toPR1[i]);printf(" to\n");
//for(i=3;i<8;i++) printf(" %x",p->PR1[i]);printf("\n");
/*if (!ispr->mo1k)
{
p->PR1[4]=p->PR1[4]|0x00ff; //новые Васины исправности
p->PR1[4]=p->PR1[4]|0x0f00; //ОС комп
if (p->PR1[4]&0x8000) p->PR1[4]=p->PR1[4]|0xf000; //TVK
p->PR1[3]=p->PR1[3]|0xf800; //ОС комп
}
*/
if (p->PR1[4]&0x4000) p->to_MO3.to42.priem_K2=1; else p->to_MO3.to42.priem_K2=0;
p->PR1[3]=p->PR1[3]|0x2000; //ОС комп
p->PR1[4]=p->PR1[4]|0x0800; //TVP SUM
p->PR1[4]=p->PR1[4]|0x00ff; //лишние ниже списка
p->to_MO3.to42.Ms1=p->PR1[3]; //состояние прибора 1.0
p->to_MO3.to42.Ms2=p->PR1[4];
p->to_MO3.to42.Ms3=p->PR1[5];
p->Dout41[Cq]=p->PR1[0]; // q
p->Dout41[Cq+1]=p->PR1[1];// ncu
p->Dout41[Cq+2]=p->PR1[2];// mema
if (alfa1>0.251) p->to_MO3.to42.alfa=0.258;
else if (alfa1<-0.251) p->to_MO3.to42.alfa=-0.255;
else if (p->PR1[1]&0x800) p->to_MO3.to42.alfa=(p->PR1[1]-0xFFF)/12.27/RADtoGRAD;//КРЕН
else p->to_MO3.to42.alfa=p->PR1[1]/C4;
//ANGLE
memcpy(&byta2,&p->Dout41[0],2); Flt=byta2*pi/(1<<14); p->simfonia41.Kg=Flt;// printf("Kypc=%8.4f \n",Flt);
p->to_MO3.to41.P_FACT=(p->Dout41[16]-1991)*2/RADtoGRAD+KK+x2;//Азимут+курс
if (p->to_MO3.to41.P_FACT<0) p->to_MO3.to41.P_FACT+=2*pi;//Азимут+курс
if (p->to_MO3.to41.P_FACT>2*PI) p->to_MO3.to41.P_FACT-=2*pi;//Азимут+курс
if (p->Dout41[18]&0x800) p->to_MO3.to41.beta_FACT=(360-p->Dout41[18]/C2)/C3; //УГОЛ МЕСТА
else p->to_MO3.to41.beta_FACT=-p->Dout41[18]/C1;
p->to_MO3.to41.beta_FACT+=y2;
//printf(" x2=%f y2=%f ",x2*57.32,y2*57.32);
//printf("\n");
TIMER10=0;//был обмен с пр1.0
break;
case 2://--- ОШИБКА ОБМЕНА С ПР1
if(KK_end(dev,Ynp_np1,2)==-1)owu6ka|=1024;else owu6ka|=4;
break;
case 3://--- HK
SIMF[0]++; //есть симфония
if (SIMF[0]==60000) SIMF[0]=0;
if(ou_read(dev,HK,nogAgpecHK)){owu6ka|=8;break;}
if((dev->tx_B[3])!=32) {owu6ka|=512;printf("error=%d\n",dev->tx_B[3]);break;}
if((dev->tx_B[1])!=0x12) break; //адрес кормовой качки
//printf("%d\n",dev->tx_B[3]);
for(j=0;j<15;j++) p->Dout41[j]=dev->tx_B[4+j]; //--- npueM HK
//printf("N=%d",SIMF[0]);
// printf("ModA simf- "); for(j=0;j<15;j++) printf("%x ",p->Dout41[j]);printf("\n");
// printf("ModA simf- "); for(j=0;j<15;j++) printf("%x ",dev->tx_B[j]);printf("\n");
//printf("%x\n",p->Dout41[4]);
//memcpy(&b2,&p->Dout41[5],2); KK=b2*pi/(1<<14);
KK=p->Dout41[5]*pi/(1<<14);
KK=KK+pi;
if (KK>2*pi) KK=KK-2*pi; //переворот с кормы в нос
// printf("KK=%f ",KK);
//КАЧКИ
// if (p->Dout41[3]&0x8000) PSI=-(p->Dout41[3])*NAVtoRAD/4;
// else PSI=(float)p->Dout41[4]*NAVtoRAD/4;
// if (p->Dout41[1]&0x8000) TETA=-(p->Dout41[2])*NAVtoRAD/4;
// else TETA=(float)p->Dout41[2]*NAVtoRAD/4;
