static int debugger_wait(debugger_state *debugger, int *status, int options,
int (*syscall)(debugger_state *debugger, pid_t child),
int (*normal_return)(debugger_state *debugger,
pid_t unused),
int (*wait_return)(debugger_state *debugger,
pid_t unused))
{
if(debugger->real_wait){
debugger->handle_trace = normal_return;
syscall_continue(debugger->pid);
debugger->real_wait = 0;
return(1);
}
debugger->wait_status_ptr = status;
debugger->wait_options = options;
if((debugger->debugee != NULL) && debugger->debugee->event){
syscall_continue(debugger->pid);
wait_for_stop(debugger->pid, SIGTRAP, PTRACE_SYSCALL,
NULL);
(*wait_return)(debugger, -1);
return(0);
}
else if(debugger->wait_options & WNOHANG){
syscall_cancel(debugger->pid, 0);
debugger->handle_trace = syscall;
return(0);
}
else {
syscall_pause(debugger->pid);
debugger->handle_trace = wait_return;
debugger->waiting = 1;
}
return(1);
}
void attach_process(int pid)
{
if((ptrace(PTRACE_ATTACH, pid, 0, 0) < 0) ||
(ptrace(PTRACE_CONT, pid, 0, 0) < 0))
tracer_panic("OP_FORK failed to attach pid");
wait_for_stop(pid, SIGSTOP, PTRACE_CONT, NULL);
if(ptrace(PTRACE_CONT, pid, 0, 0) < 0)
tracer_panic("OP_FORK failed to continue process");
}
int clone_and_wait(int (*fn)(void *), void *arg, void *sp, int flags)
{
int pid;
pid = clone(fn, sp, flags, arg);
if(pid < 0) return(-1);
wait_for_stop(pid, SIGSTOP, PTRACE_CONT, NULL);
ptrace(PTRACE_CONT, pid, 0, 0);
return(pid);
}
void syscall_cancel(pid_t pid, int result)
{
if((ptrace(PTRACE_POKEUSR, pid, PT_SYSCALL_NR_OFFSET,
__NR_getpid) < 0) ||
(ptrace(PTRACE_SYSCALL, pid, 0, 0) < 0) ||
(wait_for_stop(pid, SIGTRAP, PTRACE_SYSCALL, NULL) < 0) ||
(ptrace(PTRACE_POKEUSR, pid, PT_SYSCALL_RET_OFFSET, result) < 0) ||
(ptrace(PTRACE_SYSCALL, pid, 0, 0) < 0))
printk("ptproxy: couldn't cancel syscall: errno = %d\n",
errno);
}
int outer_tramp(void *arg)
{
struct tramp *t;
int sig = sigkill;
t = arg;
t->pid = clone(t->tramp, (void *) t->temp_stack + page_size()/2,
t->flags, t->tramp_data);
if(t->pid > 0) wait_for_stop(t->pid, SIGSTOP, PTRACE_CONT, NULL);
kill(os_getpid(), sig);
_exit(0);
}
int schedule_reading()
{
int *read_schedule,re_try = 0;
long read_wait;
modbus_t *sdl;
double sdl_data;
uint16_t *rd_data_registers;
modbus_t *rd_ctx;
read_schedule = (int*)malloc(6*sizeof(int));
rd_data_registers = (uint16_t*)malloc(2*sizeof(uint16_t));
read_schedule = check_time(read_schedule);
if((read_schedule[4]>=3) && (read_schedule[4]<=10))
{
enable(0);
initbus(1);
sleep(1);
rd_ctx= modbusconnection(rd_ctx);
sleep(1);
gotoposition(rd_ctx, 0,rd_data_registers);
setconfig(9,0);
wait_for_stop(rd_ctx,rd_data_registers);
initbus(0);
sdl_sample:
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
if(re_try < 3){re_try++;goto sdl_sample;}
else
{
login("Failed in connecting in sample duration");
setsdl(30000,-100000);
}
}
else
{
sdl_read_sensor(sdl,1,0);
sleep(30);
sample_save_data(sdl);
}
modbus_close(sdl);
}
return 1;
}
static void dump_thread(log_t* log, pid_t tid, bool attached,
bool* detach_failed, int* total_sleep_time_usec) {
char path[PATH_MAX];
char threadnamebuf[1024];
char* threadname = NULL;
FILE* fp;
snprintf(path, sizeof(path), "/proc/%d/comm", tid);
if ((fp = fopen(path, "r"))) {
threadname = fgets(threadnamebuf, sizeof(threadnamebuf), fp);
fclose(fp);
if (threadname) {
size_t len = strlen(threadname);
if (len && threadname[len - 1] == '\n') {
threadname[len - 1] = '\0';
}
}
}
_LOG(log, SCOPE_AT_FAULT, "\n\"%s\" sysTid=%d\n",
threadname ? threadname : "<unknown>", tid);
if (!attached && ptrace(PTRACE_ATTACH, tid, 0, 0) < 0) {
_LOG(log, SCOPE_AT_FAULT, "Could not attach to thread: %s\n", strerror(errno));
return;
}
wait_for_stop(tid, total_sleep_time_usec);
backtrace_context_t context;
if (!backtrace_create_context(&context, tid, -1, 0)) {
_LOG(log, SCOPE_AT_FAULT, "Could not create backtrace context.\n");
} else {
dump_backtrace_to_log(&context, log, SCOPE_AT_FAULT, " ");
backtrace_destroy_context(&context);
}
if (!attached && ptrace(PTRACE_DETACH, tid, 0, 0) != 0) {
LOG("ptrace detach from %d failed: %s\n", tid, strerror(errno));
*detach_failed = true;
}
}
int start_child()
{
pid_t mypid = getpid();
setpgid(mypid, mypid);
pid_t child;
child = fork();
switch (child) {
case 0:
close(pipe_fd[1]);
dup2(pipe_fd[0],0);
if (proc_stat.argc > 0) {
return execvp(proc_stat.path, proc_stat.argv);
} else {
char *b = NULL;
b = malloc((sizeof("exec ") - 1) + strlen(proc_stat.path) + 1);
strcpy(b, "exec ");
strcat(b, proc_stat.path);
return execl("/bin/sh", "sh", "-c", b, (char *) NULL);
}
case -1:
fprintf(stderr, "launch: fork failed: %s\n", strerror(errno));
return -1;
default:
close(pipe_fd[0]);
proc_stat.pid = child;
int a=1;
mylog("start child pid=%d",child);
if(wait_for_service()){
proc_stat.running = RUNNING;
wait_for_stop();
clean_child();
}else{
clean_child();
}
}
}
static void dump_thread(
log_t* log, pid_t tid, bool attached, bool* detach_failed, int* total_sleep_time_usec) {
char path[PATH_MAX];
char threadnamebuf[1024];
char* threadname = NULL;
FILE* fp;
