/*
* Catch an unexpected signal.
*/
static void
disaster(int sig)
{
emergency("fatal signal: %s",
(unsigned)sig < NSIG ? sys_siglist[sig] : "unknown signal");
sleep(STALL_TIMEOUT);
_exit(sig); /* reboot */
}
void ch_att::play()
{
long r;
double rate=(double)hp/(double)maxhp;
char flag=!MOVED;
srand(time(NULL));
getInfo();
assignPoints();
//Try to attack
if (rate<0.4)
{
if (emergency())
flag=MOVED;
else goto RUN;
}
else// if (rate<0.9 || lev<15)
{
if (normalAtt())
flag=MOVED;
}
/*else
{
if (healthyAtt())
flag=MOVED;
}*/
if (flag==MOVED)
goto ASSIGN_POINTS;
r=rand()%10+1;
if (r<=7 && multiHit(2))
flag=MOVED;
else if (r<=3 && multiHit(3))
flag=MOVED;
else if (r<=1 && multiHit(4))
flag=MOVED;
//Run
if (flag!=MOVED)
{
RUN:
if (rate<0.4)
run(0.7);
else
run(0.3);
}
ASSIGN_POINTS:
getInfo();
assignPoints();
}
int
main(int argc, char **argv)
{
void *lib = 0;
void (*func) (int argc, char **argv);
time_t mod = 0;
mod = lastmod(THELIB);
if (mod > 0) {
_log("Last modified: %s", ctime(&mod));
}
_log("Opening " THELIB);
/* initial dl opening */
lib = dlopen(THELIB, RTLD_LAZY);
if (lib == NULL) {
char *err;
err=dlerror();
if(err) {
_log("Error opening %s, reason unknown.", THELIB);
} else {
_log("Error opening %s: %s", THELIB, err);
}
}
for (;;) {
/* If it's been modified since we last recorded mod date... */
if (lastmod(THELIB) > mod) {
_log("Last modified: %s", ctime(&mod));
/* record a new mod date */
mod = lastmod(THELIB);
/* close the library */
if(lib)
dlclose(lib);
/* open a new one. we don't care if it succeeds after start */
lib = dlopen(THELIB, RTLD_LAZY);
}
func = getfunc(lib);
if (func != NULL) {
func(argc, argv);
} else {
/* Emergency function, just read and report an error */
emergency();
}
}
/* close it, we're leaving now, not that any of this will ever happen */
/* NOTREACHED */
if(lib)
dlclose(lib);
return(0);
}
// --------------------------------------------------------------------------
// ARDrone::landing()
// Description : Land the AR.Drone.
// Return value : NONE
// --------------------------------------------------------------------------
void ARDrone::landing(void)
{
// Get the state
if (mutexCommand) pthread_mutex_lock(mutexNavdata);
int state = navdata.ardrone_state;
if (mutexCommand) pthread_mutex_unlock(mutexNavdata);
// If AR.Drone is in emergency, reset it
if (state & ARDRONE_EMERGENCY_MASK) emergency();
else {
// Send langding
if (mutexCommand) pthread_mutex_lock(mutexCommand);
sockCommand.sendf("AT*REF=%d,290717696\r", ++seq);
if (mutexCommand) pthread_mutex_unlock(mutexCommand);
}
}
/*
* Get the security level of the kernel.
