Exemplo n.º 1
0
int main(int argc, char **argv) {
    (void) argc; (void)argv;
    enum ach_status r;
    /* create channels */
    r = ach_unlink("control");               /* delete first */
    if( ! ach_status_match(r, ACH_MASK_OK|ACH_MASK_ENOENT) ) abort();
    r = ach_unlink("feedback");              /* delete first */
    if( ! ach_status_match(r, ACH_MASK_OK|ACH_MASK_ENOENT) ) abort();
    r = ach_create("control", 10ul, 256ul, NULL );
    if(ACH_OK != r) abort();
    r = ach_create("feedback", 10ul, 256ul, NULL );
    if(ACH_OK != r) abort();

    /* fork processes */
    int pid_ctrl = fork();
    if(pid_ctrl < 0) abort();
    if(!pid_ctrl) controller();

    int pid_bot = fork();
    if(pid_bot < 0) abort();
    if(!pid_bot) robot();

    int pid_periodic = fork();
    if(pid_periodic < 0) abort();
    if(!pid_periodic) periodic_logger();

    int pid_full = fork();
    if(pid_full < 0) abort();
    if(!pid_full) full_logger();

    /* wait for a signal */
    pause();
    return 0;
}
Exemplo n.º 2
0
static PyObject *
open_channel( PyObject *self, PyObject *args ) {
    (void)self;
    const char *name = NULL;
    long frame_count = 0, frame_size = 0;
    if( !PyArg_ParseTuple(args, "sll", &name, &frame_count, &frame_size ) ) {
        return NULL;
    }
    /* Alloc struct */
    ach_channel_t *c = (ach_channel_t*)malloc(sizeof(ach_channel_t));

    /* Open it */
    ach_status_t r = ach_open(c, name, NULL);

    /* Create channel if necessary */
    if( ACH_ENOENT == r ) {
        r = ach_create( name, (size_t)frame_count, (size_t)frame_size, NULL );
        if( ach_status_match(r, ACH_MASK_OK | ACH_MASK_EEXIST) ) {
            r = ach_open(c, name, NULL);
        }
    }

    /* Check result */
    if( ACH_OK != r ) {
        return raise_error(r);
    }

    return PyLong_FromVoidPtr(c);
}
Exemplo n.º 3
0
/**********************************************************************************
 * ach control device driver
 **********************************************************************************/
static int
ctrl_create (struct ach_ctrl_create_ch *arg )
{
    int ret;
    struct ach_ch_device *dev;

    ret = ach_ch_device_alloc(arg->name);
    if( unlikely(ret < 0) )
        return ret;
    // newest is first in queue
    dev = ctrl_data.in_use;

    dev->ach_data = ach_create(arg->name, arg->frame_cnt, arg->frame_size, arg->clock);

    if (unlikely(NULL == dev->ach_data)) {
        printk(KERN_ERR "ach: Unable to allocate buffer memory\n");
        return -ENOBUFS;
    }

    ret = ach_ch_device_setup(dev, arg->name);
    if( unlikely(ret < 0) ) {
        printk(KERN_ERR "ach: Failed creating char device\n");
        kfree(dev->ach_data);
        return ret;
    }

    printk( KERN_INFO "ach: created device %s\n", ach_ch_device_name(dev) );

    return ret;
}
Exemplo n.º 4
0
Arquivo: achtool.c Projeto: KimBP/ach
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;
}
Exemplo n.º 5
0
static int testfault(void)
{
    if( ACH_OK == ach_create( NULL, opt_msg_cnt, opt_msg_size, NULL ) ) {
        fprintf(stderr, "Error on ach_create with null channel\n");
        exit(EXIT_FAILURE);
    }
    return 0;
}
Exemplo n.º 6
0
int main( int argc, char **argv ) {
    (void)argc;
    (void) argv;

    ach_channel_t channel;

    ach_status_t r;

    /* unlink */
    r = ach_unlink(OPT_CHAN);
    test( ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT),
          r, "ach_unlink");

    /* create */
    r = ach_create(OPT_CHAN, 32ul, 64ul, NULL );
    test(ACH_OK == r, r, "ach_create");


    /* open */
    r = ach_open(&channel, OPT_CHAN, NULL);
    test(ACH_OK == r, r, "ach_open");

    /* first test */
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    test( ACH_STALE_FRAMES == r, r, "get stale");

    /* read test */
    make_locked();
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    test( ACH_STALE_FRAMES == r, r, "get stale");

    /* corrupt test */
    make_locked();
    channel.shm->sync.dirty = 1;
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    test( ACH_CORRUPT == r, r, "get corrupt");
    /* and again */
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    test( ACH_CORRUPT == r, r, "get corrupt");

    /* another read test */
    channel.shm->sync.dirty = 0;
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    r = ach_get( &channel, NULL, 0, NULL, NULL, ACH_O_LAST );
    test( ACH_STALE_FRAMES == r, r, "get stale");

    return 0;