snprintf(path, sizeof(path), "/proc/%d/comm", tid);
if ((fp = fopen(path, "r"))) {
threadname = fgets(threadnamebuf, sizeof(threadnamebuf), fp);
fclose(fp);
if (threadname) {
size_t len = strlen(threadname);
if (len && threadname[len - 1] == '\n') {
threadname[len - 1] = '\0';
}
}
}
_LOG(log, logtype::BACKTRACE, "\n\"%s\" sysTid=%d\n", threadname ? threadname : "<unknown>", tid);
if (!attached && ptrace(PTRACE_ATTACH, tid, 0, 0) < 0) {
_LOG(log, logtype::BACKTRACE, "Could not attach to thread: %s\n", strerror(errno));
return;
}
wait_for_stop(tid, total_sleep_time_usec);
UniquePtr<Backtrace> backtrace(Backtrace::Create(tid, BACKTRACE_CURRENT_THREAD));
if (backtrace->Unwind(0)) {
dump_backtrace_to_log(backtrace.get(), log, " ");
}
if (!attached && ptrace(PTRACE_DETACH, tid, 0, 0) != 0) {
_LOG(log, logtype::ERROR, "ptrace detach from %d failed: %s\n", tid, strerror(errno));
*detach_failed = true;
}
}
/*!
* @brief Berechnet aktuelle Mittelwerte und Varianzen und prueft nach dt ms auf bessere Bewertung
* @param dt Zeit in ms bevor eine neue Bewertung erstellt wird
* @param pid_param Zeiger auf den veraenderlichen PID-Parameter
* @param step Wert, um den *pid_param inkrementiert wird
* Neue beste Parameter werden gespeichert und vor jeder Parameteraenderung wird der Bot kurz angehalten.
* Bei neuem besten Wert werden die bisher besten Parameter per LOG ausgegeben
*/
static void compare_weightings(const uint16_t dt, int8_t * pid_param, const int8_t step) {
/* Mittelwerte und Varianzen aktualisieren */
float weight = calc_weighting();
/* nach dt ms aktuelle Bewertung mit bisher bester vergleichen */
if (timer_ms_passed_32(&ticks, dt)) {
uint32_t dt_real = TIMER_GET_TICKCOUNT_32 - ticks_start;
weight = weight / (float)dt_real * (dt*1000.0f/176.0f); // Bewertung normieren
if (best_weight >= weight) {
/* Verbesserung => die aktuellen Parameter merken */
best_weight = weight;
best_Kp = Kp;
best_Ki = Ki;
best_Kd = Kd;
/* User per LOG informieren */
LOG_INFO("Kp=%d\tKi=%d\tKd=%d\tnach %u s", best_Kp, best_Ki, best_Kd, TICKS_TO_MS(TIMER_GET_TICKCOUNT_32)/1000);
// uint32_t weight_int = weight * 1000000.0f;
LOG_DEBUG("weight=%lu", (uint32_t)(weight * 1000000.0f));
}
/* neuen Parameter einstellen und Nachlauf abwarten */
*pid_param = (int8_t) (*pid_param + step);
// uint32_t weight_int = weight * 1000000.0f;
// LOG_DEBUG("weight=%lu", weight_int);
wait_for_stop();
/* alten Daten verwerfen */
clear_weighting();
/* verbleibende Zeit aktualisieren */
cal_pid_ete -= dt / 1000;
}
}
int attach_child(pid_t pid, const char *pty, int force_stdio) {
struct ptrace_child child;
child_addr_t scratch_page = -1;
int *child_tty_fds = NULL, n_fds, child_fd, statfd = -1;
int i;
int err = 0;
long page_size = sysconf(_SC_PAGE_SIZE);
#ifdef __linux__
char stat_path[PATH_MAX];
#endif
if ((err = check_pgroup(pid))) {
return err;
}
if ((err = preflight_check(pid))) {
return err;
}
debug("Using tty: %s", pty);
if ((err = copy_tty_state(pid, pty))) {
if (err == ENOTTY && !force_stdio) {
error("Target is not connected to a terminal.\n"
" Use -s to force attaching anyways.");
return err;
}
}
#ifdef __linux__
snprintf(stat_path, sizeof stat_path, "/proc/%d/stat", pid);
statfd = open(stat_path, O_RDONLY);
if (statfd < 0) {
error("Unable to open %s: %s", stat_path, strerror(errno));
return -statfd;
}
#endif
kill(pid, SIGTSTP);
wait_for_stop(pid, statfd);
if ((err = grab_pid(pid, &child, &scratch_page))) {
goto out_cont;
}
if (force_stdio) {
child_tty_fds = malloc(3 * sizeof(int));
if (!child_tty_fds) {
err = ENOMEM;
goto out_unmap;
}
n_fds = 3;
child_tty_fds[0] = 0;
child_tty_fds[1] = 1;
child_tty_fds[2] = 2;
} else {
child_tty_fds = get_child_tty_fds(&child, statfd, &n_fds);
if (!child_tty_fds) {
err = child.error;
goto out_unmap;
}
}
if (ptrace_memcpy_to_child(&child, scratch_page, pty, strlen(pty) + 1)) {
err = child.error;
error("Unable to memcpy the pty path to child.");
goto out_free_fds;
}
child_fd = do_syscall(&child, openat,
-1, scratch_page, O_RDWR | O_NOCTTY,
0, 0, 0);
if (child_fd < 0) {
err = child_fd;
error("Unable to open the tty in the child.");
goto out_free_fds;
}
debug("Opened the new tty in the child: %d", child_fd);
err = ignore_hup(&child, scratch_page);
if (err < 0)
goto out_close;
err = do_syscall(&child, getsid, 0, 0, 0, 0, 0, 0);
if (err != child.pid) {
debug("Target is not a session leader, attempting to setsid.");
err = do_setsid(&child);
} else {
do_syscall(&child, ioctl, child_tty_fds[0], TIOCNOTTY, 0, 0, 0, 0);
}
if (err < 0)
goto out_close;
err = do_syscall(&child, ioctl, child_fd, TIOCSCTTY, 1, 0, 0, 0);
if (err != 0) { /* Seems to be returning >0 for error */
error("Unable to set controlling terminal: %s", strerror(err));
goto out_close;
}
debug("Set the controlling tty");
for (i = 0; i < n_fds; i++) {
err = do_dup2(&child, child_fd, child_tty_fds[i]);
if (err < 0)
error("Problem moving child fd number %d to new tty: %s", child_tty_fds[i], strerror(errno));
}
err = 0;
out_close:
do_syscall(&child, close, child_fd, 0, 0, 0, 0, 0);
out_free_fds:
free(child_tty_fds);
out_unmap:
do_unmap(&child, scratch_page, page_size);
ptrace_restore_regs(&child);
ptrace_detach_child(&child);
if (err == 0) {
kill(child.pid, SIGSTOP);
wait_for_stop(child.pid, statfd);
}
kill(child.pid, SIGWINCH);
out_cont:
kill(child.pid, SIGCONT);
#ifdef __linux__
close(statfd);
#endif
return err < 0 ? -err : err;
}
int attach_child(pid_t pid, const char *pty, int force_stdio) {
struct ptrace_child child;
unsigned long scratch_page = -1;
int *child_tty_fds = NULL, n_fds, child_fd, statfd;
int i;
int err = 0;
long page_size = sysconf(_SC_PAGE_SIZE);
char stat_path[PATH_MAX];
long mmap_syscall;
if ((err = copy_tty_state(pid, pty))) {
if (err == ENOTTY && !force_stdio) {
error("Target is not connected to a terminal.\n"
" Use -s to force attaching anyways.");
return err;
}
}
snprintf(stat_path, sizeof stat_path, "/proc/%d/stat", pid);
statfd = open(stat_path, O_RDONLY);
if (statfd < 0) {
error("Unable to open %s: %s", stat_path, strerror(errno));
return -statfd;
}
kill(pid, SIGTSTP);
wait_for_stop(pid, statfd);
if (ptrace_attach_child(&child, pid)) {
err = child.error;
goto out_cont;
}
if (ptrace_advance_to_state(&child, ptrace_at_syscall)) {
err = child.error;
goto out_detach;
}
if (ptrace_save_regs(&child)) {
err = child.error;
goto out_detach;
}
mmap_syscall = ptrace_syscall_numbers(&child)->nr_mmap2;
if (mmap_syscall == -1)
mmap_syscall = ptrace_syscall_numbers(&child)->nr_mmap;
scratch_page = ptrace_remote_syscall(&child, mmap_syscall, 0,
page_size, PROT_READ|PROT_WRITE,
MAP_ANONYMOUS|MAP_PRIVATE, 0, 0);
if (scratch_page > (unsigned long)-1000) {
err = -(signed long)scratch_page;
goto out_unmap;
}
debug("Allocated scratch page: %lx", scratch_page);
if (force_stdio) {
child_tty_fds = malloc(3 * sizeof(int));
if (!child_tty_fds) {
err = ENOMEM;
goto out_unmap;
}
n_fds = 3;
child_tty_fds[0] = 0;
child_tty_fds[1] = 1;
child_tty_fds[2] = 2;
} else {
child_tty_fds = get_child_tty_fds(&child, statfd, &n_fds);
if (!child_tty_fds) {
err = child.error;
goto out_unmap;
}
}
if (ptrace_memcpy_to_child(&child, scratch_page, pty, strlen(pty)+1)) {
err = child.error;
error("Unable to memcpy the pty path to child.");
goto out_free_fds;
}
child_fd = do_syscall(&child, open,
scratch_page, O_RDWR|O_NOCTTY,
0, 0, 0, 0);
if (child_fd < 0) {
err = child_fd;
error("Unable to open the tty in the child.");
goto out_free_fds;
}
debug("Opened the new tty in the child: %d", child_fd);
err = ignore_hup(&child, scratch_page);
if (err < 0)
goto out_close;
err = do_syscall(&child, getsid, 0, 0, 0, 0, 0, 0);
if (err != child.pid) {
debug("Target is not a session leader, attempting to setsid.");
err = do_setsid(&child);
} else {
do_syscall(&child, ioctl, child_tty_fds[0], TIOCNOTTY, 0, 0, 0, 0);
}
if (err < 0)
goto out_close;
err = do_syscall(&child, ioctl, child_fd, TIOCSCTTY, 0, 0, 0, 0);
if (err < 0) {
error("Unable to set controlling terminal.");
goto out_close;
}
debug("Set the controlling tty");
for (i = 0; i < n_fds; i++)
do_syscall(&child, dup2, child_fd, child_tty_fds[i], 0, 0, 0, 0);
err = 0;
out_close:
do_syscall(&child, close, child_fd, 0, 0, 0, 0, 0);
out_free_fds:
free(child_tty_fds);
out_unmap:
do_unmap(&child, scratch_page, page_size);
ptrace_restore_regs(&child);
out_detach:
ptrace_detach_child(&child);
if (err == 0) {
kill(child.pid, SIGSTOP);
wait_for_stop(child.pid, statfd);
}
kill(child.pid, SIGWINCH);
out_cont:
kill(child.pid, SIGCONT);
close(statfd);
return err < 0 ? -err : err;
}
int main(int argc, char **argv, char **envp)
{
if (argc < 3) {
printUsage("Not enough arguments.");
return EXIT_SUCCESS;
}
unsigned long long entrypoint = get_elf_entry(argv[2]);
pid_t pid;
pid = fork();
if (pid < 0) {
printf("Fork failed.\n");
return EXIT_FAILURE;
} else if (pid == 0) {
/* We are the child. */
ptrace(PTRACE_TRACEME, 0, NULL, NULL);
kill(getpid(), SIGSTOP);
execve(argv[2], argv+2, envp);
/* Apparently the execve causes a SIGTRAP to be sent. */
} else {
/* We are the parent. */
/* Wait for execve to finish. */
wait_for_stop(pid);
//long ret = 0;
//ret = ptrace(PTRACE_ATTACH, pid, 0, 0);
//if (ret != 0) {
// perror("Failed ptrace() attach.");
// exit(EXIT_FAILURE);
//}
//wait_for_stop(pid);
struct user_regs_struct regs;
//ptrace(PTRACE_SYSCALL, pid, 0, 0);
//wait_for_stop(pid);
//long syscall = ptrace(PTRACE_PEEKUSER, pid, sizeof(long)*ORIG_EAX);
//printf("EAX: %ld\n", syscall);
//ptrace(PTRACE_SYSCALL, pid, 0, 0);
//wait_for_stop(pid);
//ptrace(PTRACE_GETREGS, pid, NULL, ®s);
//printf("EAX: %lx\n", regs.rax);
int hit_entrypoint = 0;
FILE *output = fopen(argv[1], "w");
if (output == NULL) {
perror("Error opening output file.");
return EXIT_FAILURE;
}
while (ptrace(PTRACE_SINGLESTEP, pid, 0, 0) == 0) {
wait_for_stop(pid);
if (ptrace(PTRACE_GETREGS, pid, NULL, ®s) != 0) {
perror("Error getting regs.");
}
if (regs.rip == entrypoint) {
hit_entrypoint = 1;
}
if (hit_entrypoint) {
fprintf(output, "%llx\n", regs.rip);
// XXX
}
}
fclose(output);
perror("wat");
}
return EXIT_SUCCESS;
}
int main(int argc, char *argv[])
{
uint8_t *tab_rp_bits;
uint16_t *tab_rp_registers;