*/
static int
getsecuritylevel(void)
{
#ifdef KERN_SECURELVL
int name[2], curlevel;
size_t len;
name[0] = CTL_KERN;
name[1] = KERN_SECURELVL;
len = sizeof curlevel;
if (sysctl(name, 2, &curlevel, &len, NULL, 0) == -1) {
emergency("cannot get kernel security level: %s",
strerror(errno));
return (-1);
}
return (curlevel);
#else
return (-1);
#endif
}
// This function is initiated in a separate thread, since nothing after
// OSStart()
void monitorThread(void *pdata) {
while (1) {
printf("Beginning of monitor thread.\n");
curISRState = ISRState;
switch (ISRState) {
case MANUAL_MODE:
*(red_LED_ptr) = LED_MANUAL;
ISRState = NORMAL_MODE; // Clear flag
manual();
break;
case EMERGENCY_MODE:
*(red_LED_ptr) = LED_EMERGENCY;
ISRState = NORMAL_MODE; // Clear flag
emergency();
break;
case BROKEN_MODE:
*(red_LED_ptr) = LED_BROKEN;
ISRState = NORMAL_MODE; // Clear flag
broken();
break;
case TURN_MODE:
*(red_LED_ptr) = LED_TURN;
ISRState = NORMAL_MODE; // Clear flag
turnLane();
break;
case PEDESTRIAN_MODE:
*(red_LED_ptr) = LED_PEDESTRIAN;
ISRState = NORMAL_MODE; // Clear flag
pedestrian();
break;
default:
*(red_LED_ptr) = LED_NORMAL;
ISRState = NORMAL_MODE; // Clear flag
normal();
break;
}
}
}
SUMOReal
MSCFModel_Wiedemann::_v(const MSVehicle* veh, SUMOReal predSpeed, SUMOReal gap) const {
const VehicleVariables* vars = (VehicleVariables*)veh->getCarFollowVariables();
const SUMOReal dx = gap + myType->getLength(); // wiedemann uses brutto gap
const SUMOReal v = veh->getSpeed();
const SUMOReal vpref = veh->getMaxSpeed();
const SUMOReal dv = v - predSpeed;
const SUMOReal bx = myAX + (1 + 7 * mySecurity) * sqrt(v); // Harding propose a factor of *.8 here
const SUMOReal ex = 2 - myEstimation; // + RandHelper::randNorm(0.5, 0.15)
const SUMOReal sdx = myAX + ex * (bx - myAX); /// the distance at which we drift out of following
const SUMOReal sdv_root = (dx - myAX) / myCX;
const SUMOReal sdv = sdv_root * sdv_root;
const SUMOReal cldv = sdv * ex * ex;
const SUMOReal opdv = cldv * (-1 - 2 * RandHelper::randNorm(0.5, 0.15));
// select the regime, get new acceleration, compute new speed based
SUMOReal accel;
if (dx <= bx) {
accel = emergency(dv, dx);
} else if (dx < sdx) {
if (dv > cldv) {
accel = approaching(dv, dx, bx);
} else if (dv > opdv) {
accel = following(vars->accelSign);
} else {
accel = fullspeed(v, vpref, dx, bx);
}
} else {
if (dv > sdv && dx < D_MAX) { //@note other versions have an disjunction instead of conjunction
accel = approaching(dv, dx, bx);
} else {
accel = fullspeed(v, vpref, dx, bx);
}
}
// since we have hard constrainst on accel we may as well use them here
accel = MAX2(MIN2(accel, myAccel), -myDecel);
const SUMOReal vNew = MAX2(SUMOReal(0), v + ACCEL2SPEED(accel)); // don't allow negative speeds
return vNew;
}
/*
* Set the security level of the kernel.
*/
static void
setsecuritylevel(int newlevel)
{
#ifdef KERN_SECURELVL
int name[2], curlevel;
curlevel = getsecuritylevel();
if (newlevel == curlevel)
return;
name[0] = CTL_KERN;
name[1] = KERN_SECURELVL;
if (sysctl(name, 2, NULL, NULL, &newlevel, sizeof newlevel) == -1) {
emergency(
"cannot change kernel security level from %d to %d: %s",
curlevel, newlevel, strerror(errno));
return;
}
#ifdef SECURE
warning("kernel security level changed from %d to %d",
curlevel, newlevel);
#endif
#endif
}
/*
* Bring the system up single user.
*/
static state_func_t
single_user(void)
{
pid_t pid, wpid;
int status;
sigset_t mask;
const char *shell;
char *argv[2];
#ifdef SECURE
struct ttyent *typ;
struct passwd *pp;
static const char banner[] =
"Enter root password, or ^D to go multi-user\n";
char *clear, *password;
#endif
#ifdef DEBUGSHELL
char altshell[128];
#endif
if (Reboot) {
/* Instead of going single user, let's reboot the machine */
sync();
reboot(howto);
_exit(0);
}
shell = get_shell();
if ((pid = fork()) == 0) {
/*
* Start the single user session.
*/
open_console();
#ifdef SECURE
/*
* Check the root password.
* We don't care if the console is 'on' by default;
* it's the only tty that can be 'off' and 'secure'.