if (p->Dout41[1]&0x8000) PSI=-(0xffff-p->Dout41[1])*pi/(1<<14);
else PSI=p->Dout41[1]*pi/(1<<14);
if (p->Dout41[3]&0x8000) TETA=-(0xffff-p->Dout41[3])*pi/(1<<14);
else TETA=p->Dout41[3]*pi/(1<<14);
// if (dev->tx_B[6]==0x8000) PSI=0;
// if (dev->tx_B[7]==0x8000) TETA=0;
// if (abs(PSI)>1/4) PSI=oldPSI;
// if (abs(TETA)>1/4) TETA=oldTETA;
// printf(" TETA=%f(%f) PSI=%f(%f)\n",PSI,PSI*57.32,TETA,TETA*57.32);
// printf(" A_simf "); for(j=0;j<9;j++) printf("%04x ",p->Dout41[j]);printf("\n");
break;
case 4:owu6ka|=32;break; // HEBEPEH proxy HK
case 5://--- npueM KY cuHxp HK ---//
ou_mode_read(dev,HK,0x8000);
break;
case 6://--- npueMHuk CEB ---//
SIMF[4]++; //есть ModB
if (SIMF[4]==60000) SIMF[2]=0;
if(ou_read(dev,CEB,nogAgpecCEB)){owu6ka|=64;break;}
//if((dev->tx_B[3])!=6){owu6ka|=128;break;}
for(j=0;j<6;j++) p->CEB[j]=dev->tx_B[4+j]; //--- npueM CEB
//for(j=0;j<6;j++) printf(" %x",p->CEB[j]);printf("\n"); //--- npueM CEB
//printf("%02x:%02x:%02x ", p->CEB[2]>>8,p->CEB[3]>>8,p->CEB[3]&0x00ff);printf("\n");
break;//--- end npueMHuk CEB ---//
case 7:case 8:owu6ka|=256;break; // HEBEPEH proxy CEB
case 9: //Обмен с МодБ
SIMF[2]++; //есть ModB
if (SIMF[2]==60000) SIMF[2]=0;
i=Read_ModB(); //читаем данные из Мод Б
//if (i!=48) break; //если не целый пакет - выход
//printf("nk=%x sev=%x\n",Din_ModB[1],Din_ModB[2]);
if (Din_ModB[1]==0) ispr->nkB=0; //всегда работает навигация в Мод Б
//if (Din_ModB[1]==0) ispr->nkB=1; //признак наличия навигации в Мод Б
else {
ispr->nkB=0; //навигац Мод Б исправна
if (ispr->nkA==1) //если нет навигации в Мод А
for(j=0;j<15;j++) p->Dout41[j]=Din_ModB[j+2]; //используем из Б
}
if (Din_ModB[2]==0) ispr->sevB=1; //признак наличия СЕВ в Мод Б
else {
ispr->sevB=0; //сев Мод Б исправен
p->Dout41[30]=(Din_ModB[20]>>8)&0x000F;
p->Dout41[30]+=(Din_ModB[20]>>12)*10; //hours
p->Dout41[31]=(Din_ModB[21]>>8)&0x000F;
p->Dout41[31]+=(Din_ModB[21]>>12)*10; //minutes
p->Dout41[32]=Din_ModB[21]&0x000F;
p->Dout41[32]+=((Din_ModB[21]>>4)&0x000f)*10; //seconds
}
//printf("ModB - "); for(j=0;j<3;j++) printf("%x ",Din_ModB[j]);printf("\n");
//ispr->nkB=ispr->sevB=0;//временно
break;
case 12://обработчик таймера (10 Гц)
N_TIMER++;//счетчик тиков
TIMER41++;
if (TIMER41>1) // 3/10 Hz
{
TIMER10++;
//printf("TIMER10=%d\n",TIMER10);
if (TIMER10<10) ispr->mo1k=0; //есть пр1.0
else ispr->mo1k=1; //нет пр1.0
//printf("1=%x 2=%x 3=%x\n",p->to_MO3.to42.Ms1,p->to_MO3.to42.Ms2,p->to_MO3.to42.Ms3);
//printf("H=%d M=%d S=%d T41=%d T31=%d \n",p->Dout41[30],p->Dout41[31],p->Dout41[32],p->from_MO3.from41.T_SS,p->Dout41[30]*3600+p->Dout41[31]*60+p->Dout41[32]);
//printf("navi=%d jump=%d \n",p->no_navi,p->jump);
