void TServoModule::loopWhileSuspension()
{
servo.SetPID(resources->config.c_servoPIDControlVariable[0],
resources->config.c_servoPIDControlVariable[1],
resources->config.c_servoPIDControlVariable[2]);
servo.SetDegree(resources->config.c_servoCentralAngle);
debugLoop();
}
static int
playTest(const char *filename)
{
FILE *f;
char command[MAXPATHLEN + 201];
int clen = 0, ret;
int no = 0;
testState.connected = 0;
testState.nb_requests = 0;
if (strcmp(filename, "-")) {
f = fopen(filename, "r");
} else {
f = fdopen(0, "r");
interactive = 1;
}
if (f == NULL) {
fprintf(stderr, "Unable to read %s\n", filename);
return (-1);
}
if (interactive) {
while (debugLoop(-1) == 0) {
ret = read(0, &command[clen], MAXPATHLEN + 200 - clen);
if (ret < 0)
break;
clen += ret;
if ((clen > 0) && ((command[clen -1] == '\n') ||
(command[clen -1] == '\r'))) {
command[clen -1] = 0;
no++;
/* in interactive mode we don't exit on parse errors */
processCommand(command, no);
clen = 0;
}
}
} else {
while (fgets(command, MAXPATHLEN + 200, f)) {
no++;
if (processCommand(command, no) < 0)
break;
}
}
fclose(f);
return (0);
}
static int
processCommand(char *line, int no)
{
int ret, args;
char *command = NULL;
char *arg = NULL;
char *arg2 = NULL;
if (line == NULL)
return (-1);
if (line[0] == '#')
return (0);
args = scanCommand(line, &command, &arg, &arg2);
if (args < 0)
return (-1);
if (args == 0)
return (0);
if (!strcmp(command, "connect")) {
if (testState.connected) {
fprintf(stderr, "connect line %d: already connected\n", no);
return (-1);
}
if (arg != NULL) {
#ifdef HAVE_SETENV
setenv("GAM_CLIENT_ID", arg, 1);
#elif HAVE_PUTENV
char *client_id = malloc (strlen (arg) + sizeof "GAM_CLIENT_ID=");
if (client_id)
{
strcpy (client_id, "GAM_CLIENT_ID=");
strcat (client_id, arg);
putenv (client_id);
}
#endif /* HAVE_SETENV */
}
ret = FAMOpen(&(testState.fc));
if (ret < 0) {
fprintf(stderr, "connect line %d: failed to connect\n", no);
return (-1);
}
testState.connected = 1;
if (arg != NULL)
printf("connected to %s\n", arg);
else
printf("connected\n");
} else if (!strcmp(command, "kill")) {
/*
* okay, it's heavy but that's the simplest way since we do not have
* the pid(s) of the servers running.
*/
ret = system("killall gam_server");
if (ret < 0) {
fprintf(stderr, "kill line %d: failed to killall gam_server\n",
no);
return (-1);
}
printf("killall gam_server\n");
} else if (!strcmp(command, "disconnect")) {
if (testState.connected == 0) {
fprintf(stderr, "disconnect line %d: not connected\n", no);
return (-1);
}
ret = FAMClose(&(testState.fc));
if (ret < 0) {
fprintf(stderr, "connect line %d: failed to disconnect\n", no);
return (-1);
}
testState.connected = 0;
printf("disconnected\n");
} else if (!strcmp(command, "mondir")) {
if (args >= 2) {
if (arg[0] != '/')
snprintf(filename, sizeof(filename), "%s/%s", pwd, arg);
else
snprintf(filename, sizeof(filename), "%s", arg);
}
if (args == 2) {
ret = FAMMonitorDirectory(&(testState.fc), filename,
&(testState.
fr[testState.nb_requests]), NULL);
} else if (args == 3) {
int index;
if (sscanf(arg2, "%d", &index) <= 0) {
fprintf(stderr, "mondir line %d: invalid index value %s\n",
no, arg2);
return (-1);
}
testState.fr[testState.nb_requests].reqnum = index;
ret = FAMMonitorDirectory2(&(testState.fc), filename,
&(testState.
fr[testState.nb_requests]));
} else {
fprintf(stderr, "mondir line %d: invalid format\n", no);
return (-1);
}
if (ret < 0) {
fprintf(stderr, "mondir line %d: failed to monitor %s\n", no,
arg);
return (-1);
}
printf("mondir %s %d\n", arg, testState.nb_requests);
testState.nb_requests++;
} else if (!strcmp(command, "monfile")) {
if (args != 2) {
fprintf(stderr, "monfile line %d: lacks name\n", no);
return (-1);
}
if (arg[0] != '/')
snprintf(filename, sizeof(filename), "%s/%s", pwd, arg);
else
snprintf(filename, sizeof(filename), "%s", arg);
ret = FAMMonitorFile(&(testState.fc), filename,
&(testState.fr[testState.nb_requests]), NULL);
if (ret < 0) {
fprintf(stderr, "monfile line %d: failed to monitor %s\n", no,
arg);
return (-1);
}
printf("monfile %s %d\n", arg, testState.nb_requests);
testState.nb_requests++;
} else if (!strcmp(command, "pending")) {
if (args != 1) {
fprintf(stderr, "pending line %d: extra argument %s\n", no,
arg);
return (-1);
}
ret = FAMPending(&(testState.fc));
if (ret < 0) {
fprintf(stderr, "pending line %d: failed\n", no);
return (-1);
}
printf("pending %d\n", ret);
} else if (!strcmp(command, "mkdir")) {
if (args != 2) {
fprintf(stderr, "mkdir line %d: lacks name\n", no);
return (-1);
}
ret = mkdir(arg, 0755);
if (ret < 0) {
fprintf(stderr, "mkdir line %d: failed to create %s\n", no,
arg);
return (-1);
}
printf("mkdir %s\n", arg);
} else if (!strcmp(command, "chmod")) {
if (args != 3) {
fprintf(stderr, "chmod line %d: lacks path and mode\n", no);
return (-1);
}
ret = chmod(arg, strtol (arg2, NULL, 8));
if (ret < 0) {
fprintf(stderr, "chmod line %d: failed to chmod %s to %s\n", no,
arg, arg2);
return (-1);
}
printf("chmod %s to %s\n", arg, arg2);
} else if (!strcmp(command, "chown")) {
if (args != 3) {
fprintf(stderr, "chown line %d: lacks path and owner\n", no);
return (-1);
}
struct stat sb;
if (!lstat (arg, &sb)) {
ret = (S_ISLNK (sb.st_mode)) ?