*/
typ = getttynam("console");
pp = getpwnam("root");
if (typ && (typ->ty_status & TTY_SECURE) == 0 &&
pp && *pp->pw_passwd) {
write_stderr(banner);
for (;;) {
clear = getpass("Password:"******"single-user login failed\n");
}
}
endttyent();
endpwent();
#endif /* SECURE */
#ifdef DEBUGSHELL
{
char *cp = altshell;
int num;
#define SHREQUEST "Enter full pathname of shell or RETURN for "
write_stderr(SHREQUEST);
write_stderr(shell);
write_stderr(": ");
while ((num = read(STDIN_FILENO, cp, 1)) != -1 &&
num != 0 && *cp != '\n' && cp < &altshell[127])
cp++;
*cp = '\0';
if (altshell[0] != '\0')
shell = altshell;
}
#endif /* DEBUGSHELL */
/*
* Unblock signals.
* We catch all the interesting ones,
* and those are reset to SIG_DFL on exec.
*/
sigemptyset(&mask);
sigprocmask(SIG_SETMASK, &mask, (sigset_t *) 0);
/*
* Fire off a shell.
* If the default one doesn't work, try the Bourne shell.
*/
char name[] = "-sh";
argv[0] = name;
argv[1] = 0;
execv(shell, argv);
emergency("can't exec %s for single user: %m", shell);
execv(_PATH_BSHELL, argv);
emergency("can't exec %s for single user: %m", _PATH_BSHELL);
sleep(STALL_TIMEOUT);
_exit(1);
}
if (pid == -1) {
/*
* We are seriously hosed. Do our best.
*/
emergency("can't fork single-user shell, trying again");
while (waitpid(-1, (int *) 0, WNOHANG) > 0)
continue;
return (state_func_t) single_user;
}
requested_transition = 0;
do {
if ((wpid = waitpid(-1, &status, WUNTRACED)) != -1)
collect_child(wpid);
if (wpid == -1) {
if (errno == EINTR)
continue;
warning("wait for single-user shell failed: %m; restarting");
return (state_func_t) single_user;
}
if (wpid == pid && WIFSTOPPED(status)) {
warning("init: shell stopped, restarting\n");
kill(pid, SIGCONT);
wpid = -1;
}
} while (wpid != pid && !requested_transition);
if (requested_transition)
return (state_func_t) requested_transition;
if (!WIFEXITED(status)) {
if (WTERMSIG(status) == SIGKILL) {
/*
* reboot(8) killed shell?
*/
warning("single user shell terminated.");
sleep(STALL_TIMEOUT);
_exit(0);
} else {
warning("single user shell terminated, restarting");
return (state_func_t) single_user;
}
}
runcom_mode = FASTBOOT;
return (state_func_t) runcom;
}
int main (int argc, char *argv[])
{
COpts options;
MBK::CFig *fig;
string name_lofig, name_placed, name_routed;
int layers, global;
set<string>* netSet = NULL;
try {
options.add ("v", "verbose");
options.add ("V", "very-verbose");
options.add ("h", "help");
options.add ("c", "coredump");
options.add ("H", "half-pitch");
options.add ("R", "rotate");
options.add ("2", "layers-2");
options.add ("3", "layers-3");
options.add ("4", "layers-4");
options.add ("5", "layers-5");
options.add ("6", "layers-6");
options.add ("G", "global");
options.add ("L", "local");
options.add ("p", "place", true);
options.add ("N", "netset", true);
options.getopts (argc, argv);
if (options["c"]->parsed) interrupt.coredump = true;
cmess0.setVL (0);
if (options["v"]->parsed) cmess0.setVL (1);
if (options["V"]->parsed) cmess0.setVL (2);
MBK::alliancebanner ( "NeRo"
, VERSION
, "Negotiating Router"
, "2002"
, ALLIANCE_VERSION
);
if ((cmess0.getVL () > 0) || options["h"]->parsed ) {
serial ();
cmess1 << "\n";
}
if (options["h"]->parsed) {
help ();
exit (0);
}
if (options.tVals.size() < 2) {
cerr << herr ("nero:\n");
cerr << " Missing mandatory argument <netlist> or <routed> (or both)\n";
cerr << "\n";
help ();
throw except_done ();
}
name_lofig = options.tVals[0];
name_routed = options.tVals[1];
if (options["p"]->parsed) {
