int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sei(); // Enable interrupts
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
else { sys.auto_start = false; }
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
static int probe_start_pid(pid_t pid)
{
struct probe *probe = probe_init(pid);
if(probe == NULL) {
fprintf(stderr,"Failed to initiate probe");
return -1;
}
if(thread_map__start_threads(probe->thread_map)) {
fprintf(stderr,"Failed to start threads");
return -1;
}
probe_enable(probe);
int i;
for(i=0; i < probe->thread_map->nr; i++)
pthread_join(probe->thread_map->threads[i].tid,NULL);
probe_buff__flush(probe->buff);
return 0;
}
static int probe_start_exec(char *exec, char **args)
{
sem_t *sem = sem_open(SNAME, O_CREAT, 0644, 0);
pid_t pid = fork();
if(pid == 0) {
sem_t *sem = sem_open(SNAME, 0);
sem_wait(sem);
if(execv(exec,args) == -1)
fprintf(stderr,"Failed to exec\n");
exit(0);
} else if(pid > 0) {
struct probe *probe = probe_init(pid);
if(probe == NULL) {
fprintf(stderr,"Failed to initiate probe");
return -1;
}
if(thread_map__start_threads(probe->thread_map)) {
fprintf(stderr,"Failed to start threads");
return -1;
}
probe_enable(probe);
sem_post(sem);
int i;
for(i=0; i < probe->thread_map->nr; i++)
pthread_join(probe->thread_map->threads[i].tid,NULL);
probe_buff__flush(probe->buff);
// int status;
// while(waitpid(-1,&status, 0) != -1);
}
return 0;
}
int solve(Puzzle *puz, Solution *sol)
{
Cell *cell;
line_t besti, bestj;
color_t bestc;
int bestnleft;
int rc;
int sprint_clock= 0, plod_clock= PLOD_INIT;
/* One color puzzles are already solved */
if (puz->ncolor < 2)
{
puz->nsolved= puz->ncells;
return 1;
}
/* Start bookkeeping, if we need it */
if (mayprobe)
probe_init(puz,sol);
else
bookkeeping_on(puz,sol);
while (1)
{
/* Always start with logical solving */
if (VA) printf("A: LINE SOLVING\n");
rc= logic_solve(puz, sol, 0);
if (rc > 0) return 1; /* Exit if the puzzle is complete */
if (rc == 0)
{
/* Logical solving has stalled. */
if (VA)
{
printf("A: STUCK - Line solving failed\n");
print_solution(stdout,puz,sol);
}
if (maycontradict)
{
/* Try a depth-limited search for logical contradictions */
if (VA) printf("A: SEARCHING FOR CONTRADICTIONS\n");
rc= contradict(puz,sol);
if (rc > 0) return 1; /* puzzle complete - stop */
if (rc < 0) continue; /* found some - resume logic solving */
/* otherwise, try something else */
}
/* Stop if no guessing is allowed */
if (!maybacktrack) return 1;
if (hintlog)
{
printf("STARTING SEARCH: EXPLANATION SHUTTING DOWN...\n");
hintlog= 0;
}
/* Shut down the exhaustive search once we start searching */
if (maylinesolve) mayexhaust= 0;
/* Turn on caching when we first start searching */
if (maycache && !cachelines)
{
cachelines= 1;
init_cache(puz);
}
if (mayprobe && (!mayguess || sprint_clock <= 0))
{
/* Do probing to find best guess to make */
if (VA) printf("A: PROBING\n");
rc= probe(puz, sol, &besti, &bestj, &bestc);
if (rc > 0)
return 1; /* Stop if accidentally completed the puzzle */
if (rc < 0)
continue; /* Resume logic solving if found contradiction */
/* Otherwise, use the guess returned from the probe */
cell= sol->line[0][besti][bestj];
if (VA)
{
printf("A: PROBING SELECTED ");
print_coord(stdout,puz,cell);
printf(" COLOR %d\n",bestc);
}
/* If a lot of probes have not been finding contradictions,
* consider triggering sprint mode
*/
if (mayguess && --plod_clock <= 0)
{
float rate= probe_rate();
if (rate >= .12)
{
/* More than 10% have failed to find contradiction,
* so try heuristic searching for a while */
bookkeeping_on(puz,sol);
sprint_clock= SPRINT_LENGTH;
nsprint++;
/*printf("STARTING SPRINT - probe rate=%.4f\n",rate);*/
}
else
{
/* Success rate of probing is still high. Keep on
* trucking. */
plod_clock= PLOD_LENGTH;
nplod++;
/*printf("CONTINUING PLOD - probe rate=%.4f\n", rate);*/
}
}
}
else
{
/* Old guessing algorithm. Use heuristics to make a guess */
cell= pick_a_cell(puz, sol);
if (cell == NULL)
return 0;
bestc= (*pick_color)(puz,sol,cell);
if (VA || WC(cell->line[0],cell->line[1]))
{
printf("A: GUESSING SELECTED ");
print_coord(stdout,puz,cell);
printf(" COLOR %d\n",bestc);
}
if (mayprobe && --sprint_clock <= 0)
{
/* If we have reached the end of our sprint, try plodding
* again. */
probe_init(puz,sol);
plod_clock= PLOD_LENGTH;
