int
main(int argc, char *argv[])
{
struct ntpd_conf lconf;
struct pollfd pfd[POLL_MAX];
pid_t chld_pid = 0, pid;
const char *conffile;
int fd_ctl, ch, nfds;
int pipe_chld[2];
struct passwd *pw;
extern char *__progname;
if (strcmp(__progname, "ntpctl") == 0) {
ctl_main(argc, argv);
/* NOTREACHED */
}
conffile = CONFFILE;
bzero(&lconf, sizeof(lconf));
log_init(1); /* log to stderr until daemonized */
while ((ch = getopt(argc, argv, "df:nsSv")) != -1) {
switch (ch) {
case 'd':
lconf.debug = 1;
log_verbose(1);
break;
case 'f':
conffile = optarg;
break;
case 'n':
lconf.noaction = 1;
break;
case 's':
lconf.settime = 1;
break;
case 'S':
lconf.settime = 0;
break;
case 'v':
log_verbose(1);
break;
default:
usage();
/* NOTREACHED */
}
}
argc -= optind;
argv += optind;
if (argc > 0)
usage();
if (parse_config(conffile, &lconf))
exit(1);
if (lconf.noaction) {
fprintf(stderr, "configuration OK\n");
exit(0);
}
if (geteuid())
errx(1, "need root privileges");
if ((pw = getpwnam(NTPD_USER)) == NULL)
errx(1, "unknown user %s", NTPD_USER);
if (setpriority(PRIO_PROCESS, 0, -20) == -1)
warn("can't set priority");
reset_adjtime();
if (!lconf.settime) {
log_init(lconf.debug);
if (!lconf.debug)
if (daemon(1, 0))
fatal("daemon");
} else
timeout = SETTIME_TIMEOUT * 1000;
if (socketpair(AF_UNIX, SOCK_STREAM, PF_UNSPEC, pipe_chld) == -1)
fatal("socketpair");
if ((fd_ctl = control_init(CTLSOCKET)) == -1)
fatalx("control socket init failed");
if (control_listen(fd_ctl) == -1)
fatalx("control socket listen failed");
signal(SIGCHLD, sighdlr);
/* fork child process */
chld_pid = ntp_main(pipe_chld, fd_ctl, &lconf, pw);
setproctitle("[priv]");
readfreq();
signal(SIGTERM, sighdlr);
signal(SIGINT, sighdlr);
signal(SIGHUP, sighdlr);
close(pipe_chld[1]);
if ((ibuf = malloc(sizeof(struct imsgbuf))) == NULL)
fatal(NULL);
imsg_init(ibuf, pipe_chld[0]);
while (quit == 0) {
pfd[PFD_PIPE].fd = ibuf->fd;
pfd[PFD_PIPE].events = POLLIN;
if (ibuf->w.queued)
pfd[PFD_PIPE].events |= POLLOUT;
if ((nfds = poll(pfd, 1, timeout)) == -1)
if (errno != EINTR) {
log_warn("poll error");
quit = 1;
}
if (nfds == 0 && lconf.settime) {
lconf.settime = 0;
timeout = INFTIM;
log_init(lconf.debug);
log_warnx("no reply received in time, skipping initial "
"time setting");
if (!lconf.debug)
if (daemon(1, 0))
fatal("daemon");
}
if (nfds > 0 && (pfd[PFD_PIPE].revents & POLLOUT))
if (msgbuf_write(&ibuf->w) <= 0 && errno != EAGAIN) {
log_warn("pipe write error (to child)");
quit = 1;
}
if (nfds > 0 && pfd[PFD_PIPE].revents & POLLIN) {
nfds--;
if (dispatch_imsg(&lconf) == -1)
quit = 1;
}
if (sigchld) {
if (check_child(chld_pid, "child")) {
quit = 1;
chld_pid = 0;
}
sigchld = 0;
}
}
signal(SIGCHLD, SIG_DFL);
if (chld_pid)
kill(chld_pid, SIGTERM);
do {
if ((pid = wait(NULL)) == -1 &&
errno != EINTR && errno != ECHILD)
fatal("wait");
} while (pid != -1 || (pid == -1 && errno == EINTR));
msgbuf_clear(&ibuf->w);
free(ibuf);
log_info("Terminating");
return (0);
}
/**
* @brief initialize lists controls
* @returns 0 on success, -1 on error.