name_placed = options["p"]->value;
} else {
name_placed = name_lofig;
}
if (options["N"]->parsed) {
string fileNetSet = options["N"]->value;
cout << "File: " << fileNetSet << endl;
FILE* file = fopen ( fileNetSet.c_str(), "r" );
if ( file ) {
cout << "File Sucessfully opened." << endl;
netSet = new set<string>();
char buffer[2048];
while ( !feof(file) ) {
fgets ( buffer, 2048, file );
size_t length = strlen(buffer);
if ( buffer[length-1] == '\n' )
buffer[length-1] = '\0';
netSet->insert ( buffer );
}
fclose ( file );
}
}
layers = 3;
if (options["2"]->parsed) layers = 3;
if (options["3"]->parsed) layers = 4;
if (options["4"]->parsed) layers = 5;
if (options["5"]->parsed) layers = 6;
if (options["6"]->parsed) layers = 7;
global = D::ROUTING_CHOOSE;
if (options["L"]->parsed) { global = D::ROUTING_LOCAL; }
if (options["G"]->parsed) {
global = D::ROUTING_GLOBAL;
if (layers < 5) layers = 5;
}
cmess1 << MBK::env;
fig = new MBK::CFig (name_lofig, name_placed);
crbox = new CRBox ();
//crbox = new CRBox (global, true);
//cdebug.on ();
crbox->mbkload ( fig
, layers
, 4
, global
, options["H"]->parsed
, options["R"]->parsed
, netSet );
//cdebug.off ();
crbox->route ();
crbox->mbksave (name_routed);
if ( netSet ) delete netSet;
}
catch (e_zupper &e) {
cerr << "\n\n"
<< " First \"double pitch\" layer must be at least equal to ALU5 "
<< "(here : " << MBK::env.z2alu (e.zupper) << ").\n\n"
<< endl;
exit (1);
}
catch (bad_grab &e) {
cerr << herr ("\n");
cerr << " Net \"" << e.netName << "\" attempt to grab node ("
<< e.x << "," << e.y << "," << e.z << "),\n"
<< " which belongs to net \"" << e.ownerName << "\".\n" << endl;
cerr << " (nodepri := " << e.nodepri
<< " , pri := " << e.pri << ", terminal := " << e.terminal
<< ", ident := " << e.ident << ")\n" << endl;
emergency ();
exit (1);
}
//catch (coord_outbound &e) {
// cerr << herr ("\n");
// cerr << " Atempt to use outbound coordinates := ("
// << e.x << "," << e.y << "," << e.z << ") real := ("
// << MBK::UNSCALE (crbox->fig->XAB1() + e.x * D::X_GRID) << ","
// << MBK::UNSCALE (crbox->fig->YAB1() + e.y * D::Y_GRID) << ","
// << MBK::layer2a (MBK::env.z2alu (e.z)) << ")\n"
// << endl;
//
// emergency ();
// exit (1);
//}
// Case of exceptions that have already been processed.
catch (dup_term &e) {
cerr << " Duplicated terminal node for " << e.name
<< " at " << e.node << endl;
exit (1);
}
catch (reach_max_pri &e) {
cerr << "\n\n"
<< " Negotiation algorithm failed, NeRo was unable to route this"
<< " design.\n Maximum priority reached for net "
<< "\"" << e.net->name << "\".\n\n";
emergency ();
exit (1);
}
catch (except_done &e) {
cerr << e.what () << endl;
emergency ();
exit (1);
}
// Case of unexpected (undefined) exceptions.
catch (...) {
cerr << herr ("\n");
cerr << " An unexpected exception have occurs.\n\n";
cerr << " This is a bug. Please e-mail to \"[email protected]\".\n\n";
exit (1);
}
// This is the End.
cmess1 << "\n\n";
exit (0);
}
/*
* Bring the system up single user.
*/
state_func_t
single_user(void)
{
pid_t pid, wpid;
int status;
sigset_t mask;
const char *shell;
char *argv[2];
#ifdef SECURE
struct ttyent *typ;
struct passwd *pp;
static const char banner[] =
"Enter root password, or ^D to go multi-user\n";
char *clear, *password;
#endif
#ifdef DEBUGSHELL
char altshell[128];
#endif
if (Reboot) {
/* Instead of going single user, let's reboot the machine */
sync();
alarm(2);
pause();
reboot(howto);
_exit(0);
}
shell = get_shell();
if ((pid = fork()) == 0) {
/*
* Start the single user session.
