int main() {
Fakefile fakefile;
system("rm -f older_file file newer_file");
system("date > older_file");
system("sleep 1");
system("date > file");
system("sleep 1");
system("date > newer_file");
setvbuf(stdout, NULL, _IONBF, 0);
read_fakefile(&fakefile);
printf("\nReturn value of make_target(): %d\n",
make_target(&fakefile, "file"));
clear_fakefile(&fakefile);
return 0;
}
int main() {
Fakefile fakefile;
setvbuf(stdout, NULL, _IONBF, 0);
read_fakefile(&fakefile);
/* the -f option means that the rm will succeed even if the files don't
exist */
system("rm -f main.x main.o functions.o");
printf("Return value of make_target(): %d\n\n",
make_target(&fakefile, "main.x"));
printf("Running main.x now: ");
system("./main.x");
clear_fakefile(&fakefile);
return 0;
}
static void handle_motors(unsigned long long current_time) { // {{{
// Check for move.
if (!computing_move) {
movedebug("handle motors not moving");
return;
}
movedebug("handling %d", computing_move);
double factor = 1;
double t = (current_time - settings.start_time) / 1e6;
if (t >= settings.t0 + settings.tp) { // Finish this move and prepare next. {{{
movedebug("finishing %f %f %f %ld %ld", t, settings.t0, settings.tp, long(current_time), long(settings.start_time));
for (uint8_t s = 0; s < 2; ++s) {
Space &sp = spaces[s];
bool new_move = false;
if (!isnan(sp.settings.dist[0])) {
for (uint8_t a = 0; a < sp.num_axes; ++a) {
if (!isnan(sp.axis[a]->settings.dist[0])) {
sp.axis[a]->settings.source += sp.axis[a]->settings.dist[0];
sp.axis[a]->settings.dist[0] = NAN;
//debug("new source %d %f", a, sp.axis[a]->settings.source);
}
}
sp.settings.dist[0] = NAN;
}
for (uint8_t a = 0; a < sp.num_axes; ++a)
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
move_axes(&sp, current_time, factor);
//debug("f %f", factor);
}
//debug("f2 %f %ld %ld", factor, settings.last_time, current_time);
bool did_steps = do_steps(factor, current_time);
//debug("f3 %f", factor);
// Start time may have changed; recalculate t.
t = (current_time - settings.start_time) / 1e6;
if (t / (settings.t0 + settings.tp) >= done_factor) {
uint8_t had_cbs = cbs_after_current_move;
cbs_after_current_move = 0;
run_file_fill_queue();
if (settings.queue_start != settings.queue_end || settings.queue_full) {
had_cbs += next_move();
if (!aborting && had_cbs > 0) {
//debug("adding %d cbs to fragment %d", had_cbs, current_fragment);
history[current_fragment].cbs += had_cbs;
}
return;
}
cbs_after_current_move += had_cbs;
if (factor == 1) {
//debug("queue done");
if (!did_steps) {
//debug("done move");
computing_move = false;
}
for (uint8_t s = 0; s < 2; ++s) {
Space &sp = spaces[s];
for (uint8_t m = 0; m < sp.num_motors; ++m)
sp.motor[m]->settings.last_v = 0;
}
if (cbs_after_current_move > 0) {
if (!aborting) {
//debug("adding %d cbs to final fragment %d", cbs_after_current_move, current_fragment);
history[current_fragment].cbs += cbs_after_current_move;
}
cbs_after_current_move = 0;
}
}
}
return;
} // }}}
if (t < settings.t0) { // Main part. {{{
double t_fraction = t / settings.t0;
double current_f = (settings.f1 * (2 - t_fraction) + settings.f2 * t_fraction) * t_fraction;
movedebug("main t %f t0 %f tp %f tfrac %f f1 %f f2 %f cf %f", t, settings.t0, settings.tp, t_fraction, settings.f1, settings.f2, current_f);
for (int s = 0; s < 2; ++s) {
Space &sp = spaces[s];
for (uint8_t a = 0; a < sp.num_axes; ++a) {
if (isnan(sp.axis[a]->settings.dist[0])) {
sp.axis[a]->settings.target = NAN;
continue;
}
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
}
make_target(sp, current_f, false);
move_axes(&sp, current_time, factor);
}
} // }}}
else { // Connector part. {{{
movedebug("connector %f %f %f", t, settings.t0, settings.tp);
double tc = t - settings.t0;
double t_fraction = tc / settings.tp;
double current_f2 = settings.fp * (2 - t_fraction) * t_fraction;
double current_f3 = settings.fq * t_fraction * t_fraction;
for (uint8_t s = 0; s < 2; ++s) {
Space &sp = spaces[s];
for (uint8_t a = 0; a < sp.num_axes; ++a) {
if (isnan(sp.axis[a]->settings.dist[0]) && isnan(sp.axis[a]->settings.dist[1])) {
sp.axis[a]->settings.target = NAN;
continue;
}
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
}
make_target(sp, (1 - settings.fp) + current_f2, false);
make_target(sp, current_f3, true);
move_axes(&sp, current_time, factor);
}
} // }}}
do_steps(factor, current_time);
} // }}}
static void handle_motors(unsigned long long current_time) { // {{{
// Check for move.