uint16_t *rd_position_registers;
uint16_t *tab_rp_registers_bad;
modbus_t *ctx;
/***********************************************************************
* feedback is used to store the return value of every called function
* rc is used to store the return value of the modbus command
* resend is used to define the resend times if the command is failed
* i is used for the loop parameter
* insert_bit is used to indicate the calibarate function if there is value to set
* num is used to store the number of data blocks in database
* use_backend is used to indicate the modbus mode is rtu
* next_option is used to take the command options
* pre_step, curr_step are used to indicate the previous step number and current position step number
* pre_length and value indicate the latest posiotion in database and current position
* SLEN is a kind of struct used to store the database blocks
************************************************************************/
int feedback,i;
int insert_bit, nb_points,num =0;
int next_option;
long curr_step;
long pystep = -1;
double value;
double pdepth,pspacing,pdwell,pinterval;
double profiled,stopped;
double depth,dwell,spacing,interval;
double last_position;
int profilebit =0,feedback1,feedback2;
int modbus=0;
int motor_stop = 0;
char * command_arg = "";
char * return_value;
double in_position = 0;
SLEN *examp;
ARF *config, *profile,*off_set;
modbus_mapping_t *mb_mapping;
int ShmID;
int *ShmPTR;
int stop_indicator = 0;
key_t MyKey;
MyKey = ftok(".", 's');
ShmID = shmget(MyKey, sizeof(int), IPC_CREAT | 0666);
ShmPTR = (int *) shmat(ShmID, NULL, 0);
tab_rp_registers = (uint16_t *) malloc(4 * sizeof(uint16_t));
rd_position_registers = (uint16_t *) malloc(2 * sizeof(uint16_t));
tab_rp_registers_bad = (uint16_t *) malloc(2 * sizeof(uint16_t));
config = (ARF*)malloc( 10 * sizeof(ARF) );
if ( config == NULL )
{
printf("Error: Out of Memory, use ./master reset to reset memory\n");
exit(1);
}
const char *const short_options = "hd::u::l:p::cD::w::s::i::gSmt::";
const struct option long_options[] = {
{ "help", 0,NULL, 'h'},
{ "down", 2,NULL, 'd'},
{ "up", 2,NULL, 'u'},
{ "length", 1,NULL, 'l'},
{ "position", 2,NULL, 'p'},
{ "count", 0,NULL, 'c'},
{ "Depth", 2,NULL, 'D'},
{ "well", 2,NULL, 'w'},
{ "spacing", 2,NULL, 's'},
{ "interval", 2,NULL, 'i'},
{ "go", 0,NULL, 'g'},
{ "System", 0,NULL, 'S'},
{ "motor", 0,NULL, 'm'},
{ "time", 2,NULL, 't'},
{ NULL, 0, NULL, 0 },
};
if (argc < 2)
{
print_comusage (stderr, 1);
return_value = json_option("status:",-1);
return return_value;
}
program_name = argv[0];
/*Get the first argument that passed through main function but does not contain*/
command_name = argv[1];
if(argc > 2)
{
command_arg = argv[2];
}
/*******************************************************************************************
* The next three command_name are used to control the motor through modbus (need modbus) *
********************************************************************************************/
if ( strcmp(command_name, "go") == 0 ) {
double curr_position;
char *recd = (char*)malloc(10*sizeof(char));
double offset;
int re_send = 0;
*ShmPTR = 0;
modbus = 0;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if (next_option == -1) print_comusage (stderr, 1);
while (next_option != -1)
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'd':
godown:
enable(0);
initbus(1);
/* sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = godown(ctx);
if((feedback == -1)&&(re_send <1))
{
enable(0);
initbus(0);
re_send++;
goto godown;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
*/
feedback = process_go_down(1);
if((feedback == 0) && (re_send < 1))
{
printf("get false recycle power\n");
enable(0);
initbus(0);
re_send++;
goto godown;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
break;
case 'u':
goup:
enable(0);
initbus(1);
/*
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = goup(ctx);
if((feedback == -1)&&(re_send <1))
{
enable(0);
initbus(0);
re_send++;
goto goup;
}
*/
feedback = process_go_up(1);
if((feedback == 0) && (re_send < 1))
{
printf("Get false recycle power\n");
enable(0);
initbus(0);
re_send++;
goto goup;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
break;
case 'p':
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
in_position = atof(optarg);
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
in_position = in_position - offset;
//printf("inposition is %f offset is %f\n",in_position,offset);
free(off_set);
//system("/home/sampler/kingkong.sh");
gotoposition:
if (in_position <= 0)
{
if( process_read_home_switch(1) == 0)
{
feedback = process_go_home(1);
}
else
feedback = 1;
}
else
{
pystep = process_read_step(1);
curr_position = process_position(pystep);
if ( !(( (in_position -0.1) <= curr_position ) && ( curr_position <= (in_position + 0.1) )) )
{
feedback = process_go_position(1,in_position);
return_value = json_option("status",feedback);
}
}
if((feedback == 0)&&(re_send <1))
{
printf("get false recycle power");
enable(0);
initbus(0);
enable(0);
initbus(1);
re_send++;