//КАЧКИ
oldPSI=PSI;
oldTETA=TETA;
if (p->num_com==1) //подготовка к сеансу связи
{
KK1=p->from_MO3.from41.P_ANT_1-KK;
/*if ((KK1>pi/2)&&(p->from_MO3.from41.P_ANT_2>p->from_MO3.from41.P_ANT_1)) p->jump=-1;
else if ((KK1<-pi/2)&&(p->from_MO3.from41.P_ANT_2<p->from_MO3.from41.P_ANT_1)) p->jump=1;
if (KK1>4.71225) p->jump=-1;
if (KK1<-4.71225) p->jump=1;
KK1=KK1+2*p->jump*pi;
*/
oldKK=KK1; //сохраним установленный азимут
if (p->from_MO3.from41.beta_1>=0) p->toPR1[2]=-p->from_MO3.from41.beta_1*C1;//Угол места
else p->toPR1[2]=(360+(-p->from_MO3.from41.beta_1*C3))*C2;//
p->toPR1[0]=KK1*RADtoGRAD/2+1991;//Азимут
oldKOD=p->toPR1[0];//сохранение кода угла
setANT=1;//была настройка углов перед сеансом
}
else
if (p->num_com==2) //сеанс связи начался
{
KK1=p->from_MO3.from41.P_ANT-KK;
//KK1=KK1+2*p->jump*pi;
if (KK1>4.71225) KK1=KK1-2*PI;
if (KK1<-4.71225) KK1=KK1+2*PI;
if (p->from_MO3.from41.beta>=0) p->toPR1[2]=-p->from_MO3.from41.beta*C1;//Угол места
else p->toPR1[2]=(360+(-p->from_MO3.from41.beta*C3))*C2;//
p->toPR1[0]=KK1*RADtoGRAD/2+1991;//Азимут
//!!!
/*x=(double)KK1; //азимут от 4-1
if (x<0) {x+=2*PI;minus_x=1;} else minus_x=0;
y=(double)p->from_MO3.from41.beta;
// PSI=(double)i*rad;
// TETA=(double)i*rad; // град
r1=cos(y); r3=sin(y);
r2=r1*cos(x); r1=r1*sin(x);
C=cos(-PSI);S=sin(-PSI);
x1=C*r2+S*r3; r3=C*r3-S*r2;
S=sin(-TETA)*r1+cos(-TETA)*r3;
y1=asin(S);
prim=x1/cos(y1); if (prim>1) prim=1;
x1=acos(prim);
if (abs(x1-x)>abs(2*PI-x1-x)) x1=2*PI-x1;
if (minus_x==1) x1=x1-2*PI;
x2=x-x1; //дельта по x
y2=y-y1; //дельта по y
//printf(" x0=%3.1f y0=%3.1f PSI=%3.1f TETA=%3.1f x1=%3.1f y1=%3.1f\n",
//KK*grad,y*grad,PSI*grad,TETA*grad,x1*grad,y1*grad);
KK1=x1;
oldKOD=p->PR1[0];
oldKK=(oldKOD-1991)/325.94915;//Азимут установленный
if (KK1!=oldKK)
{
deltaKK=KK1-oldKK;
//if (deltaKK>0) deltaKK-=0.01;else deltaKK+=0.01;
if (deltaKK>5) {deltaKK-=2*pi;}//printf("-\n");}
if (deltaKK<-5) {deltaKK+=2*pi;}//printf("+\n");}
if (deltaKK>5) {deltaKK-=2*pi;}//printf("-\n");}
if (deltaKK<-5) {deltaKK+=2*pi;}//printf("+\n");}
//deltaKK=deltaKK*RADtoGRAD/2;
deltaKOD=(short)(deltaKK*RADtoGRAD/2);
//deltaKOD=(short)deltaKK;
//printf("P_ANT=%3.2f KK=%3.2f oldKK=%3.2f dKK=%3.2f dKOD=%d\n",
//p->from_MO3.from41.P_ANT*57.32,KK*57.32,oldKK*57.32,deltaKK,deltaKOD);
if (deltaKOD!=0)
{
p->toPR1[0]=oldKOD+deltaKOD;
// oldKOD=p->toPR1[0];
// oldKK=(oldKOD-1991)/325.94915;//Азимут установленный
// printf(" toPR1=%d deltaKOD=%d realKK=%f\n",p->toPR1[0],deltaKOD,oldKK);
}
}
if (y1>=0) p->toPR1[2]=-y1*C1;//Угол места
else p->toPR1[2]=(360+(-y1*C3))*C2;//
*/
}
else