*/
setctty(_PATH_CONSOLE);
#ifdef TESTBED
#define TERMCMD "/bootcmd"
if (access(TERMCMD, F_OK) == 0) {
FILE *fp;
char cmd[256], *bp;
char *myargv[3];
/*
* Very simple; the file contains the path of a
* command to run. No arguments supported, sorry.
*/
if ((fp = fopen(TERMCMD, "r")) == NULL) {
/* Lets avoid loops! */
unlink(TERMCMD);
goto skip;
}
if (fgets(cmd, sizeof(cmd), fp) == NULL) {
fclose(fp);
/* Lets avoid loops! */
unlink(TERMCMD);
goto skip;
}
fclose(fp);
/* Lets avoid loops! */
unlink(TERMCMD);
if ((bp = rindex(cmd, '\n')))
*bp = '\0';
if (access(cmd, X_OK) != 0) {
emergency("%s does not exist!", cmd);
goto skip;
}
/* See comment below */
sigemptyset(&mask);
sigprocmask(SIG_SETMASK, &mask, (sigset_t *) 0);
char name[] = "-sh";
myargv[0] = name;
myargv[1] = cmd;
myargv[2] = 0;
execv(_PATH_BSHELL, myargv);
stall("can't exec %s for %s: %m", _PATH_BSHELL, cmd);
}
/*
* If something goes wrong, we want to sit in single user mode
* so that we might catch the error. Not sure, might have to
* do something fancier, like perhaps add a state transition
* for this
*/
skip:
#endif
#ifdef SECURE
/*
* Check the root password.
* We don't care if the console is 'on' by default;
* it's the only tty that can be 'off' and 'secure'.
*/
typ = getttynam("console");
pp = getpwnam("root");
if (typ && (typ->ty_status & TTY_SECURE) == 0 &&
pp && *pp->pw_passwd) {
write_stderr(banner);
for (;;) {
clear = getpass("Password:"******"single-user login failed\n");
}
}
endttyent();
endpwent();
#endif /* SECURE */
#ifdef DEBUGSHELL
{
char *cp = altshell;
int num;
#define SHREQUEST "Enter full pathname of shell or RETURN for "
write_stderr(SHREQUEST);
write_stderr(shell);
write_stderr(": ");
while ((num = read(STDIN_FILENO, cp, 1)) != -1 &&
num != 0 && *cp != '\n' && cp < &altshell[127])
cp++;
*cp = '\0';
if (altshell[0] != '\0')
shell = altshell;
}
#endif /* DEBUGSHELL */
/*
* Unblock signals.
* We catch all the interesting ones,
* and those are reset to SIG_DFL on exec.
*/
sigemptyset(&mask);
sigprocmask(SIG_SETMASK, &mask, (sigset_t *) 0);
/*
* Fire off a shell.
* If the default one doesn't work, try the Bourne shell.
*/
char name[] = "-sh";
argv[0] = name;
argv[1] = 0;
execv(shell, argv);
emergency("can't exec %s for single user: %m", shell);
execv(_PATH_BSHELL, argv);
emergency("can't exec %s for single user: %m", _PATH_BSHELL);
sleep(STALL_TIMEOUT);
_exit(1);
}
if (pid == -1) {
/*
* We are seriously hosed. Do our best.
*/
emergency("can't fork single-user shell, trying again");
while (waitpid(-1, (int *) 0, WNOHANG) > 0)
continue;
return (state_func_t) single_user;
}
requested_transition = 0;
do {
if ((wpid = waitpid(-1, &status, WUNTRACED)) != -1)
collect_child(wpid);
if (wpid == -1) {
if (errno == EINTR)
continue;
warning("wait for single-user shell failed: %m; restarting");
return (state_func_t) single_user;
}
if (wpid == pid && WIFSTOPPED(status)) {
warning("init: shell stopped, restarting\n");
kill(pid, SIGCONT);
wpid = -1;
}
} while (wpid != pid && !requested_transition);
if (requested_transition)
return (state_func_t) requested_transition;
if (!WIFEXITED(status)) {
if (WTERMSIG(status) == SIGKILL) {
/*
* reboot(8) killed shell?
*/
warning("single user shell terminated.");
sleep(STALL_TIMEOUT);
_exit(0);
} else {
warning("single user shell terminated, restarting");
return (state_func_t) single_user;
}
}
runcom_mode = FASTBOOT;
return (state_func_t) runcom;
}