if (!computing_move) {
movedebug("handle motors not moving");
return;
}
movedebug("handling %d %d", computing_move, cbs_after_current_move);
double factor = 1;
double t = (current_time - settings.start_time) / 1e6;
if (t >= settings.t0 + settings.tp) { // Finish this move and prepare next. {{{
movedebug("finishing %f %f %f %ld %ld", t, settings.t0, settings.tp, long(current_time), long(settings.start_time));
//debug("finish steps");
for (int s = 0; s < NUM_SPACES; ++s) {
if (!settings.single && s == 2)
continue;
Space &sp = spaces[s];
bool new_move = false;
if (!isnan(sp.settings.dist[0])) {
for (int a = 0; a < sp.num_axes; ++a) {
if (!isnan(sp.axis[a]->settings.dist[0])) {
sp.axis[a]->settings.source += sp.axis[a]->settings.dist[0];
sp.axis[a]->settings.dist[0] = NAN;
//debug("new source %d %f", a, sp.axis[a]->settings.source);
}
}
sp.settings.dist[0] = NAN;
}
for (int a = 0; a < sp.num_axes; ++a)
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
move_axes(&sp, current_time, factor);
//debug("f %f", factor);
}
//debug("f2 %f %ld %ld", factor, settings.last_time, current_time);
bool did_steps = do_steps(factor, current_time);
//debug("f3 %f", factor);
// Start time may have changed; recalculate t.
t = (current_time - settings.start_time) / 1e6;
if (t / (settings.t0 + settings.tp) >= done_factor) {
int had_cbs = cbs_after_current_move;
//debug("clearing %d cbs after current move for later inserting into history", cbs_after_current_move);
cbs_after_current_move = 0;
run_file_fill_queue();
if (settings.queue_start != settings.queue_end || settings.queue_full) {
had_cbs += next_move();
if (!aborting && had_cbs > 0) {
int fragment;
if (num_active_motors == 0)
fragment = (current_fragment + FRAGMENTS_PER_BUFFER - 1) % FRAGMENTS_PER_BUFFER;
else
fragment = current_fragment;
//debug("adding %d cbs to fragment %d", had_cbs, fragment);
history[fragment].cbs += had_cbs;
}
return;
}
cbs_after_current_move += had_cbs;
//debug("adding %d to cbs after current move making it %d", had_cbs, cbs_after_current_move);
if (factor == 1) {
//debug("queue done");
if (!did_steps) {
//debug("done move");
computing_move = false;
// Cut off final sample, which was no steps anyway.
current_fragment_pos -= 1;
}
for (int s = 0; s < NUM_SPACES; ++s) {
Space &sp = spaces[s];
for (int m = 0; m < sp.num_motors; ++m)
sp.motor[m]->settings.last_v = 0;
}
if (cbs_after_current_move > 0) {
if (!aborting) {
int fragment;
if (num_active_motors == 0)
if (running_fragment == current_fragment) {
//debug("sending movecbs immediately");
send_host(CMD_MOVECB, cbs_after_current_move);
cbs_after_current_move = 0;
return;
}
else
fragment = (current_fragment + FRAGMENTS_PER_BUFFER - 1) % FRAGMENTS_PER_BUFFER;
else
fragment = current_fragment;
//debug("adding %d cbs to final fragment %d", cbs_after_current_move, fragment);
history[fragment].cbs += cbs_after_current_move;
}
//debug("clearing %d cbs after current move in final", cbs_after_current_move);
cbs_after_current_move = 0;
}
}
}
return;
} // }}}
if (t < settings.t0) { // Main part. {{{
double t_fraction = t / settings.t0;
double current_f = (settings.f1 * (2 - t_fraction) + settings.f2 * t_fraction) * t_fraction;
movedebug("main t %f t0 %f tp %f tfrac %f f1 %f f2 %f cf %f", t, settings.t0, settings.tp, t_fraction, settings.f1, settings.f2, current_f);
//debug("main steps");
for (int s = 0; s < NUM_SPACES; ++s) {
if (!settings.single && s == 2)
continue;
Space &sp = spaces[s];
for (int a = 0; a < sp.num_axes; ++a) {
if (isnan(sp.axis[a]->settings.dist[0])) {
sp.axis[a]->settings.target = NAN;
continue;
}
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
}
make_target(sp, current_f, false);
move_axes(&sp, current_time, factor);
}
} // }}}
else { // Connector part. {{{
movedebug("connector %f %f %f", t, settings.t0, settings.tp);
double tc = t - settings.t0;
double t_fraction = tc / settings.tp;