//if ((p->num_com==4)||(p->num_com==5)) //4-я или 5-я команда из 4.2
if (p->num_com==4) //4-я или 5-я команда из 4.2
{ //управление пр. 1.0 из 4.2
//Углы
//printf("Az%f Um=%f\n",p->from_MO3.from42.q,p->from_MO3.from42.beta);
//memcpy(&b2,&p->Dout41[5],2); KK=b2*pi/(1<<14);
KK1=p->from_MO3.from42.q;//-KK;//Азимут
if (p->from_MO3.from42.Rejim_AS==1) //режим АС
{
//printf("lvl = %f r0 = %f ",p->U.SUM_20,p->U.RAZN_0);
p->to_MO3.to42.pr_rejim_AS=1;
if ((p->U.SUM_20>30)&&(abs(p->U.RAZN_0<1.1)))
A1=-p->U.RAZN_0*31.48;
else A1=0;
p->toPR1[0]=(p->PR1[0]&0x0fff)+A1;
//printf("Pr1=%d A1=%d newPr1+%d\n",p->PR1[0]&0x0fff,A1,p->toPR1[0]);
}
else //если не АС
{
if (KK1==0)
{
// //printf("PSI=%f TETA=%f\n",PSI,TETA);
beta1=p->from_MO3.from42.beta-PSI;
if (beta1>=0) p->toPR1[2]=-beta1*C1;//Угол места
else p->toPR1[2]=(360+(-beta1*C3))*C2;//
alfa1=p->from_MO3.from42.alfa-TETA;
if (alfa1>=0) p->toPR1[1]=alfa1*C4;//KPEH
else p->toPR1[1]=0xFFF+(alfa1*RADtoGRAD)*12.27;
p->toPR1[0]=KK1*RADtoGRAD/2+1991;//Азимут
//printf("alfa1=%f beta1=%f \n",alfa1,beta1);
}
else
{
if (p->from_MO3.from42.beta>=0) p->toPR1[2]=-p->from_MO3.from42.beta*C1;//Угол места
else p->toPR1[2]=(360+(-p->from_MO3.from42.beta*C3))*C2;//
if (p->from_MO3.from42.alfa>=0) p->toPR1[1]=p->from_MO3.from42.alfa*C4;//KPEH
else p->toPR1[1]=0xFFF+(p->from_MO3.from42.alfa*RADtoGRAD)*12.27;
p->toPR1[0]=KK1*RADtoGRAD/2+1991;//Азимут
//printf(" KK1=%f \n", KK1*57.32);
}
}
p->to_MO3.to42.pr_rejim_AS=p->from_MO3.from42.Rejim_AS;
}
//printf("n_c=%d \n",p->num_com);
if (p->num_com==301) //
{ //
if (p->from_MO3.fromAK.beta>=0) p->toPR1[2]=-p->from_MO3.fromAK.beta*C1;//╙уюы ьхёЄр
else p->toPR1[2]=(360+(-p->from_MO3.fromAK.beta*C3))*C2;//
//p->toPR1[0]=p->from_MO3.fromAK.Peleng*RADtoGRAD/2+1991;//└чшьєЄ
KK1=p->from_MO3.fromAK.Peleng-KK;
//if (KK1>pi) KK1=-KK1;
if (KK1>4.71225) KK1=KK1-2*PI;
if (KK1<-4.71225) KK1=KK1+2*PI;
printf("Peleng=%2.2f KK=%1.2f KK1=%1.2f\n", p->from_MO3.fromAK.Peleng, KK, KK1);
p->toPR1[0]=KK1*RADtoGRAD/2+1991;//└чшьєЄ
}
//-------------------------------------------------------------
TIMER41=0;
if (SIMF[1]<SIMF[0]) ispr->nkA=0; //есть симф A
else ispr->nkA=1; //нет симф
SIMF[1]=SIMF[0];
if (SIMF[3]<SIMF[2]) ispr->cvsB=0; //есть
else ispr->cvsB=1; //нет модБ,СЕВ,НК
SIMF[3]=SIMF[2];
if (SIMF[5]<SIMF[4]) ispr->sevA=0; //есть сев A
else ispr->sevA=1; //нет
SIMF[5]=SIMF[4];
if ((ispr->nkA==1)&&(ispr->nkB==1)) p->Dout41[24]=0;
else p->Dout41[24]=1;
//printf("ispr=%x \n",p->to_MO3.to42.Mispr);
//printf("n_k=%d \n",p->num_com);
//printf("jmp=%d \n",p->jump);
//printf("ISPR=%x sevB=%x\n",p->to_MO3.to42.Mispr,p->Dout41[24]);
} //конец 3-х Герц
