int cmd_create(void) {
if( opt_verbosity > 0 ) {
fprintf(stderr, "Creating Channel %s\n", opt_chan_name);
}
if( opt_msg_cnt < 1 ) {
fprintf(stderr, "Message count must be greater than zero, not %"PRIuPTR".\n", opt_msg_cnt);
return -1;
}
if( opt_msg_size < 1 ) {
fprintf(stderr, "Message size must be greater than zero, not %"PRIuPTR".\n", opt_msg_size);
return -1;
}
ach_status_t i;
{
ach_create_attr_t attr;
ach_create_attr_init(&attr);
if( opt_truncate ) attr.truncate = 1;
i = ach_create( opt_chan_name, opt_msg_cnt, opt_msg_size, &attr );
}
if( ! (opt_1 && i == ACH_EEXIST) ) {
check_status( i, "Error creating channel '%s'", opt_chan_name );
} else i = ACH_OK;
if( opt_mode > 0 ) {
i = cmd_chmod();
}
return i;
}
void setup_ach(void) {
/* create channel */
enum ach_status r = ach_unlink("bench"); /* delete first */
if( ! ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT) ) abort();
ach_create_attr_t cattr;
if (KERNDEV) {
ach_create_attr_init(&cattr);
cattr.map = ACH_MAP_KERNEL;
}
r = ach_create("bench", 10, 256, KERNDEV ? &cattr : NULL );
if(ACH_OK != r) abort();
/* open channel */
r = ach_open(&chan, "bench", NULL);
if(ACH_OK != r) abort();
}
void init_time_chan(void) {
/* create channel */
ach_create_attr_t cattr;
enum ach_status r = ach_unlink("time"); /* delete first */
if( ! ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT) ) abort();
if (KERNDEV) {
ach_create_attr_init(&cattr);
cattr.map = ACH_MAP_KERNEL;
}
r = ach_create("time", (size_t)FREQUENCY*(size_t)SECS*RECV_RT,
sizeof(float), KERNDEV ? &cattr : NULL );
if(ACH_OK != r) abort();
/* open channel */
r = ach_open(&time_chan, "time", NULL);
if(ACH_OK != r) abort();
}
int ach_move_init() {
// Channels
int r = 0;
printf("ACH: Creating Channel\n");
ach_create_attr_t attr;
ach_create_attr_init(&attr);
r = ach_create((char*)craftyo_chan_name, 100, IBOARDSTATE_SIZE+IMOVESTRING_SIZE, &attr);
printf("ACH: %s\n", ach_result_to_string((ach_status_t)r));
printf("ACH: Opening Channel\n");
craftyo_chan = (ach_channel_t*) malloc (sizeof(ach_channel_t));
if(craftyo_chan == NULL) return 0;
r = ach_open(craftyo_chan, craftyo_chan_name, NULL);
if(r != ACH_OK) {
printf("ACH: %s\n", ach_result_to_string((ach_status_t)r));
return 0;
}
ach_chmod(craftyo_chan, SOMATIC_CHANNEL_MODE );
r = ach_flush(craftyo_chan);
if(r != ACH_OK) {
printf("ACH: %s\n", ach_result_to_string((ach_status_t)r));
return 0;
}
// Data
craftyo_message = (Somatic__Crafty*)malloc(sizeof(Somatic__Crafty));
if(craftyo_message == NULL) return 0;
somatic__crafty__init(craftyo_message);
//craftyo_message->boardstate.data = (uint8_t*) malloc(128);
//craftyo_message->has_boardstate = 1;
//craftyo_message->boardstate.len = 128;
craftyo_message->move = (char*)malloc(10);
printf("ACH: Info\n"
"ACH: Name: %s\n"
"ACH: Size: %d\n", craftyo_chan_name, somatic__crafty__get_packed_size(craftyo_message));
return 1;
}
static int testsig(void)
{
enum ach_status r;
/* Fork 0 */
pid_t pid_p = fork();
check_errno( "Fork 0", pid_p );
/* GP: wait */
if( pid_p ) {
return testsig_gp(pid_p);
}
/* Parent */
/* Create Kernel Channel */
{
ach_create_attr_t attr;
ach_create_attr_init(&attr);
attr.map = ACH_MAP_KERNEL;
r = ach_unlink(OPT_CHAN);
if( ! ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT) ) {
fail_ach( "unlink before create", r );
}
r = ach_unlink(OPT_CHAN);
if( ACH_ENOENT != r ) fail_ach( "unlink noent", r );
check_ach( "ach_create",
ach_create( OPT_CHAN, opt_msg_cnt, opt_msg_size, &attr ) );
}
/* Open Kernel Channel */
struct ach_channel chan;
{
for(;;) {
usleep(1000); /* Race against udev */
r = ach_open( &chan, OPT_CHAN, NULL );
if( ACH_EACCES == r ) continue;
else if (ACH_OK == r) break;
else fail_ach("ach_open", r);
}
}
/* Install Parent sighandler */
sighandler_install();
/* fork 1 */
pid_t pid_c = fork();
check_errno( "fork 1", pid_c );
if( pid_c ) {
/* Parent: */
for(;;) {
usleep(10000); /* Racy... */
check_errno( "kill child", kill( pid_c, SIGUSR1) );
usleep(10000);
int i = 42;
check_ach( "put to child", ach_put( &chan, &i, sizeof(i) ) );
int status;
pid_t wp = waitpid( pid_c, &status, WNOHANG );
if( wp ) {
if( wp != pid_c ) {
fail_errno("Wait 1");
} else if( WIFEXITED(status) && (0 == WEXITSTATUS(status)) ) {
exit(EXIT_SUCCESS);
} else {
fprintf(stderr, "Child 1 failed\n");
exit(EXIT_FAILURE);
}
}
}
} else {
/* child */
sig_atomic_t s0, s1;
int i;
do {
size_t frame_size;
s0 = count_sigusr1;
r = ach_get(&chan, &i, sizeof(i), &frame_size, NULL, ACH_O_WAIT );
s1 = count_sigusr1;
check_ach("child sig get", r);
} while( s1 == s0 || s1 < 10 ); /* This is racy... */
printf("done: %s, %d,%d,%d\n", ach_result_to_string(r), s0, s1, i);
exit(EXIT_SUCCESS);
}
return 0;
}