goto gotoposition;
}
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
//If the go command is failed, then exit the current process and power off the controller
if(feedback == 0)
{
printf("1\n");
//*ShmPTR = 1;
enable(0);
initbus(0);
return_value = json_option("status",-1);
return return_value;
}
do{
usleep(5000);
stop_indicator = process_check(1);
}while(stop_indicator != 0);
//printf("stop\n");
sleep(1);
pystep = process_read_step(1);
curr_position = process_position(pystep);
//printf("cur position is %f\n",curr_position);
if(curr_position != -1)
{
login("Go to command set last position");
curr_position = curr_position + offset;
setconfig(9,curr_position);
// In order to avoid "Read status command shutdown the power by accident
enable(0);
initbus(0);
return_value = json_option("status",1);
}
else return_value = json_option("status",-1);
}
if ( strcmp(command_name, "stop") == 0 )
{
if(check_power() == 1)
{
/*sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = stop(ctx);
if(feedback == -1)stop(ctx);
*/
process_stop(1);
}
}
if ( strcmp(command_name, "position") == 0 )
{
login("Check position command");
int resend = 0;
double temp_position,offset;
char *rec = (char*)malloc(10*sizeof(char));
stop_indicator = *ShmPTR;
uint16_t * position_registers = (uint16_t *) malloc(2 * sizeof(uint16_t));
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
checkposition:
if (check_power()== 1)
{
ctx = modbusconnection(ctx);
modbus = 1;
temp_position = checkposition(ctx,position_registers);
sprintf(rec,"The position read is %f",temp_position);
login(rec);
if(temp_position != -1)
{
login("Check position set last position");
//This sentence is used to show the position with offset
temp_position = temp_position + offset;
feedback = setconfig(9,temp_position);
}
else
{
if(resend < 2)
{
resend++;
goto checkposition;
}
else return -100;
}
}
else
{
config = getconfig(&num,config);
temp_position = config[8].value;
}
return_value = json_float_option("status",temp_position);
printf("%s\n",return_value);
}
/***********************************************************************
* 0: motor is stopped *
* 1: motor is going down *
* 2: motor is going up *
* 3: motor is ramp up *
* 4: motor is ramp down *
* (need modbus) *
* *
************************************************************************/
if(strcmp(command_name, "status") == 0)
{
stop_indicator = *ShmPTR;
if (check_power()== 1)
{
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if(next_option == -1) print_comusage (stderr, 1);
while(next_option != -1)
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'S':
feedback = checksystemstatus(ctx,tab_rp_registers);
return_value = json_option("status",feedback);
break;
case 'm':
feedback = checkmotorstatus(ctx,tab_rp_registers);
return_value = json_option("status",feedback);
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if(feedback == -1)
{
return_value = json_option("status",0);
}
}
else
{
return_value = json_option("status",0);
//login("Check status from database");
}
printf("%s\n",return_value);
}
/****************************************************************************************
* The next three command_name are used to control the database through sqlite3 *
*****************************************************************************************/
if ( strcmp(command_name, "factory_default") == 0 )
{
feedback1 = reset(0);
feedback2 = dbinit(0);
if ( (feedback1 == 1) && (feedback2 == 1))
{
return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
else
{
return_value = json_float_option("status",-1);
printf("%s\n",return_value);
}
}
if ( strcmp(command_name, "reset") == 0 )
{
feedback = reset(0);
if(feedback == 1)
{
feedback = expected_time_reset();
}
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "init") == 0 )
{
feedback = -1;
if ( strcmp(command_arg, "all") == 0 )
{
feedback = dbinit(0);
if(feedback == 1)
{
feedback = expected_time_init();
}
}
if ( strcmp(command_arg, "calibrate" ) == 0 )
{
setconfig(6,0);
feedback = dbinit(1);
}
if ( strcmp(command_arg, "configure" ) == 0 )
{
feedback = dbinit(2);
}
if ( feedback == -1 )
{
return_value = json_float_option("status",-1);
print_comusage (stderr, 1);
}
else return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name,"get") == 0 )
{
examp = getall(&num,examp);
return_value = json_array_option(num,examp);
free(examp);
printf("%s",return_value);
}
if ( strcmp(command_name,"set_offset") == 0 )
{
double offset;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
while( next_option != -1 )
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'l':
if(optarg!=0)offset = strtod(optarg,NULL);
insert_bit = 1;
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
feedback = setconfig(11,offset);
return_value = json_option("status",feedback);
printf("%s",return_value);
}
if ( strcmp(command_name,"get_offset") == 0 )
{
double offset;
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
return_value = json_float_option("status",offset);
printf("%s",return_value);
free(off_set);
}