nplod++;
/*printf("ENDING SPRINT\n");*/
}
}
guess_cell(puz, sol, cell, bestc);
guesses++;
}
else
{
/* We have hit a contradiction - try backtracking */
if (VA) printf("A: STUCK ON CONTRADICTION - BACKTRACKING\n");
guesses++;
/* Back up to last guess point, and invert that guess */
if (backtrack(puz,sol))
/* Nothing to backtrack to - puzzle has no solution */
return 0;
if (VB) print_solution(stdout,puz,sol);
if (VB) dump_history(stdout, puz, VV);
}
}
}
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
sei(); // Enable interrupts
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
sys.state = STATE_IDLE;
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
report_init_message();
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
int
main(int argc, char *argv[])
{
int s, rtsock, maxfd, ch;
int once = 0;
struct timeval *timeout;
struct fd_set fdset;
char *argv0;
const char *opts;
/*
* Initialization
*/
argv0 = argv[0];
/* get option */
if (argv0 && argv0[strlen(argv0) - 1] != 'd') {
fflag = 1;
once = 1;
opts = "adD";
} else
opts = "adDfm1";
while ((ch = getopt(argc, argv, opts)) != -1) {
switch (ch) {
case 'a':
aflag = 1;
break;
case 'd':
dflag = 1;
break;
case 'D':
dflag = 2;
break;
case 'f':
fflag = 1;
break;
case 'm':
mobile_node = 1;
break;
case '1':
once = 1;
break;
default:
usage(argv0);
/*NOTREACHED*/
}
}
argc -= optind;
argv += optind;
if (aflag) {
int i;
if (argc != 0) {
usage(argv0);
/*NOTREACHED*/
}
argv = autoifprobe();
if (!argv) {
errx(1, "could not autoprobe interface");
/*NOTREACHED*/
}
for (i = 0; argv[i]; i++)
;
argc = i;
}
if (argc == 0) {
usage(argv0);
/*NOTREACHED*/
}
/* set log level */
if (dflag == 0)
log_upto = LOG_NOTICE;
if (!fflag) {
char *ident;
ident = strrchr(argv0, '/');
if (!ident)
ident = argv0;
else
ident++;
openlog(ident, LOG_NDELAY|LOG_PID, LOG_DAEMON);
if (log_upto >= 0)
setlogmask(LOG_UPTO(log_upto));
}
#ifndef HAVE_ARC4RANDOM
/* random value initilization */
srandom((u_long)time(NULL));
#endif
/* warn if accept_rtadv is down */
if (!getinet6sysctl(IPV6CTL_ACCEPT_RTADV))
warnx("kernel is configured not to accept RAs");
/* warn if forwarding is up */
if (getinet6sysctl(IPV6CTL_FORWARDING))
warnx("kernel is configured as a router, not a host");
/* initialization to dump internal status to a file */
if (signal(SIGUSR1, rtsold_set_dump_file) == SIG_ERR) {
errx(1, "failed to set signal for dump status");
/*NOTREACHED*/
}
/*
* Open a socket for sending RS and receiving RA.
* This should be done before calling ifinit(), since the function
* uses the socket.
*/
if ((s = sockopen()) < 0) {
errx(1, "failed to open a socket");
/*NOTREACHED*/
}
maxfd = s;
if ((rtsock = rtsock_open()) < 0) {
errx(1, "failed to open a socket");
/*NOTREACHED*/
}
if (rtsock > maxfd)
maxfd = rtsock;
/* configuration per interface */
if (ifinit()) {
errx(1, "failed to initilizatoin interfaces");
/*NOTREACHED*/
}
while (argc--) {
if (ifconfig(*argv)) {
errx(1, "failed to initialize %s", *argv);
/*NOTREACHED*/
}
argv++;
}
/* setup for probing default routers */
if (probe_init()) {
errx(1, "failed to setup for probing routers");
/*NOTREACHED*/
}
if (!fflag)
daemon(0, 0); /* act as a daemon */
/* dump the current pid */
if (!once) {
pid_t pid = getpid();
FILE *fp;
if ((fp = fopen(pidfilename, "w")) == NULL)
warnmsg(LOG_ERR, __func__,
"failed to open a log file(%s): %s",
pidfilename, strerror(errno));
else {
fprintf(fp, "%d\n", pid);
fclose(fp);
}
}
FD_ZERO(&fdset);
FD_SET(s, &fdset);
FD_SET(rtsock, &fdset);
while (1) { /* main loop */
int e;
struct fd_set select_fd = fdset;
if (do_dump) { /* SIGUSR1 */
do_dump = 0;
rtsold_dump_file(dumpfilename);
}
timeout = rtsol_check_timer();
if (once) {
struct ifinfo *ifi;
/* if we have no timeout, we are done (or failed) */
if (timeout == NULL)
break;
/* if all interfaces have got RA packet, we are done */
for (ifi = iflist; ifi; ifi = ifi->next) {
if (ifi->state != IFS_DOWN && ifi->racnt == 0)
break;
}
if (ifi == NULL)
break;
}
e = select(maxfd + 1, &select_fd, NULL, NULL, timeout);
if (e < 1) {
if (e < 0 && errno != EINTR) {
warnmsg(LOG_ERR, __func__, "select: %s",
strerror(errno));
}
continue;
}
/* packet reception */
if (FD_ISSET(rtsock, &select_fd))
rtsock_input(rtsock);
if (FD_ISSET(s, &select_fd))
rtsol_input(s);
}
/* NOTREACHED */
return 0;
}