*/
int init_structs() {
if( control_init(&(connections.control)) ||
control_init(&(graveyard.control)) )
return -1;
return 0;
}
/**
* @brief start a @connection_handler for a new client.
* @param fd file descriptor of the new client
* @returns 0 on success, -1 on error.
*/
int serve_new_client(int fd) {
conn_node *c;
pthread_t dummy;
int writer_created, worker_created;
pthread_mutex_lock(&(connections.control.mutex));
writer_created = connections.control.active; // OPTIMIZATION
pthread_mutex_unlock(&(connections.control.mutex));
if(!writer_created) {
print( ERROR, "connections disabled" );
return -1;
}
writer_created = worker_created = 0;
c = malloc(sizeof(conn_node));
if(!c) {
print( ERROR, "malloc: %s", strerror(errno) );
return -1;
}
memset(c, 0, sizeof(conn_node));
if(control_init(&(c->control)) || control_init(&(c->incoming.control)) ||
control_init(&(c->outcoming.control))) {
print( ERROR, "cannot init cotnrols" );
free_connection(c);
return -1;
}
c->fd = fd;
pthread_mutex_lock(&(connections.control.mutex));
if( (writer_created = pthread_create(&dummy, NULL, &connection_writer, (void *)c)) ||
(worker_created = pthread_create(&dummy, NULL, &connection_worker, (void *)c)) ||
pthread_create(&dummy, NULL, &connection_reader, (void *)c)) {
pthread_mutex_unlock(&(connections.control.mutex));
print( ERROR, "pthread_create: %s", strerror(errno) );
goto create_error;
}
list_add(&(connections.list), (node *) c);
pthread_mutex_unlock(&(connections.control.mutex));
pthread_cond_broadcast(&(connections.control.cond));
return 0;
create_error:
if(writer_created || worker_created) {
stop_connection(c);
pthread_mutex_lock(&(c->control.mutex));
while((writer_created && !c->writer_done) || (worker_created && !c->worker_done)) {
pthread_cond_wait(&(c->control.cond), &(c->control.mutex));
}
pthread_mutex_unlock(&(c->control.mutex));
}
free_connection(c);
return -1;
}
int threads_linux_init(void)
{
int status = 0;
int n = 0;
int return_value = THREADS_LINUX_SUCCESS;
// Init data
status = sensors_init(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data);
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = calibration_init(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = gps_init(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = imu_init(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = magnetometer_init(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = sonar_init(&sonar_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = estimation_init(ESTIMATION_DO_NOT_ESTIMATE_ACCEL_BIAS, &estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = control_init(&control_data);
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = protocol_init();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = ui_init();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = datalogger_init();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
// Main Loop
if(return_value != THREADS_LINUX_FAILURE)
{
threads_linux_timer_start_task_1();
usleep(0.5*task_1_period_us);
threads_linux_timer_start_task_2();
usleep(5*task_1_period_us);
while(quittask == 0)
{
#if ANU_COMPILE_FOR_OVERO
#else
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_update_IPC();
#endif
if(++n>100)
{
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_write_file();
n = 0;
}
usleep(5*task_1_period_us);
}
threads_linux_timer_stop_task_1();
usleep(TASK1_PERIOD_US);
threads_linux_timer_stop_task_2();
usleep(TASK2_PERIOD_US);
}
status = datalogger_close();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = ui_close();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = protocol_close();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = control_close();
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = estimation_close(&estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = magnetometer_close(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = imu_close(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = gps_close(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = calibration_close(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = sensors_close();