lchown(arg, strtol(arg2, NULL, 10), -1) :
chown(arg, strtol(arg2, NULL, 10), -1);
} else
ret=-1;
if (ret < 0) {
fprintf(stderr, "chown line %d: failed to chown %s to %s\n", no,
arg, arg2);
return (-1);
}
printf("chown %s to %s\n", arg, arg2);
} else if (!strcmp(command, "mkfile")) {
if (args != 2) {
fprintf(stderr, "mkfile line %d: lacks name\n", no);
return (-1);
}
ret = open(arg, O_CREAT | O_WRONLY, 0666);
if (ret < 0) {
fprintf(stderr, "mkfile line %d: failed to open %s\n", no,
arg);
return (-1);
}
close(ret);
printf("mkfile %s\n", arg);
} else if (!strcmp(command, "append")) {
if (args != 2) {
fprintf(stderr, "mkfile line %d: lacks name\n", no);
return (-1);
}
ret = open(arg, O_RDWR | O_APPEND);
if (ret < 0) {
fprintf(stderr, "append line %d: failed to open %s\n", no,
arg);
return (-1);
}
write(ret, "a", 1);
close(ret);
printf("append %s\n", arg);
} else if (!strcmp(command, "rmdir")) {
if (args != 2) {
fprintf(stderr, "rmdir line %d: lacks name\n", no);
return (-1);
}
ret = rmdir(arg);
if (ret < 0) {
fprintf(stderr, "rmdir line %d: failed to remove %s\n", no,
arg);
return (-1);
}
printf("rmdir %s\n", arg);
} else if (!strcmp(command, "rmfile")) {
if (args != 2) {
fprintf(stderr, "rmfile line %d: lacks name\n", no);
return (-1);
}
ret = unlink(arg);
if (ret < 0) {
fprintf(stderr, "rmfile line %d: failed to unlink %s\n", no,
arg);
return (-1);
}
printf("rmfile %s\n", arg);
} else if (!strcmp(command, "move")) {
if (args != 3)
{
fprintf(stderr, "move line %d: lacks something\n", no);
return (-1);
}
ret = rename(arg, arg2);
if (ret < 0) {
fprintf(stderr, "move line %d: failed to move %s\n", no, arg);
return (-1);
}
printf("move %s %s\n", arg, arg2);
} else if (!strcmp(command, "link")) {
if (args != 3) {
fprintf(stderr, "link line %d: lacks target and name\n", no); return (-1);
}
ret = symlink(arg, arg2);
if (ret < 0) {
fprintf(stderr, "link line %d: failed to link to %s\n", no, arg);
return (-1);
}
printf("link %s to %s\n", arg2, arg);
} else if (!strcmp(command, "event")) {
printEvent(no);
} else if (!strcmp(command, "events")) {
printEvents(no);
} else if (!strcmp(command, "expect")) {
int count;
int delay = 0;
int nb_events = testState.nb_events;
if (args != 2) {
fprintf(stderr, "expect line %d: lacks number\n", no);
return (-1);
}
if (sscanf(arg, "%d", &count) <= 0) {
fprintf(stderr, "expect line %d: invalid number value %s\n",
no, arg);
return (-1);
}
/*
* wait at most 3 secs before declaring failure
*/
while ((delay < 30) && (testState.nb_events < nb_events + count)) {
debugLoop(100);
/* printf("+"); fflush(stdout); */
delay++;
}
if (testState.nb_events < nb_events + count) {
printf("expect line %d: got %d of %d expected events\n",
no, testState.nb_events - nb_events, count);
return (-1);
}
} else if (!strcmp(command, "sleep")) {
int i;
for (i = 0; (i < 30) && (FAMPending(&(testState.fc)) == 0); i++)
usleep(50000);
} else if (!strcmp(command, "wait")) {
sleep(1);
} else if (!strcmp(command, "cancel")) {
if (args == 2) {
int req_index = 0;
if (sscanf(arg, "%d", &req_index) <= 0
|| req_index >= testState.nb_requests) {
fprintf(stderr,
"cancel line %d: invalid req_index value %s\n", no,
arg);
return (-1);
}
ret = FAMCancelMonitor(&(testState.fc),
&(testState.fr[req_index]));
} else {
fprintf(stderr, "cancel line %d: invalid format\n", no);
return (-1);
}
if (ret < 0) {
fprintf(stderr,
"cancel line %d: failed to cancel req_index %s\n", no,
arg);
return (-1);
}
printf("cancel %s %d\n", arg, testState.nb_requests);
} else {
fprintf(stderr, "Unable to parse line %d: %s\n", no, line);
return (-1);
}
return (0);
}