//-------------------------- 10 Hz -------------------------
p->toPR1[3]=p->M[0]; p->toPR1[4]=p->M[1];
p->toPR1[5]=p->M[2]; p->toPR1[6]=p->M[3];
for(i=0;i<3;i++) p->toPR1[i]=p->toPR1[i]&0x0fff;
//-------------------------- 1 Pr -------------------------
for(i=0;i<8;i++) toPR1[i]=p->toPR1[i];
//for(i=3;i<8;i++) printf(" %x",toPR1[i]);printf(" to \n");
//printf("toPR1=%x from42=%f\n",toPR1[2],p->from_MO3.from41.beta);
if((KK_frame(dev,Ynp_np1,2,acmd))==-1){owu6ka|=16;break;}
if (ispr->nkA==1) Write_ModB(); //если нет навигации запрос в Модуль Б
else if (N_TIMER&1) Write_ModB();//иначе частота 5 Гц
break;
}// ----- end switch
} // ----- end CEPBEP for(;;)
}//----- end main()
/// Start a task in a slot directory.
/// This includes setting up soft links,
/// passing preferences, and starting the process.
///
/// Current dir is top-level Synecdoche dir.
///
/// \post
/// - If any error occurs
/// - #task_state is #PROCESS_COULDNT_START
/// - CLIENT_STATE::report_result_error() is called
/// - else
/// - #task_state is #PROCESS_EXECUTING
///
/// \return 0 on success, nonzero otherwise.
int ACTIVE_TASK::start() {
char exec_name[256], exec_path[256];
unsigned int i;
FILE_REF fref;
int retval;
// F*** goto, need to define some variables here instead of where they are used!
std::ostringstream err_stream;
#ifdef _WIN32
std::string cmd_line;
std::string slotdirpath;
#else
// Needs to be defined here because those gotos would skip the
// initialization of 'cmdline' and 'argv' if it would be defined later.
std::ostringstream cmdline;
std::list<std::string> argv;
#endif
if ((!full_init_done) && (log_flags.task)) {
msg_printf(wup->project, MSG_INFO,
"Starting %s", result->name
);
}
if (log_flags.cpu_sched) {
msg_printf(wup->project, MSG_INFO,
"[cpu_sched] Starting %s%s", result->name, (full_init_done) ? " (resume)" : " (initial)"
);
}
// Always check if all required files are present. If not, trigger
// re-downloads and don't start the science application.
FILE_INFO_PSET missing_file_infos;
retval = gstate.input_files_available(result, true, &missing_file_infos);
if (retval) {
for (FILE_INFO_PSET::iterator it = missing_file_infos.begin(); it != missing_file_infos.end(); ++it) {
FILE_INFO* fip = *it;
if (fip) {
err_stream << "Input file " << fip->name
<< " missing or invalid: " << retval;
} else {
err_stream << "Input file missing or invalid";
// We can't trigger a new download if we don't have
// any file information. Just fail here as before.
goto error;
}
fip->status = FILE_NOT_PRESENT;
}
}
if (!missing_file_infos.empty()) {
// Some files are missing and are set for re-transfer.