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
return return_value;
}
pid_t
proc_run(struct privsep *ps, struct privsep_proc *p,
struct privsep_proc *procs, unsigned int nproc,
void (*run)(struct privsep *, struct privsep_proc *, void *), void *arg)
{
pid_t pid;
struct passwd *pw;
const char *root;
struct control_sock *rcs;
unsigned int n;
if (ps->ps_noaction)
return (0);
proc_open(ps, p, procs, nproc);
/* Fork child handlers */
switch (pid = fork()) {
case -1:
fatal("proc_run: cannot fork");
case 0:
log_procinit(p->p_title);
/* Set the process group of the current process */
setpgid(0, 0);
break;
default:
return (pid);
}
pw = ps->ps_pw;
if (p->p_id == PROC_CONTROL && ps->ps_instance == 0) {
if (control_init(ps, &ps->ps_csock) == -1)
fatalx(__func__);
TAILQ_FOREACH(rcs, &ps->ps_rcsocks, cs_entry)
if (control_init(ps, rcs) == -1)
fatalx(__func__);
}
/* Change root directory */
if (p->p_chroot != NULL)
root = p->p_chroot;
else
root = pw->pw_dir;
if (chroot(root) == -1)
fatal("proc_run: chroot");
if (chdir("/") == -1)
fatal("proc_run: chdir(\"/\")");
privsep_process = p->p_id;
setproctitle("%s", p->p_title);
if (setgroups(1, &pw->pw_gid) ||
setresgid(pw->pw_gid, pw->pw_gid, pw->pw_gid) ||
setresuid(pw->pw_uid, pw->pw_uid, pw->pw_uid))
fatal("proc_run: cannot drop privileges");
/* Fork child handlers */
for (n = 1; n < ps->ps_instances[p->p_id]; n++) {
if (fork() == 0) {
ps->ps_instance = p->p_instance = n;
break;
}
}
#ifdef DEBUG
log_debug("%s: %s %d/%d, pid %d", __func__, p->p_title,
ps->ps_instance + 1, ps->ps_instances[p->p_id], getpid());
#endif
event_init();
signal_set(&ps->ps_evsigint, SIGINT, proc_sig_handler, p);
signal_set(&ps->ps_evsigterm, SIGTERM, proc_sig_handler, p);
signal_set(&ps->ps_evsigchld, SIGCHLD, proc_sig_handler, p);
signal_set(&ps->ps_evsighup, SIGHUP, proc_sig_handler, p);
signal_set(&ps->ps_evsigpipe, SIGPIPE, proc_sig_handler, p);
signal_set(&ps->ps_evsigusr1, SIGUSR1, proc_sig_handler, p);
signal_add(&ps->ps_evsigint, NULL);
signal_add(&ps->ps_evsigterm, NULL);
signal_add(&ps->ps_evsigchld, NULL);
signal_add(&ps->ps_evsighup, NULL);
signal_add(&ps->ps_evsigpipe, NULL);
signal_add(&ps->ps_evsigusr1, NULL);
proc_listen(ps, procs, nproc);
if (p->p_id == PROC_CONTROL && ps->ps_instance == 0) {
TAILQ_INIT(&ctl_conns);
if (control_listen(&ps->ps_csock) == -1)
fatalx(__func__);
TAILQ_FOREACH(rcs, &ps->ps_rcsocks, cs_entry)
if (control_listen(rcs) == -1)
fatalx(__func__);
}
static void handle_uuid(const char *uuidstr, struct audio_device *device)
{
uuid_t uuid;
uint16_t uuid16;
if (bt_string2uuid(&uuid, uuidstr) < 0) {
error("%s not detected as an UUID-128", uuidstr);
return;
}
if (!sdp_uuid128_to_uuid(&uuid) && uuid.type != SDP_UUID16) {
error("Could not convert %s to a UUID-16", uuidstr);
return;
}
uuid16 = uuid.value.uuid16;
if (!server_is_enabled(&device->src, uuid16)) {
DBG("server not enabled for %s (0x%04x)", uuidstr, uuid16);
return;
}
switch (uuid16) {
case HEADSET_SVCLASS_ID:
DBG("Found Headset record");
if (device->headset)
headset_update(device, uuid16, uuidstr);
else
device->headset = headset_init(device, uuid16,
uuidstr);
break;
case HEADSET_AGW_SVCLASS_ID:
DBG("Found Headset AG record");
break;
case HANDSFREE_SVCLASS_ID:
DBG("Found Handsfree record");
if (device->headset)
headset_update(device, uuid16, uuidstr);
else
device->headset = headset_init(device, uuid16,
uuidstr);
break;
case HANDSFREE_AGW_SVCLASS_ID:
DBG("Found Handsfree AG record");
if (enabled.gateway && (device->gateway == NULL))
device->gateway = gateway_init(device);
break;
case AUDIO_SINK_SVCLASS_ID:
DBG("Found Audio Sink");
if (device->sink == NULL)
device->sink = sink_init(device);
break;
case AUDIO_SOURCE_SVCLASS_ID:
DBG("Found Audio Source");
if (device->source == NULL)
device->source = source_init(device);
break;
case AV_REMOTE_SVCLASS_ID:
case AV_REMOTE_TARGET_SVCLASS_ID:
DBG("Found AV %s", uuid16 == AV_REMOTE_SVCLASS_ID ?
