unsigned int
VMCAAddRootCertificate(
unsigned char *pszRootCertificate,
PWSTR pszPassPhrase,
unsigned char *pszPrivateKey,
unsigned int dwOverWrite)
{
DWORD dwError = 0;
BOOL bFileExists = FALSE;
BOOL bOverWrite = FALSE;
BOOLEAN bLocked = FALSE;
PSTR pszRootCertFile = NULL;
PSTR pszPrivateKeyFile = NULL;
PSTR pszPasswordFile = NULL;
PSTR pszDataDirectory = NULL;
#ifndef _WIN32
struct stat buf = { 0 };
#else
struct _stat buf = { 0 };
#endif
bOverWrite = (dwOverWrite == 1);
//
// Grab exclusive lock since we are writing the Root Cert,
// and all operations must serialize for this op.
//
VMCA_LOCK_MUTEX_EXCLUSIVE(&gVMCAServerGlobals.svcMutex, bLocked);
dwError = VMCAValidateCACertificatePrivate((LPSTR) pszRootCertificate,NULL, (LPSTR)pszPrivateKey);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCAGetRootCertificateFilePath(&pszRootCertFile);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCAGetPrivateKeyPath(&pszPrivateKeyFile);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCAGetPrivateKeyPasswordPath(&pszPasswordFile);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCAGetDataDirectory(&pszDataDirectory);
BAIL_ON_VMCA_ERROR(dwError);
bFileExists = (stat(pszRootCertFile,&buf) == ERROR_SUCCESS);
if (!bOverWrite && bFileExists)
{
dwError = VMCA_ROOT_CA_ALREADY_EXISTS;
BAIL_ON_VMCA_ERROR(dwError);
}
if (bOverWrite && bFileExists)
{
dwError = VMCABackupRootCAFiles(pszRootCertFile, pszPrivateKeyFile, pszPasswordFile);
BAIL_ON_VMCA_ERROR(dwError);
}
if (!bFileExists)
{
dwError = VMCACreateDirectory(pszDataDirectory, TRUE);
BAIL_ON_VMCA_ERROR(dwError);
}
dwError = VMCAWriteCertificateChainToFile(pszRootCertFile,
(PVMCA_CERTIFICATE) pszRootCertificate);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCAWritePrivateKeyToFile( pszPrivateKeyFile,
(LPSTR) pszPrivateKey,
pszPasswordFile,
pszPassPhrase);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCASetKeyPerm(pszPrivateKeyFile);
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCASrvInitCA();
BAIL_ON_VMCA_ERROR(dwError);
dwError = VMCASrvNotifyDirSync();
BAIL_ON_VMCA_ERROR(dwError);
#if 0
#ifdef DEBUG
PrintCurrentState();
#endif
#endif
error :
VMCA_LOCK_MUTEX_UNLOCK(&gVMCAServerGlobals.svcMutex, bLocked);
if ( pszRootCertFile != NULL) {
VMCAFreeStringA(pszRootCertFile);
}
if( pszPrivateKeyFile != NULL) {
VMCAFreeStringA(pszPrivateKeyFile);
}
if( pszPasswordFile != NULL ) {
VMCAFreeStringA(pszPasswordFile);
}
if (pszDataDirectory != NULL) {
VMCAFreeStringA(pszDataDirectory);
}
return dwError;
}
// Timer Callback - armTimer
//# Start armTimer_operation Marker
void arm_controller::armTimer_operation(const NAMESPACE::TimerEvent& event)
{
#ifdef USE_ROSMOD
comp_queue.ROSMOD_LOGGER->log("DEBUG", "Entering arm_controller::armTimer_operation");
#endif
// Business Logic for armTimer_operation
if (!paused)
{
UpdateSensorData();
switch (currentState)
{
case INIT:
Init_StateFunc();
break;
case FINDING_PB:
if ( CheckGoals() )
Finding_PB_StateFunc();
UpdateArmPosition();
break;
case OPENING_PB:
Opening_PB_StateFunc();
UpdateArmPosition();
break;
case FINDING_SAMPLE:
if ( CheckGoals() )
Finding_Sample_StateFunc();
UpdateArmPosition();
break;
case GRABBING_SAMPLE:
if ( CheckGoals() )
Grabbing_Sample_StateFunc();
UpdateArmPosition();
break;
case CARRYING_SAMPLE:
if ( CheckGoals() )
Carrying_Sample_StateFunc();
UpdateArmPosition();
break;
case INSERTING_SAMPLE:
if ( CheckGoals() )
Inserting_Sample_StateFunc();
UpdateArmPosition();
break;
case CLOSING_PB:
if ( CheckGoals() )
Closing_PB_StateFunc();
UpdateArmPosition();
break;
case MOVING_AWAY:
if ( CheckGoals() )
Moving_Away_StateFunc();
UpdateArmPosition();
break;
default:
break;
}
if ( stateChanged )
{
PrintCurrentState();
stateChanged = false;
}
sampleState_pub.publish(sample);
payloadBayState_pub.publish(payloadBay);
arm.state = currentState;
armState_pub.publish(arm);
if ( usingSerialPort )
{
char buffer[20];
if ( payloadBayOpened )
{
sprintf(buffer,"%s",openPayloadBayString);
}
else
{
sprintf(buffer,"%s",closePayloadBayString);
}
serialPort.sendArray((unsigned char *)buffer,strlen(buffer));
}
}
#ifdef USE_ROSMOD
comp_queue.ROSMOD_LOGGER->log("DEBUG", "Exiting arm_controller::armTimer_operation");
#endif
}
int
main(
int argc,
char* argv[]
)
{
DWORD dwError = 0;
const char* pszSmNotify = NULL;
int notifyFd = -1;
int notifyCode = 0;
int ret = -1;
BOOL bEnableSysLog = FALSE;
BOOL bConsoleLogging = FALSE;
setlocale(LC_ALL, "");
VMCABlockSelectedSignals();
dwError = VMCAParseArgs(argc, argv, &bEnableSysLog, &bConsoleLogging);
BAIL_ON_VMCA_ERROR(dwError);
if (bEnableSysLog)
{
gVMCALogType = VMCA_LOG_TYPE_SYSLOG;
}
else if (bConsoleLogging)
{
gVMCALogType = VMCA_LOG_TYPE_CONSOLE;
}
else
{
gVMCALogType = VMCA_LOG_TYPE_FILE;
}
dwError = VMCAInitialize(0, 0);
BAIL_ON_VMCA_ERROR(dwError);
VMCA_LOG_INFO("VM Certificate Service started.");
#ifdef REST_ENABLED
#ifndef _WIN32
dwError = VMCARestServiceStartup();
BAIL_ON_VMCA_ERROR(dwError);
VMCA_LOG_INFO("VM Certificate ReST Protocol started.");
#endif
#endif
PrintCurrentState();
// interact with likewise service manager (start/stop control)
if ((pszSmNotify = getenv("LIKEWISE_SM_NOTIFY")) != NULL)
{
notifyFd = atoi(pszSmNotify);
do
{
ret = write(notifyFd, ¬ifyCode, sizeof(notifyCode));
} while (ret != sizeof(notifyCode) && errno == EINTR);
if (ret < 0)
{
VMCA_LOG_ERROR("Could not notify service manager: %s (%i)",
strerror(errno),
errno);
dwError = LwErrnoToWin32Error(errno);
BAIL_ON_VMCA_ERROR(dwError);
}
close(notifyFd);
}
// main thread waits on signals
dwError = VMCAHandleSignals();
BAIL_ON_VMCA_ERROR(dwError);
VMCA_LOG_INFO("VM Certificate Service exiting...");
cleanup:
VMCAShutdown();
#ifdef REST_ENABLED
#ifndef _WIN32
VMCARestServiceShutdown();
#endif
#endif
return (dwError);
error:
VMCA_LOG_ERROR("VM Certificate exiting due to error [code:%d]", dwError);
goto cleanup;
}