// Update status and return without error.
result->set_state(RESULT_FILES_DOWNLOADING, "start");
set_task_state(PROCESS_UNINITIALIZED, "start");
next_scheduler_state = PROCESS_UNINITIALIZED;
return 0;
}
if (!full_init_done) {
checkpoint_cpu_time = 0;
checkpoint_wall_time = gstate.now;
}
current_cpu_time = checkpoint_cpu_time;
episode_start_cpu_time = checkpoint_cpu_time;
debt_interval_start_cpu_time = checkpoint_cpu_time;
graphics_request_queue.init(result->name); // reset message queues
process_control_queue.init(result->name);
if (!app_client_shm.shm) {
retval = get_shmem_seg_name();
if (retval) {
err_stream << "Can't get shared memory segment name: " << boincerror(retval);
goto error;
}
}
// this must go AFTER creating shmem name,
// since the shmem name is part of the file
//
retval = write_app_init_file();
if (retval) {
err_stream << "Can't write init file: " << retval;
goto error;
}
// set up applications files
//
strcpy(exec_name, "");
for (i=0; i<app_version->app_files.size(); i++) {
fref = app_version->app_files[i];
FILE_INFO* fip = fref.file_info;
std::string file_path = get_pathname(fip);
if (fref.main_program) {
if (is_image_file(fip->name)) {
err_stream << "Main program " << fip->name << " is an image file";
retval = ERR_NO_SIGNATURE;
goto error;
}
if (!fip->executable && !wup->project->anonymous_platform) {
err_stream << "Main program " << fip->name << " is not executable";
retval = ERR_NO_SIGNATURE;
goto error;
}
safe_strcpy(exec_name, fip->name.c_str());
safe_strcpy(exec_path, file_path.c_str());
}
// anonymous platform may use different files than
// when the result was started, so link files even if not first time
if ((!full_init_done) || (wup->project->anonymous_platform)) {
retval = setup_file(result->project, fip, fref, file_path, slot_dir, true);
if (retval) {
err_stream << "Can't link input file";
goto error;
}
}
}
if (!strlen(exec_name)) {
err_stream << "No main program specified";
retval = ERR_NOT_FOUND;
goto error;
}
// set up input, output files
if (!full_init_done) {
for (i=0; i<wup->input_files.size(); i++) {
fref = wup->input_files[i];
const FILE_INFO* fip = fref.file_info;
std::string file_path = get_pathname(fref.file_info);
retval = setup_file(result->project, fip, fref, file_path, slot_dir, true);
if (retval) {
err_stream << "Can't link input file";
goto error;
}
}
for (i=0; i<result->output_files.size(); i++) {
fref = result->output_files[i];
if (fref.copy_file) continue;
const FILE_INFO* fip = fref.file_info;
std::string file_path = get_pathname(fref.file_info);
retval = setup_file(result->project, fip, fref, file_path, slot_dir, false);
if (retval) {
err_stream << "Can't link output file";
goto error;
}
}
full_init_done = true;
}
link_user_files();
if (gstate.exit_before_start) {
exit(0);
}
#ifdef _WIN32
PROCESS_INFORMATION process_info;
STARTUPINFO startup_info;
LPVOID environment_block = NULL;
char error_msg[1024];
char error_msg2[1024];
memset(&process_info, 0, sizeof(process_info));
memset(&startup_info, 0, sizeof(startup_info));
startup_info.cb = sizeof(startup_info);
// suppress 2-sec rotating hourglass cursor on startup
//
startup_info.dwFlags = STARTF_FORCEOFFFEEDBACK;
app_client_shm.reset_msgs();
if (config.run_apps_manually) {
// fill in core client's PID so we won't think app has exited
pid = GetCurrentProcessId();
pid_handle = GetCurrentProcess();
set_task_state(PROCESS_EXECUTING, "start");
return 0;
}
// NOTE: in Windows, stderr is redirected in boinc_init_diagnostics();
cmd_line = exec_path + std::string(" ") + wup->command_line;
if (strlen(app_version->cmdline)) {
cmd_line += std::string(" ") + app_version->cmdline;
}
slotdirpath = relative_to_absolute(slot_dir);