"Remote" : "Target");
if (device->control)
control_update(device, uuid16);
else
device->control = control_init(device, uuid16);
/* SS_Bluetooth(sunjo4.kim) 2012.2.16 - add for a2dp connect fail */
//if (device->sink && sink_is_active(device))
// avrcp_connect(device);
/* SS_Bluetooth(sunjo4.kim) End */
break;
default:
DBG("Unrecognized UUID: 0x%04X", uuid16);
break;
}
}
int
main(int argc, char *argv[])
{
struct passwd *pw;
char *ctlpath = NULL;
int ch, debug = 0;
while ((ch = getopt(argc, argv, "ds:")) != -1) {
switch (ch) {
case 'd':
++debug;
break;
case 's':
ctlpath = optarg;
break;
default:
return usage();
}
}
argc -= optind;
argv += optind;
if ((pw = getpwnam(UNPRIVILEGED_USER)) == NULL)
err(1, "there isn't any user called " UNPRIVILEGED_USER);
if (control_sock == -1)
control_sock = control_init(ctlpath, pw->pw_uid, pw->pw_gid);
if (control_sock == -1)
errx(1, "there isn't any control socket.");
if ((kernel_rtsock = rtsock_init()) == -1)
errx(1, "there isn't any routing socket.");
log_init(debug);
log_info("starting");
if (!debug)
daemon(1, 0);
drop_privileges(pw);
set_defaults();
if (event_init() == NULL)
fatal("event_init");
if (interfaces_discover() == -1)
fatal("discovering interfaces");
signal_set(&sigevents[0], SIGHUP, unprivileged_signal_handler, NULL);
signal_set(&sigevents[1], SIGINT, unprivileged_signal_handler, NULL);
signal_set(&sigevents[2], SIGTERM, unprivileged_signal_handler, NULL);
signal_set(&sigevents[3], SIGCHLD, unprivileged_signal_handler, NULL);
signal_set(&sigevents[4], SIGPIPE, unprivileged_signal_handler, NULL);
for (int i = 0; i < __SIGNAL_HANDLERS__; ++i)
if (signal_add(&sigevents[i], NULL))
fatal("signal_add");
event_set(&events[CONTROL_SOCKET], control_sock, EV_READ | EV_PERSIST,
control_accept, NULL);
event_set(&events[ROUTING_SOCKET], kernel_rtsock, EV_READ | EV_PERSIST,
rtsock_dispatch, NULL);
event_set(&events[PRIVSEP_SOCKET], privsep_sock, EV_READ | EV_PERSIST,
unprivileged_dispatch, NULL);
//for (int i = 0; i < __SOCKETS_ALWAYS_PRESENT__; ++i)
for (int i = 0; i <= PRIVSEP_SOCKET; ++i)
if (event_add(events + i, NULL))
fatal("event_add");
stats[STATS_DAEMON_STARTED] = time(NULL);
event_dispatch();
close(control_sock);
unsatisfied_purge();
interfaces_destroy();
log_info("exitting %s", privileged_exit_code ? "badly" : "gracefully");
return (privileged_exit_code);
}
void
proc_run(struct privsep *ps, struct privsep_proc *p,
struct privsep_proc *procs, unsigned int nproc,
void (*run)(struct privsep *, struct privsep_proc *, void *), void *arg)
{
struct passwd *pw;
const char *root;
struct control_sock *rcs;
if (ps->ps_noaction)
exit(0);
log_procinit(p->p_title);
/* Set the process group of the current process */
setpgid(0, 0);
if (p->p_id == PROC_CONTROL && ps->ps_instance == 0) {
if (control_init(ps, &ps->ps_csock) == -1)
fatalx(__func__);
TAILQ_FOREACH(rcs, &ps->ps_rcsocks, cs_entry)
if (control_init(ps, rcs) == -1)
fatalx(__func__);
}
/* Use non-standard user */
if (p->p_pw != NULL)
pw = p->p_pw;
else
pw = ps->ps_pw;
/* Change root directory */
if (p->p_chroot != NULL)
root = p->p_chroot;
else
root = pw->pw_dir;