/**************************************************************************
* The next three command_name are used to calibrate (need modbus) *
***************************************************************************/
if ( strcmp(command_name, "calibrate") == 0 )
{
double calibrate;
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
config = getconfig(&num,config);
calibrate = config[5].value;
if ( calibrate == 0 )
{
reset(1);
setconfig(6,1.0);
set(num,0,0);
}
while( next_option != -1 )
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'l':
if(optarg!=0)value = atof(optarg);
insert_bit = 1;
break;
case 'c':
getall(&num,examp);
return_value = json_option("status",num);
printf("%s\n",return_value);
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if ( insert_bit == 1 )
{
curr_step = checksteps(ctx,rd_position_registers);
if ( curr_step < 0 ) curr_step =0;//do not need
feedback = checkvalue(curr_step,value);
if ( feedback == 1 )
{
feedback = set(num,curr_step,value);
return_value = json_option("status",feedback);
}
else
{
return_value = json_option("status",-1);
}
}
/*if ( checkmotorstatus(ctx,tab_rp_registers) == 0 )
{
enable(0);
initbus(0);
}*/
printf("%s\n",return_value);
}
/***********************************************************************
* The following functions are used for profile *
* *
************************************************************************/
if ( strcmp(command_name, "profile") == 0 )
{
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
while ( next_option != -1 )
{
switch (next_option) {
case 'h':
print_comusage(stdout, 0);
case 'd':
if(optarg!=0)depth = atof(optarg);
profilebit = 1;
break;
case 's':
if(optarg!=0)spacing = atof(optarg);
profilebit = 1;
break;
case 'w':
if(optarg!=0)dwell = atof(optarg);
profilebit = 1;
break;
case 'i':
//if(optarg!=0)interval = atof(optarg);
if(optarg!=0)interval = strtod(optarg,NULL);
profilebit = 1;
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if ( profilebit == 1 )
{
feedback = set_profile(depth,spacing,dwell,interval);
}
//Want to get the expected profile time and save it in database
profile_time_check(interval);
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "profileget" ) == 0)
{
profile = getconfig(&num,config);
return_value = json_profile_option(num-2,profile);
free(profile);
printf("%s",return_value);
}
if ( strcmp(command_name, "profile_check" ) == 0)
{
int *expected_profile_time;
long remain_profile_time;
config = getconfig(&num,config);
pinterval = config[3].value;
if(pinterval == 0)
{
printf("-999\n");
return -999;
}
expected_profile_time = (int*)malloc(10*sizeof(int));
if(expected_profile_time == NULL){printf("error\n");exit(1);}
expected_time_get(expected_profile_time);
remain_profile_time = auto_run(0,expected_profile_time);
if(remain_profile_time <=0 )remain_profile_time = 0;
printf("%d\n",remain_profile_time);
free(expected_profile_time);
return remain_profile_time;
}
if ( strcmp(command_name, "profile_reset") == 0 )
{
//feedback = dbinit(2);
//reading_hourly();
system("ps aux | grep -e 'master profilego' | grep -v grep | awk '{print $2}' | xargs -i kill {}");
feedback = set_profile(0,0,0,0);
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "profilego") == 0 )
{
double stayposition, curr_position,tmp,cal_position;
double sdl_read,offset;
long wait_time,motor_status;
int year;
time_t fail_time;
int stop_check = -1;
int count,fini_count,re_try1 = 0,re_power1 =0,re_try = 0,re_send=0;
int i=1,sample = 0,profile_times,sample_indicator;
int * expected_tm, *curr_time,inter_val;
setconfig(10,0);
profile:
/* The following eight lines are used to get profile arguments from database */
config = getconfig(&num,config);
pdepth = config[0].value;
pspacing = config[1].value;
pdwell = config[2].value;
pinterval = config[3].value;
profiled = config[4].value;
sample = config[9].value;
offset = config[10].value;
profile_times = 1+(pdepth - offset)/pspacing; // Caculate the profile times
inter_val = (int)pinterval;
if(pinterval == 0){schedule_reading();goto profile;}
if(profiled == 0 )
{
config = getconfig(&num,config);
pdepth = config[0].value;
pspacing = config[1].value;
pdwell = config[2].value;
pinterval = config[3].value;
profiled = config[4].value;
sample = config[9].value;
/*
The following part are used to get the expected profile time and
compare with current time
*/
expected_tm = (int*)malloc(10*sizeof(int));
curr_time = (int*)malloc(10*sizeof(int));
if(curr_time == NULL){printf("error\n");exit(1);}
if(expected_tm == NULL){printf("error\n");exit(1);}
do{
config = getconfig(&num,config);
sample = config[9].value;
expected_time_get(expected_tm);
wait_time= auto_run(0,expected_tm);
curr_time = check_time(curr_time);
sample_indicator = curr_time[3]%inter_val;
printf("Wait for next profile\n");
//because the board will boot up 3 minutes after clock time
if(wait_time < -600)
{
profile_time_check(pinterval);
goto profile;
}
sleep(1);
}while(wait_time>0);
free(expected_tm);
four_minute_delay:
sleep(1);
curr_time = check_time(curr_time);