double current_f2 = settings.fp * (2 - t_fraction) * t_fraction;
double current_f3 = settings.fq * t_fraction * t_fraction;
//debug("connect steps");
for (int s = 0; s < NUM_SPACES; ++s) {
if (!settings.single && s == 2)
continue;
Space &sp = spaces[s];
for (int a = 0; a < sp.num_axes; ++a) {
if (isnan(sp.axis[a]->settings.dist[0]) && isnan(sp.axis[a]->settings.dist[1])) {
sp.axis[a]->settings.target = NAN;
continue;
}
sp.axis[a]->settings.target = sp.axis[a]->settings.source;
}
make_target(sp, (1 - settings.fp) + current_f2, false);
make_target(sp, current_f3, true);
move_axes(&sp, current_time, factor);
}
} // }}}
do_steps(factor, current_time);
} // }}}
static int ctrl_handle_add_service_msg(struct ctrlmsg *cm, int peer)
{
struct ctrlmsg_service *cmr = (struct ctrlmsg_service *)cm;
unsigned int num_res = CTRLMSG_SERVICE_NUM(cmr);
/* TODO - flags, etc */
unsigned int i, index = 0;
int err = 0;
LOG_DBG("adding %u services, msg size %u\n",
num_res, CTRLMSG_SERVICE_LEN(cmr));
for (i = 0; i < num_res; i++) {
struct net_device *dev = NULL;
struct service_info *entry = &cmr->service[i];
unsigned short prefix_bits = SERVICE_ID_MAX_PREFIX_BITS;
if (entry->type == SERVICE_RULE_FORWARD) {
dev = resolve_dev(entry);
if (!dev)
continue;
}
if (entry->srvid_prefix_bits > 0)
prefix_bits = entry->srvid_prefix_bits;
#if defined(ENABLE_DEBUG)
{
char ipstr[18];
LOG_DBG("Adding service id: %s(%u) "
"@ address %s, priority %u, weight %u\n",
service_id_to_str(&entry->srvid),
prefix_bits,
inet_ntop(AF_INET, &entry->address,
ipstr, sizeof(ipstr)),
entry->priority, entry->weight);
}
#endif
err = service_add(&entry->srvid,
prefix_bits,
entry->type,
entry->srvid_flags,
entry->priority,
entry->weight,
&entry->address,
sizeof(entry->address),
make_target(dev), GFP_KERNEL);
if (dev)
dev_put(dev);
if (err > 0) {
if (index < i) {
/* copy it over */
memcpy(&cmr->service[index],
entry, sizeof(*entry));
}
index++;
} else {
LOG_ERR("Error adding service %s: err=%d\n",
service_id_to_str(&entry->srvid), err);
}
}
if (index == 0) {
/* Just return the original request with a return value */
cm->retval = CTRLMSG_RETVAL_NOENTRY;
} else {
/* Return the entries added */
cm->retval = CTRLMSG_RETVAL_OK;
cm->len = CTRLMSG_SERVICE_NUM_LEN(index);
}
ctrl_sendmsg(cm, peer, GFP_KERNEL);
return 0;
}
static int ctrl_handle_mod_service_msg(struct ctrlmsg *cm, int peer)
{
struct ctrlmsg_service *cmr = (struct ctrlmsg_service *)cm;
unsigned int num_res = CTRLMSG_SERVICE_NUM(cmr);
unsigned int i, index = 0;
int err = 0;
if (num_res < 2 || num_res % 2 != 0) {
LOG_DBG("Not an even number of service infos\n");
return 0;
}
LOG_DBG("modifying %u services\n", num_res / 2);
for (i = 0; i < num_res; i += 2) {
struct net_device *dev;
struct service_info *entry_old = &cmr->service[i];
struct service_info *entry_new = &cmr->service[i+1];
unsigned short prefix_bits = SERVICE_ID_MAX_PREFIX_BITS;
if (entry_old->srvid_prefix_bits > 0)
prefix_bits = entry_old->srvid_prefix_bits;
#if defined(ENABLE_DEBUG)
{
char buf[18];
LOG_DBG("Modifying: %s flags(%i) bits(%i) %s\n",
service_id_to_str(&entry_old->srvid),
entry_old->srvid_flags,
prefix_bits,
inet_ntop(AF_INET, &entry_old->address,
buf, 18));
}
#endif
dev = resolve_dev(entry_old);
if (!dev)
continue;
err = service_modify(&entry_old->srvid,
prefix_bits,
SERVICE_RULE_FORWARD,
entry_old->srvid_flags,
entry_new->priority,
entry_new->weight,
&entry_old->address,
sizeof(entry_old->address),
&entry_new->address,
sizeof(entry_new->address),
make_target(dev));
if (err > 0) {
if (index < i) {
/* copy it over */
memcpy(&cmr->service[index],
entry_new, sizeof(*entry_new));
}
index++;
} else {
LOG_ERR("Could not modify service %s: %i\n",
service_id_to_str(&entry_old->srvid),
err);
}
dev_put(dev);
}
if (index == 0) {
cm->retval = CTRLMSG_RETVAL_NOENTRY;
} else {
cm->retval = CTRLMSG_RETVAL_OK;
cm->len = CTRLMSG_SERVICE_NUM_LEN(index);
}
ctrl_sendmsg(cm, peer, GFP_KERNEL);
return 0;
}