bool success = false;
for (i=0; i<5; i++) {
if (sandbox_account_service_token != NULL) {
// Find CreateEnvironmentBlock/DestroyEnvironmentBlock pointers
tCEB pCEB = NULL;
tDEB pDEB = NULL;
HMODULE hUserEnvLib = NULL;
hUserEnvLib = LoadLibrary("userenv.dll");
if (hUserEnvLib) {
pCEB = (tCEB) GetProcAddress(hUserEnvLib, "CreateEnvironmentBlock");
pDEB = (tDEB) GetProcAddress(hUserEnvLib, "DestroyEnvironmentBlock");
}
if (!pCEB(&environment_block, sandbox_account_service_token, FALSE)) {
if (log_flags.task) {
windows_error_string(error_msg, sizeof(error_msg));
msg_printf(wup->project, MSG_INFO,
"Process environment block creation failed: %s", error_msg
);
}
}
if (CreateProcessAsUser(
sandbox_account_service_token,
exec_path,
(LPSTR)cmd_line.c_str(),
NULL,
NULL,
FALSE,
CREATE_NEW_PROCESS_GROUP|CREATE_NO_WINDOW|IDLE_PRIORITY_CLASS|CREATE_UNICODE_ENVIRONMENT,
environment_block,
slotdirpath.c_str(),
&startup_info,
&process_info
)) {
success = true;
break;
} else {
windows_error_string(error_msg, sizeof(error_msg));
msg_printf(wup->project, MSG_INTERNAL_ERROR,
"Process creation failed: %s", error_msg
);
}
if (!pDEB(environment_block)) {
if (log_flags.task) {
windows_error_string(error_msg, sizeof(error_msg2));
msg_printf(wup->project, MSG_INFO,
"Process environment block cleanup failed: %s",
error_msg2
);
}
}
if (hUserEnvLib) {
pCEB = NULL;
pDEB = NULL;
FreeLibrary(hUserEnvLib);
}
} else {
if (CreateProcess(
exec_path,
(LPSTR)cmd_line.c_str(),
NULL,
NULL,
FALSE,
CREATE_NEW_PROCESS_GROUP|CREATE_NO_WINDOW|IDLE_PRIORITY_CLASS,
NULL,
slotdirpath.c_str(),
&startup_info,
&process_info
)) {
success = true;
break;
} else {
windows_error_string(error_msg, sizeof(error_msg));
msg_printf(wup->project, MSG_INTERNAL_ERROR,
"Process creation failed: %s", error_msg
);
}
}
boinc_sleep(drand());
}
if (!success) {
err_stream << "CreateProcess() failed - " << error_msg;
retval = ERR_EXEC;
goto error;
}
pid = process_info.dwProcessId;
pid_handle = process_info.hProcess;
CloseHandle(process_info.hThread); // thread handle is not used
#else
// Unix/Linux/Mac case
// Set up core/app shared memory seg if needed
//
if (!app_client_shm.shm) {
if (app_version->api_major_version() >= 6) {
// Use mmap() shared memory
std::string buf = slot_dir + std::string("/") + std::string(MMAPPED_FILE_NAME);
if (g_use_sandbox) {
if (!boinc_file_exists(buf.c_str())) {
int fd = open(buf.c_str(), O_RDWR | O_CREAT, 0660);
if (fd >= 0) {
close (fd);
#ifdef SANDBOX
set_to_project_group(buf.c_str());
#endif
}
}
}
retval = create_shmem_mmap(
buf.c_str(), sizeof(SHARED_MEM), (void**)&app_client_shm.shm
);
} else {
// Use shmget() shared memory
retval = create_shmem(
shmem_seg_name, sizeof(SHARED_MEM), gstate.boinc_project_gid,
(void**)&app_client_shm.shm
);
if (retval) {
needs_shmem = true;
destroy_shmem(shmem_seg_name);
return retval;
}
}
needs_shmem = false;
}
app_client_shm.reset_msgs();
#if (defined (__APPLE__) && (defined(__i386__) || defined(__x86_64__)))
// PowerPC apps emulated on i386 Macs crash if running graphics
powerpc_emulated_on_i386 = ! is_native_i386_app(exec_path);
#endif
if (config.run_apps_manually) {
pid = getpid(); // use the client's PID
set_task_state(PROCESS_EXECUTING, "start");
return 0;
}
// Prepare command line for the science app:
cmdline << wup->command_line;
if (strlen(app_version->cmdline)) {
cmdline << ' ' << app_version->cmdline;
}
argv = parse_command_line(cmdline.str().c_str());
if (log_flags.task_debug) {
debug_print_argv(argv);
}
pid = fork();
if (pid == -1) {
err_stream << "fork() failed: " << strerror(errno);
retval = ERR_FORK;
goto error;
}
if (pid == 0) {
// from here on we're running in a new process.