if((curr_time[4]>=4) &&(curr_time[4]<=10))goto start_profile;
if(curr_time[4]<4)goto four_minute_delay;
if(curr_time[4]>10)goto profile;
}
start_profile:
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
if(ctx == NULL)goto profile;
modbus = 1;
sleep(9);
if ( profiled == 0 )
{
if (process_syncclock() == 0)
{
login("Failed in connectting with SDL");
return;
}
if (process_expression(3,1,profile_times,0) == 0)
{
login("Failed in send profile to SDL");
return;
}
login("Start Profiling");
if( process_read_home_switch(1) == 0)
{
gotoposition(ctx, 0,rd_position_registers); //Do not need to check if it is home because we want it home anyway
do{
usleep(5000);
stop_check = process_check(1);
}while(stop_check != 0);
if(process_pass_through_check() == 0)initbus(0);
setconfig(5,1); //Set the profile flag
sleep(pdwell);
}
else
{
setconfig(5,1);
sleep(pdwell);
}
}
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
/* This following part is used to determine where is destination */
curr_position = checkposition(ctx,tab_rp_registers) + offset;
cal_position = i*pspacing + offset;
if ( cal_position < pdepth )
{
stayposition = cal_position;
}
else
stayposition = pdepth;
i++;
stayposition = stayposition - offset;
gotoposition(ctx,stayposition,tab_rp_registers);
position1:
sleep(1);
ctx = modbusconnection(ctx);
curr_position = checkposition(ctx,tab_rp_registers) + offset;
if(curr_position == -1)
{
if(re_power1 < 3)
{
if(re_try1 < 2)
{
sleep(3);
re_try1++;
goto position1;
}
else
{
re_try1 = 0;
enable(0);
initbus(0);
sleep(3);
initbus(1);
sleep(1);
re_power1++;
goto position1;
}
}
else
{
enable(0);
initbus(0);
enable(1);
re_power1 = 0;
return -1;
}
}
if (!((stayposition -0.1) <= curr_position ) && (curr_position <= (stayposition + 0.1)))goto position1;
wait_for_stop(ctx, tab_rp_registers);
//Here check position in order to determine if it is destination now
curr_position = checkposition(ctx,tab_rp_registers)+offset;
setconfig(9,curr_position);
printf("Go to sleep for dwell time\n");
if(process_pass_through_check() == 0)initbus(0); // Add this part to check if it is passing command
sleep(pdwell);
if (((pdepth -0.1) <= curr_position) && (curr_position <= (pdepth + 0.1)))
{
setconfig(5,0); //Set profile flag here to avoid reprofile if something wrong happens during following
profile_time_check(pinterval); // Set next profile time
enable(0);
initbus(1);
ctx = modbusconnection(ctx);
gotoposition(ctx,0,rd_position_registers); // After finish profile, go home
wait_for_stop(ctx, tab_rp_registers);
sleep(1);
enable(0);
if(process_pass_through_check() == 0) initbus(0); //Check is pass through
enable(1);
setconfig(9,offset); //Save the position 0
sleep(40);
goto profile;
}
goto profile;
}
/***********************************************************************
* The next three command_name are used *
* to control the date and time *
************************************************************************/
if ( strcmp(command_name, "checktime") == 0 )
{
/*
char *sdate;
if ( (sdate = malloc( 80 * sizeof(char) ) )== NULL)return NULL;
sdate = current_time(sdate);
return_value = json_option_string("status",sdate);
printf("%s\n",return_value);
free(sdate);
*/
//long pystep = process_read_step(1);
//process_position(pystep);
//process_expression(3,1,3,1);
//process_pass_through_check();
//process_syncclock();
process_expression(3,1,3,0);
process_read_home_switch(1);
}
if ( strcmp(command_name, "settime") == 0 )
{
if ( argc < 4 )
{
print_comusage (stderr, 1);
}
char *date = argv[2];
char *time = argv[3];
int *buf = (int*)malloc(6*sizeof(int));
parse(buf,date,time);
int i,m_buf[6];
for(i=0;i<=5;i++)
{
m_buf[i]=*(buf+i);
}
feedback = set_time(&m_buf);
return_value = json_option("status:",feedback);
printf("%s\n",return_value);
login("Set local time");
login(return_value);
sleep(5);
}
if ( strcmp(command_name, "voltage") == 0 )
{
double voltage;
voltage = voltage_read();
return_value = json_float_option("status",voltage);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "temp") == 0 )
{
double temp;
temp = temp_read();
return_value = json_float_option("status",temp);
printf("%s\n",return_value);
}
if(strcmp(command_name, "enable_power") == 0)
{
enable(0);
initbus(1);
return_value = json_option("status:",1);
}
if(strcmp(command_name, "disable_power") == 0)
{
enable(0);
initbus(0);
return_value = json_option("status:",1);
}
if ( strcmp(command_name, "backup") == 0 )
{
feedback = system("cp /home/sampler/lr.sl3 /home/sampler/lr_default.sl3");
if(feedback == -1)
{
return_value = json_float_option("status",-1);
}
else return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "restore") == 0 )
{
feedback = system("cp /home/sampler/lr_default.sl3 /home/sampler/lr.sl3");
if(feedback == -1)
{
return_value = json_float_option("status",-1);
}
else return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "debug") == 0 )
{
long return_steps;
char *debug_result;
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
uint16_t *debug_position_registers = (uint16_t*)malloc(2*sizeof(uint16_t));
debug_result = (char*)malloc(50*sizeof(char));