}
Exemplo n.º 7
0
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();
}
Exemplo n.º 8
0
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();
}
Exemplo n.º 9
0
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;
}
Exemplo n.º 10
0
Arquivo: achtest.c Projeto: golems/ach
int test_multi() {

    ach_status_t r = ach_unlink(opt_channel_name);
    if( ! ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT) ) {
        fprintf(stderr, "ach_unlink failed\n: %s",
                ach_result_to_string(r));
        return -1;
    }

    r = ach_create(opt_channel_name, 32ul, 64ul, NULL );


    /* pid_t sub_pid[opt_n_sub]; */
    /* pid_t pub_pid[opt_n_pub]; */
    int i;

    /* create subscribers */
    for( i = 0; i < opt_n_sub; i++ ) {
        pid_t p = fork();
        if( p < 0 ) exit(-1);
        else if( 0 == p ) return subscriber(i);
        /* else sub_pid[i] = p; */
    }

    /* create publishers */
    for( i = 0; i < opt_n_pub; i++ ) {
        pid_t p = fork();
        if( p < 0 ) exit(-1);
        else if( 0 == p ) return publisher(i);
        /* else pub_pid[i] = p; */
    }

    /* wait */
    for( i = 0; i < opt_n_sub+opt_n_pub; i++ ) {
        int s;
        pid_t pid = wait(&s);
        (void)pid;
        if( 0 != s ) return -1;
    }
    return 0;
}
Exemplo n.º 11
0
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;
}
Exemplo n.º 12
0
Arquivo: achtest.c Projeto: golems/ach
int test_basic() {
    /* unlink */
    ach_status_t r = ach_unlink(opt_channel_name);
    if( ! ach_status_match(r, ACH_MASK_OK | ACH_MASK_ENOENT) ) {
        fprintf(stderr, "ach_unlink failed: %s\n",
                ach_result_to_string(r));
        return -1;
    }

    /* create */
    r = ach_create(opt_channel_name, 32ul, 64ul, NULL );
    test(r, "ach_create");

    ach_channel_t chan;
    int s, p;
    size_t frame_size;
    struct timespec ts;

    /* open */
    r = ach_open(&chan, opt_channel_name, NULL);

    /* empty channel means stale */
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_LAST);
    if( ACH_STALE_FRAMES != r ) {
        printf("get stale failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 0);
    if( ACH_STALE_FRAMES != r ) {
        printf("get stale failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }


    /* put */
    p = 42;
    r = ach_put( &chan, &p, sizeof(p) );
    test(r, "ach_put");

    /* get */
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 0);
    test(r, "first ach_get");
    if(frame_size!= sizeof(s) || s != 42 ) exit(-1);

    /* put 2 */
    p = 43;
    r = ach_put( &chan, &p, sizeof(p) );
    test(r, "ach_put");
    p = 44;
    r = ach_put( &chan, &p, sizeof(p) );
    test(r, "ach_put");

    /* get last */
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_LAST);
    if( ACH_MISSED_FRAME != r ) {
        printf("get last failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }
    if(frame_size != sizeof(s) || s != 44 ) exit(-1);

    /* wait last */
    p = 45;
    r = ach_put( &chan, &p, sizeof(p) );
    test(r, "ach_put");
    clock_gettime(ACH_DEFAULT_CLOCK, &ts);
    ts.tv_sec += 30; /* don't yield too long now */
    r = ach_get( &chan, &s, sizeof(s), &frame_size, &ts,
                 ACH_O_LAST | ACH_O_WAIT );
    if( ACH_OK != r ) {
        printf("get wait failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }
    if(frame_size != sizeof(s) || s != 45 ) exit(-1);

    /* get last stale */
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_LAST);
    if( ACH_STALE_FRAMES != r ) {
        printf("get stale failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }

    /* timeout */
    clock_gettime(ACH_DEFAULT_CLOCK, &ts);
    ts.tv_sec -= 10;
    r = ach_get( &chan, &s, sizeof(s), &frame_size, &ts,
                 ACH_O_LAST | ACH_O_WAIT );
    if( ACH_TIMEOUT != r ) {
        printf("get timeout failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }

    /* copy last */
    printf("> copy start\n");
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_LAST | ACH_O_COPY);
    printf("> copy done\n");
    if( ACH_OK != r ) {
        printf("copy_last failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }
    if( p != s ) {
        printf("wrong copy last : %d\n", s);
        exit(-1);
    }

    /* get copy */
    /*ach_dump(chan.shm);*/
    /*printf("chan seq_num: %"PRIu64"\n", chan.seq_num);*/
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_COPY);
    if( ACH_OK != r ) {
        printf("copy_last failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }

    /* missed frames */
    size_t i;
    for( i = 0; i < 100; i ++ ) {
        r = ach_put( &chan, &p, sizeof(p) );
        test(r, "ach_put");
    }
    r = ach_get( &chan, &s, sizeof(s), &frame_size, NULL,
                 ACH_O_LAST);
    if( ACH_MISSED_FRAME != r ) {
        printf("get missed failed: %s\n", ach_result_to_string(r));
        exit(-1);
    }

    /* close */

    r = ach_close(&chan);
    test(r, "ach_close");

    /* unlink */
    r = ach_unlink(opt_channel_name);
    test(r, "ach_unlink");

    fprintf(stderr, "basic ok\n");
    return 0;
}