if (chroot(root) == -1)
fatal("proc_run: chroot");
if (chdir("/") == -1)
fatal("proc_run: chdir(\"/\")");
privsep_process = p->p_id;
setproctitle("%s", p->p_title);
if (setgroups(1, &pw->pw_gid) ||
setresgid(pw->pw_gid, pw->pw_gid, pw->pw_gid) ||
setresuid(pw->pw_uid, pw->pw_uid, pw->pw_uid))
fatal("proc_run: cannot drop privileges");
event_init();
signal_set(&ps->ps_evsigint, SIGINT, proc_sig_handler, p);
signal_set(&ps->ps_evsigterm, SIGTERM, proc_sig_handler, p);
signal_set(&ps->ps_evsigchld, SIGCHLD, proc_sig_handler, p);
signal_set(&ps->ps_evsighup, SIGHUP, proc_sig_handler, p);
signal_set(&ps->ps_evsigpipe, SIGPIPE, proc_sig_handler, p);
signal_set(&ps->ps_evsigusr1, SIGUSR1, proc_sig_handler, p);
signal_add(&ps->ps_evsigint, NULL);
signal_add(&ps->ps_evsigterm, NULL);
signal_add(&ps->ps_evsigchld, NULL);
signal_add(&ps->ps_evsighup, NULL);
signal_add(&ps->ps_evsigpipe, NULL);
signal_add(&ps->ps_evsigusr1, NULL);
proc_setup(ps, procs, nproc);
proc_accept(ps, PROC_PARENT_SOCK_FILENO, PROC_PARENT, 0);
if (p->p_id == PROC_CONTROL && ps->ps_instance == 0) {
TAILQ_INIT(&ctl_conns);
if (control_listen(&ps->ps_csock) == -1)
fatalx(__func__);
TAILQ_FOREACH(rcs, &ps->ps_rcsocks, cs_entry)
if (control_listen(rcs) == -1)
fatalx(__func__);
}
int adapter_probe(struct sdio_func *func, const struct sdio_device_id *id)
{
struct net_adapter *adapter;
struct net_device *net;
u_char charName[32];
int nRes = -ENOMEM;
u_long idx = 0;
struct wimax732_platform_data *pdata;
dump_debug("Probe!!!!!!!!!");
pdata = (struct wimax732_platform_data *) id->driver_data;
net = alloc_etherdev(sizeof(struct net_adapter));
if (!net) {
dump_debug("adapter_probe: "
"error can't allocate device");
goto alloceth_fail;
}
adapter = netdev_priv(net);
memset(adapter, 0, sizeof(struct net_adapter));
g_adapter = adapter;
adapter->pdata = (struct wimax732_platform_data *) id->driver_data;
adapter->pdata->g_cfg->card_removed = false;
adapter->pdata->g_cfg->powerup_done = false;
/* Initialize control */
control_init(adapter);
/* initialize hardware */
nRes = hw_init(adapter);
if (nRes) {
dump_debug("adapter_probe: error can't"
"allocate receive buffer");
goto hwInit_fail;
}
strcpy(net->name, "uwbr%d");
adapter->func = func;
adapter->net = net;
net->netdev_ops = &wimax_net_ops;
net->watchdog_timeo = ADAPTER_TIMEOUT;
net->mtu = WIMAX_MTU_SIZE;
adapter->msg_enable = netif_msg_init(msg_level, NETIF_MSG_DRV
| NETIF_MSG_PROBE | NETIF_MSG_LINK);
ether_setup(net);
net->flags |= IFF_NOARP;
adapter->media_state = MEDIA_DISCONNECTED;
adapter->ready = FALSE;
adapter->halted = FALSE;
adapter->downloading = TRUE;
adapter->removed = FALSE;
adapter->mac_ready = FALSE;
sdio_set_drvdata(func, adapter);
SET_NETDEV_DEV(net, &func->dev);
nRes = register_netdev(net);
if (nRes)
goto regdev_fail;
netif_carrier_off(net);
netif_tx_stop_all_queues(net);
sdio_claim_host(adapter->func);
nRes = sdio_enable_func(adapter->func);
if (nRes < 0) {
dump_debug("sdio_enable func error = %d", nRes);
goto sdioen_fail;
}
nRes = sdio_claim_irq(adapter->func, adapter_interrupt);
if (nRes < 0) {
dump_debug("sdio_claim_irq = %d", nRes);