return_steps = checksteps(ctx,debug_position_registers);
sprintf(debug_result,"%x,%x,%x\n",debug_position_registers[0],debug_position_registers[1],return_steps);
json_option_string("status",debug_result);
printf("%s\n",debug_result);
initbus(0);
}
if ( strcmp(command_name, "power_check") == 0 )
{
int power_status = check_power();
printf("Power is %d\n",power_status);
}
if ( strcmp(command_name, "sdl") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl != NULL)
{
double vol = sdltest(sdl);
return_value = json_float_option("status",vol);
printf("%s\n",return_value);
setsdl(30000,vol);
login("Read SDL");
login(return_value);
}
else setsdl(30000,-100000);
modbus_close(sdl);
modbus_free(sdl);
}
if ( strcmp(command_name, "sdl_reset") == 0 )
{
resetsdl();
}
if ( strcmp(command_name, "sdl_get") == 0 )
{
int num_records;
SLEN * sdl_records;
sdl_records = (SLEN*)malloc(100*sizeof(SLEN));
sdl_records = getsdl(&num_records, sdl_records);
return_value = json_sdl_option(num_records,sdl_records);
printf("%s\n",return_value);
free(sdl_records);
}
if ( strcmp(command_name, "sdl_uploadtime") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_setuploadtime(sdl,12,5,21,12,50,0);
}
if ( strcmp(command_name, "sdl_settime") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_rtc_time(sdl,12,5,25,7,58,0);
}
if ( strcmp(command_name, "sdl_readsize") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_readbuffsize(sdl);
}
if ( strcmp(command_name, "sdl_readsensor") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_read_sensor(sdl,1,1);
}
if ( strcmp(command_name, "sdl_upload") == 0 )
{
//sdl_read_log_data(16);
int number;
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else
{
profile_save_data(sdl);
}
modbus_close(sdl);
}
if ( strcmp(command_name, "sdl_sample") == 0 )
{
int number;
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else
{
sdl_read_sensor(sdl,1,1);
sleep(60);
sample_save_data(sdl);
//sdl_start_profile(sdl,2);
}
modbus_close(sdl);
}
if ( strcmp(command_name, "shutdown") == 0 )
{
feedback = system("/sbin/shutdown now");
}
if ( strcmp(command_name, "maxstep") == 0 )
{
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = set_max_step(ctx,rd_position_registers);
return_value = json_option("status",feedback);
initbus(0);
}
if(strcmp(command_name, "slave") == 0)
{
slave();
}
if(strcmp(command_name, "motor_status") == 0)
{
if (check_power()== 1)
{
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = checkmotorstatus(ctx,tab_rp_registers);
if(feedback == -1)
{
printf("0\n");
return 0;
}
else
{
printf("%d\n",feedback);
return feedback;
}
}
else
{
printf("0\n");
return 0;
}
}
close:
/* Free the memory */
free(config);
free(tab_rp_registers);
free(rd_position_registers);
//modbus_mapping_free(mb_mapping);
/* Close the connection */
if (modbus == 1)
{
modbus_close(ctx);
}
if (motor_stop == 1)
{
printf("stop setting\n");
setconfig(9,last_position);
}
return return_value;
}
int main(int argc, char *argv[])
{
mi_bkpt *bk;
/* This is like a file-handle for fopen.
Here we have all the state of gdb "connection". */
mi_h *h;
/* You can use any gdb you want: */
/*mi_set_gdb_exe("/usr/src/gdb-6.1.1/gdb/gdb");*/
/* You can use a terminal different than xterm: */
/*mi_set_xterm_exe("/usr/bin/Eterm");*/
/* Connect to gdb child. */
h=mi_connect_local();
if (!h)
{
printf("Connect failed\n");
return 1;
}
printf("Connected to gdb!\n");
/* Set all callbacks. */
mi_set_console_cb(h,cb_console,NULL);
mi_set_target_cb(h,cb_target,NULL);
mi_set_log_cb(h,cb_log,NULL);
mi_set_async_cb(h,cb_async,NULL);
mi_set_to_gdb_cb(h,cb_to,NULL);
mi_set_from_gdb_cb(h,cb_from,NULL);
/* Tell gdb to load symbols from the local copy. */
if (!gmi_file_symbol_file(h,"./test_target"))
{
printf("Error loading symbols\n");
mi_disconnect(h);
return 1;
}
/* Connect to remote machine using TCP/IP. */
if (!gmi_target_select(h,"extended-remote",REMOTE_MACHINE))
{
printf("Error connecting to gdb server\n");
mi_disconnect(h);
return 1;
}
/* Set a breakpoint. */
bk=gmi_break_insert(h,"test_target.cc",12);
if (!bk)
{
printf("Error setting breakpoint\n");
mi_disconnect(h);
return 1;
}
printf("Breakpoint %d @ function: %s\n",bk->number,bk->func);
/* You can do things like:
gmi_break_delete(h,bk->number);
gmi_break_set_times(h,bk->number,2);
gmi_break_set_condition(h,bk->number,"1");
gmi_break_state(h,bk->number,0);*/
/* If we no longer need this data we can release it. */
mi_free_bkpt(bk);
/* Run the program. */
/* Note that remote targets starts running and we must use continue! */
if (!gmi_exec_continue(h))
{
printf("Error in continue!\n");
mi_disconnect(h);
return 1;
}
/* Here we should be stopped at the breakpoint. */
if (!wait_for_stop(h))
{
mi_disconnect(h);
return 1;
}
/* Continue execution. */
if (!gmi_exec_continue(h))
{
printf("Error in continue!\n");
mi_disconnect(h);
return 1;
}
/* Here we should be terminated. */
if (!wait_for_stop(h))
{
mi_disconnect(h);
return 1;
}
/* Exit from gdb. */
gmi_gdb_exit(h);
/* Close the connection. */
mi_disconnect(h);
return 0;
}
