void check_permission(char *filename) {
#ifdef _WIN32
return;
#else
/* get file-status */
struct stat filebuf;
int status=stat(filename, &filebuf);
if (status == -1) {
printf ( "Task-file not found.\n" );
log_task("ERROR", "Task-file not found.");
exit(EXIT_FAILURE);
}
/* check file- vs. os-user */
uid_t file_uid=filebuf.st_uid;
uid_t os_uid=geteuid();
if (file_uid!=os_uid) {
struct passwd *pw;
pw=getpwuid(os_uid);
printf ( "Invalid owner of the task-file (%s).\n", pw->pw_name );
log_task("ERROR", "Invalid owner of the task-file");
exit(EXIT_FAILURE);
}
/* check file-mode */
int mode=filebuf.st_mode;
if ((((mode & S_IWGRP) || (mode & S_IWOTH)) && (mode & S_IWRITE))) {
printf ( "Invalid permission of the task-file (%o).\nCheck write-permission for 'group' and 'other'.\n", mode );
log_task("ERROR", "Invalid permission of the task-file");
exit(EXIT_FAILURE);
}
#endif
}
void execute_task(ITEM now, ITEM item) {
#ifdef _WIN32
char start[300];
sprintf(start, "start %s", item.command);
log_task("START", item.command);
printf ( "%02d.%02d %02d:%02d\tCOMMAND:\t%s\n", now.monthday, now.month, now.hour, now.minute, item.command );
system(start); /* execute command */
log_task("STOP", item.command);
#else
pid_t child_pid=fork(); /* fork program */
int status;
switch(child_pid) {
case -1:
/* error */
printf ( "Unable to start process (%s).\n", item.command );
exit(EXIT_FAILURE);
case 0:
/* child */
log_task("START", item.command);
int sys_exit=system(item.command); /* execute command */
log_task("STOP", item.command);
exit(sys_exit); /* exit sub-process */
default:
/* parent */
printf ( "%03d.%02d %02d:%02d\tCOMMAND:\t%s\n", now.monthday, now.month, now.hour, now.minute, item.command );
child_pid = wait(&status);
if ( WIFEXITED(status) != 0 ) {
// printf ( "Child (%d) has been finished with status %d.\n", child_pid, WEXITSTATUS(status) );
} else {
printf ( "Child (%d) has been finished with error %d.\n", child_pid, WEXITSTATUS(status) );
}
} /* switch */
#endif
}
int main(void) {
init_menu();
clear();
init_motor();
init_timers();
encoders_init(IO_D2, IO_D3, IO_C4, IO_C5);
sei();
while (1)
{
if(g_pd_release) {
pd_task();
g_pd_release = 0;
}
if(g_velocity_release) {
velocity_task();
g_velocity_release = 0;
}
if(g_encoder_release) {
encoder_task();
g_encoder_release = 0;
}
if(g_log_release) {
log_task();
g_log_release = 0;
}
if(g_interpolate_release) {
interoplate_task();
g_interpolate_release = 0;
}
serial_check();
check_for_new_bytes_received();
}
}