goto sdioirq_fail;
}
sdio_set_block_size(adapter->func, 512);
sdio_release_host(adapter->func);
memset(charName, 0x00, sizeof(charName));
create_char_name(charName, idx);
if (misc_register(&uwibro_dev) != 0) {
dump_debug("adapter_probe: misc_register() failed");
goto regchar_fail;
}
/* Dummy value for "ifconfig up" for 2.6.24 */
random_ether_addr(node_id);
memcpy(net->dev_addr, node_id, sizeof(node_id));
/* sangam dbg */
INIT_WORK(&adapter->receive_work, rx_process_data);
INIT_WORK(&adapter->transmit_work, hw_transmit_thread);
INIT_WORK(&adapter->wimax_reset, cmc7xx_sdio_reset);
if (hw_start(adapter)) {
/* Free the resources and stop the driver processing */
misc_deregister(&uwibro_dev);
dump_debug("hw_start failed");
goto regchar_fail;
}
adapter->ready = TRUE;
return 0;
regchar_fail:
sdio_claim_host(adapter->func);
sdio_release_irq(adapter->func);
sdioirq_fail:
sdio_disable_func(adapter->func);
sdioen_fail:
sdio_release_host(adapter->func);
unregister_netdev(adapter->net);
regdev_fail:
sdio_set_drvdata(func, NULL);
hw_remove(adapter);
hwInit_fail:
free_netdev(net);
alloceth_fail:
pdata->g_cfg->card_removed = true;
pdata->g_cfg->powerup_done = true;
pdata->power(0);
return nRes;
}
pid_t
proc_run(struct privsep *ps, struct privsep_proc *p,
struct privsep_proc *procs, u_int nproc,
void (*init)(struct privsep *, void *), void *arg)
{
pid_t pid;
struct passwd *pw;
const char *root;
u_int32_t seed[256];
switch (pid = fork()) {
case -1:
fatal("proc_run: cannot fork");
case 0:
break;
default:
return (pid);
}
pw = ps->ps_pw;
if (p->p_id == PROC_CONTROL) {
if (control_init(ps, &ps->ps_csock) == -1)
fatalx(p->p_title);
}
/* Change root directory */
if (p->p_chroot != NULL)
root = p->p_chroot;
else
root = pw->pw_dir;
#ifndef DEBUG
if (chroot(root) == -1)
fatal("proc_run: chroot");
if (chdir("/") == -1)
fatal("proc_run: chdir(\"/\")");
#else
#warning disabling privilege revocation and chroot in DEBUG MODE
if (p->p_chroot != NULL) {
if (chroot(root) == -1)
fatal("proc_run: chroot");
if (chdir("/") == -1)
fatal("proc_run: chdir(\"/\")");
}
#endif
privsep_process = p->p_id;
setproctitle("%s", p->p_title);
#ifndef DEBUG
if (setgroups(1, &pw->pw_gid) ||
setresgid(pw->pw_gid, pw->pw_gid, pw->pw_gid) ||
setresuid(pw->pw_uid, pw->pw_uid, pw->pw_uid))
fatal("proc_run: cannot drop privileges");
#endif
event_init();
signal_set(&ps->ps_evsigint, SIGINT, proc_sig_handler, p);
signal_set(&ps->ps_evsigterm, SIGTERM, proc_sig_handler, p);
signal_set(&ps->ps_evsigchld, SIGCHLD, proc_sig_handler, p);
signal_set(&ps->ps_evsighup, SIGHUP, proc_sig_handler, p);
signal_set(&ps->ps_evsigpipe, SIGPIPE, proc_sig_handler, p);
signal_add(&ps->ps_evsigint, NULL);
signal_add(&ps->ps_evsigterm, NULL);
signal_add(&ps->ps_evsigchld, NULL);
signal_add(&ps->ps_evsighup, NULL);
signal_add(&ps->ps_evsigpipe, NULL);
proc_config(ps, procs, nproc);
arc4random_buf(seed, sizeof(seed));
RAND_seed(seed, sizeof(seed));
if (p->p_id == PROC_CONTROL) {
TAILQ_INIT(&ctl_conns);
if (control_listen(&ps->ps_csock) == -1)
fatalx(p->p_title);
}
if (init != NULL)
init(ps, arg);
event_dispatch();
