/*! Deletes any children that are done. If there are seeds available and
emtpty children slots it also fires of new children. If a new child
is fired and the main planner is still in the area, the main planner
is also reset so it goes plan somewhere else.
*/
void
GuidedPlanner::checkChildren()
{
//first check if any children have stopped
SimAnnPlanner *pl;
std::vector<SimAnnPlanner*>::iterator it;
it = mChildPlanners.begin();
while(it!=mChildPlanners.end()) {
pl = (*it);
if ( !pl->isActive() ) {
stopChild(pl);
it = mChildPlanners.erase( it );
delete pl;
DBGA("Child stopped.");
} else {
it++;
}
}
//if the planner is paused, do not fire any new children
if (!isActive()) return;
//now check if we have seeds and children available
while ((int)mChildPlanners.size() < mMaxChildren && !mChildSeeds.empty()) {
GraspPlanningState *seed = mChildSeeds.front();
mChildSeeds.pop_front();
//avoid this state in the future since it will be searched by a child
mAvoidList.push_back(seed);
startChild(seed);
if (mCurrentState->distance(seed) < mDistanceThreshold) {
//re-anneal to make sure we search in some other area
resetParameters();
}
}
}
bool WatcherRunner::watch(const PlatformProcess& child) const {
int status = 0;
ProcessState result = checkChildProcessStatus(child, status);
if (Watcher::fatesBound()) {
// A signal was handled while the watcher was watching.
return false;
}
if (!child.isValid() || result == PROCESS_ERROR) {
// Worker does not exist or never existed.
return false;
} else if (result == PROCESS_STILL_ALIVE) {
// If the inspect finds problems it will stop/restart the worker.
if (!isChildSane(child)) {
stopChild(child);
return false;
}
return true;
}
if (result == PROCESS_EXITED) {
// If the worker process existed, store the exit code.
Watcher::instance().worker_status_ = status;
}
return true;
}
void VideoController::digitalVideo(bool showState, uint32_t ipAddress)
{
if (showState)
{
pid_t pid = fork();
if (pid == -1)
{
COMM_EXCEPTION(LaunchException, "Failed to fork server process");
}
if (pid == 0)
{
ip::address_v4 addr(ipAddress);
std::string str = addr.to_string();
std::cout << "Send video to " << str << std::endl;
int execResult = execlp(
"/etc/cherokey-robot/run_video_wifi", "run_video_wifi",
str.c_str(), NULL);
exit(execResult);
}
else
{
videoProcessPID = pid;
}
}
else
{
stopChild();
}
}
void VideoController::compositeVideo(bool showState)
{
if (showState)
{
pid_t pid = fork();
if (pid == -1)
{
COMM_EXCEPTION(LaunchException, "Failed to fork server process");
}
if (pid == 0)
{
int execResult = execlp(
"/etc/cherokey-robot/run_video_composite", NULL);
exit(execResult);
}
else
{
videoProcessPID = pid;
}
try
{
videoTXPower->setLogicalLevel(pc::GPIO_LOGIC_LEVEL::high);
}
catch (std::exception&)
{
stopChild();
throw;
}
}
else
{
stopChild();
videoTXPower->setLogicalLevel(pc::GPIO_LOGIC_LEVEL::low);
}
}
int Sudo::parent()
{
//set the FD as non-blocking
if (0 != fcntl(mPwdFd, F_SETFL, O_NONBLOCK))
{
QMessageBox(QMessageBox::Critical, mDlg->windowTitle()
, tr("Failed to set non-block: %1").arg(strerror(errno)), QMessageBox::Ok).exec();
return 1;
}
FILE * pwd_f = fdopen(mPwdFd, "r+");
if (nullptr == pwd_f)
{
QMessageBox(QMessageBox::Critical, mDlg->windowTitle()
, tr("Failed to fdopen: %1").arg(strerror(errno)), QMessageBox::Ok).exec();
return 1;
}
QTextStream child_str{pwd_f};
QObject::connect(mDlg.data(), &QDialog::finished, [&] (int result)
{
if (QDialog::Accepted == result)
{
child_str << mDlg->password().append(nl);
child_str.flush();
} else
{
stopChild();
lxqtApp->quit();
}
});
QString last_line;
QScopedPointer<QSocketNotifier> pwd_watcher{new QSocketNotifier{mPwdFd, QSocketNotifier::Read}};
QObject::connect(pwd_watcher.data(), &QSocketNotifier::activated, [&]
{
QString line = child_str.readAll();
if (line.isEmpty())
{
pwd_watcher.reset(nullptr);
QString const & prog = BACK_SU == mBackend ? su_prog : sudo_prog;
if (last_line.startsWith(QStringLiteral("%1:").arg(prog)))
{
pwd_watcher.reset(nullptr); //stop the notifications events
stopChild();
QMessageBox(QMessageBox::Critical, mDlg->windowTitle()
, tr("Child '%1' process failed!\n%2").arg(prog).arg(last_line), QMessageBox::Ok).exec();
}
lxqtApp->quit();
} else
{
if (line.endsWith(pwd_prompt_end))
{
//if now echo is turned off, su/sudo requests password
struct termios tios;
//loop to be sure we don't miss the flag (we can afford such small delay in "normal" output processing)
for (size_t cnt = 10; 0 < cnt && 0 == tcgetattr(mPwdFd, &tios) && (ECHO & tios.c_lflag); --cnt)
QThread::msleep(10);
if (!(ECHO & tios.c_lflag))
{
mDlg->show();
return;
}
}
QTextStream{stderr, QIODevice::WriteOnly} << line;
//assuming text oriented output
QStringList lines = line.split(nl, QString::SkipEmptyParts);
last_line = lines.isEmpty() ? QString() : lines.back();
}
});
lxqtApp->exec();
if (0 < mChildPid)
{
int res, status;
res = waitpid(mChildPid, &status, 0);
mRet = (mChildPid == res && WIFEXITED(status)) ? WEXITSTATUS(status) : 1;
}
return mRet;
}