// If an error happens,
// exit nonzero so that the core client knows there was a problem.
// don't pass stdout to the app
//
int fd = open("/dev/null", O_RDWR);
dup2(fd, STDOUT_FILENO);
close(fd);
// add to library path:
// - the project dir (../../projects/X)
// - the slot dir (.)
// - the Synecdoche dir (../..)
// We use relative paths in case higher-level dirs
// are not readable to the account under which app runs
//
std::string pdir = get_project_dir(wup->project);
std::ostringstream libpath;
const char* env_lib_path = getenv("LD_LIBRARY_PATH");
if (env_lib_path) {
libpath << env_lib_path << ':';
}
libpath << "../../" << pdir << ":.:../..";
setenv("LD_LIBRARY_PATH", libpath.str().c_str(), 1);
retval = chdir(slot_dir.c_str());
if (retval) {
perror("chdir");
fflush(NULL);
_exit(errno);
}
#if 0
// set stack size limit to the max.
// Some BOINC apps have reported problems with exceeding
// small stack limits (e.g. 8 MB)
// and it seems like the best thing to raise it as high as possible
//
struct rlimit rlim;
#define MIN_STACK_LIMIT 64000000
getrlimit(RLIMIT_STACK, &rlim);
if (rlim.rlim_cur != RLIM_INFINITY && rlim.rlim_cur <= MIN_STACK_LIMIT) {
if (rlim.rlim_max == RLIM_INFINITY || rlim.rlim_max > MIN_STACK_LIMIT) {
rlim.rlim_cur = MIN_STACK_LIMIT;
} else {
rlim.rlim_cur = rlim.rlim_max;
}
setrlimit(RLIMIT_STACK, &rlim);
}
#endif
// hook up stderr to a specially-named file
//
freopen(STDERR_FILE, "a", stderr);
// set idle process priority
#ifdef HAVE_SETPRIORITY
if (setpriority(PRIO_PROCESS, 0, PROCESS_IDLE_PRIORITY)) {
perror("setpriority");
}
#endif
std::string path = std::string("../../") + std::string(exec_path);
if (g_use_sandbox) {
std::ostringstream switcher_path;
switcher_path << "../../" << SWITCHER_DIR << '/' << SWITCHER_FILE_NAME;
argv.push_front(exec_name);
argv.push_front(path);
argv.push_front(SWITCHER_FILE_NAME);
// Files written by projects have user boinc_project and group boinc_project,
// so they must be world-readable so Synecdoche can read them.
umask(2);
retval = do_execv(switcher_path.str(), argv);
} else {
argv.push_front(exec_name);
retval = do_execv(path, argv);
}
msg_printf(wup->project, MSG_INTERNAL_ERROR,
"Process creation (%s) failed: %s, errno=%d\n", path.c_str(), boincerror(retval), errno
);
perror("execv");
fflush(NULL);
_exit(errno);
}
if (log_flags.task_debug) {
msg_printf(wup->project, MSG_INFO,
"[task_debug] ACTIVE_TASK::start(): forked process: pid %d\n", pid
);
}
#endif
set_task_state(PROCESS_EXECUTING, "start");
return 0;
// go here on error; "error_msg" contains error message, "retval" is nonzero
//
error:
// if something failed, it's possible that the executable was munged.
// Verify it to trigger another download.
//
gstate.input_files_available(result, true);
gstate.report_result_error(*result, "%s", err_stream.str().c_str());
set_task_state(PROCESS_COULDNT_START, "start");
return retval;
}