proc_shutdown(p);
return (0);
}
int main(int argc, void* argv[])
{
DCMF_Configure_t config;
config.thread_level = DCMF_THREAD_MULTIPLE;
DCMF_Messager_initialize();
DCMF_Messager_configure(&config, &config);
init();
if (nranks != (THREAD_NUM + 1))
{
printf("This test requires only %d processes \n", (THREAD_NUM + 1));
fflush(stdout);
return -1;
}
barrier_init(DCMF_DEFAULT_GLOBALBARRIER_PROTOCOL);
control_init(DCMF_DEFAULT_CONTROL_PROTOCOL, DCMF_DEFAULT_NETWORK);
memregion_init(LOCAL_MAX_BUF_SIZE * THREAD_NUM);
get_init(DCMF_DEFAULT_PUT_PROTOCOL, DCMF_TORUS_NETWORK);
source = (char *) malloc(LOCAL_MAX_BUF_SIZE * THREAD_NUM);
target = (char *) malloc(LOCAL_MAX_BUF_SIZE * THREAD_NUM);
send_init(DCMF_DEFAULT_SEND_PROTOCOL, DCMF_TORUS_NETWORK);
int status;
long i;
if (myrank == 0)
{
pthread_t threads[THREAD_NUM];
pthread_barrier_init(&ptbarrier, NULL, THREAD_NUM);
pthread_barrier_init(&ptbarrier1, NULL, THREAD_NUM);
for (i = 0; i < THREAD_NUM; i++)
{
pthread_create(&threads[i], NULL, mrate_test, (void *) i);
}
for (i = 0; i < THREAD_NUM; i++)
{
pthread_join(threads[i], (void *) &status);
}
}
else
{
snd_rcv_active += LOCAL_ITERATIONS;
while (snd_rcv_active > 0)
DCMF_Messager_advance();
}
barrier();
DCMF_Messager_finalize();
if (myrank == 0)
{
printf("Benchmark Complete \n");
fflush(stdout);
}
return (0);
}
int main(int argc, char *argv[])
{
// Catch signals
signal(SIGINT, uquad_sig_handler);
signal(SIGQUIT, uquad_sig_handler);
int
i,
retval;
FILE *file;
uquad_mat_t *x, *w;
uquad_bool_t ctrl_outdated = false;
double w_hover;
if(argc < 2)
{
err_log_str("Invalid arguments!",USAGE)
quit();
}
else
{
file = fopen(argv[1],"r");
if(file == NULL)
{
err_log_stderr("Failed to open log!");
quit();
}
}
x = uquad_mat_alloc(STATE_COUNT,1);
w = uquad_mat_alloc(LENGTH_INPUT,1);
if(x == NULL || w == NULL)
{
quit_log_if(ERROR_MALLOC,"Failed to allocate tmp mem!");
}
/**
* The following should be done by calling mot_update_w_hover(), this
* is just a test program.
*/
retval = uquad_solve_pol2(&w_hover, NULL, F_B1, F_B2, -GRAVITY*MASA_DEFAULT/4.0);
quit_log_if(retval, "Failed to get w_hover!");
for(i=0; i<LENGTH_INPUT; ++i)
w->m_full[i] = w_hover;
retval = uquad_mat_zeros(x);
quit_if(retval);
ctrl = control_init();
if(ctrl == NULL)
{
quit_if(ERROR_FAIL);
}
pp = pp_init();
if(pp == NULL)
{
quit_if(ERROR_FAIL);
}
retval = pp_new_setpoint(pp, x, w);
quit_if(retval);
retval = control_update_K(ctrl, pp, MASA_DEFAULT);
quit_log_if(retval, "Failed to update control matrix! Aborting...");
for(;;)
{
retval = uquad_mat_load(x,file);
if(retval != ERROR_OK)
{
quit_log_if(retval, "End of log?");
}
#warning "w_hover should use mot_control.h!!"
retval = pp_update_setpoint(pp, x, w_hover, &ctrl_outdated);
quit_if(retval);
if(ctrl_outdated)
{
retval = control_update_K(ctrl, pp, MASA_DEFAULT);
quit_log_if(retval, "Failed to update control matrix! Aborting...");
retval = control_dump(ctrl, NULL);
quit_log_if(retval, "Failed to dump new control matrix! Aborting...");
}
retval = control(ctrl, w, x, pp->sp, TS_DEFAULT_US);
quit_if(retval);
ctrl_outdated = false;
}
// Never gets here
quit();
}
