void
Clone(ClientRec *client, Bool useSavedState)
{
char *cwd;
char *program;
char **args;
char **env;
char **pp;
char *p;
char *restart_service_prop;
char *restart_protocol;
char *restart_machine;
Bool run_local;
List *pl, *pj;
if (verbose)
{
printf ("Cloning id '%s', useSavedState = %d...\n",
client->clientId, useSavedState);
printf ("Host = %s\n", client->clientHostname);
}
cwd = ".";
env = NULL;
program = NULL;
args = NULL;
restart_service_prop = NULL;
for (pl = ListFirst (client->props); pl; pl = ListNext (pl))
{
Prop *pprop = (Prop *) pl->thing;
List *vl = ListFirst (pprop->values);
PropValue *pval = (PropValue *) vl->thing;
if (strcmp (pprop->name, SmProgram) == 0)
program = (char *) pval->value;
else if (strcmp (pprop->name, SmCurrentDirectory) == 0)
cwd = (char *) pval->value;
else if (strcmp (pprop->name, "_XC_RestartService") == 0)
restart_service_prop = (char *) pval->value;
else if (
(!useSavedState && strcmp (pprop->name, SmCloneCommand) == 0) ||
(useSavedState && strcmp (pprop->name, SmRestartCommand) == 0))
{
args = (char **) XtMalloc (
(ListCount (pprop->values) + 1) * sizeof (char *));
pp = args;
for (pj = ListFirst (pprop->values); pj; pj = ListNext (pj))
{
pval = (PropValue *) pj->thing;
*pp++ = (char *) pval->value;
}
*pp = NULL;
}
else if (strcmp (pprop->name, SmEnvironment) == 0)
{
env = (char **) XtMalloc (
(ListCount (pprop->values) + 3 + 1) * sizeof (char *));
pp = env;
for (pj = ListFirst (pprop->values); pj; pj = ListNext (pj))
{
pval = (PropValue *) pj->thing;
p = (char *) pval->value;
if ((display_env && strbw (p, "DISPLAY="))
|| (session_env && strbw (p, "SESSION_MANAGER="))
|| (audio_env && strbw (p, "AUDIOSERVER=")))
continue;
*pp++ = p;
}
if (display_env)
*pp++ = display_env;
if (session_env)
*pp++ = session_env;
if (audio_env)
*pp++ = audio_env;
*pp = NULL;
}
}
if (program && args)
{
if (verbose)
{
printf("\t%s\n", program);
printf("\t");
for (pp = args; *pp; pp++)
printf ("%s ", *pp);
printf("\n");
}
GetRestartInfo (restart_service_prop, client->clientHostname,
&run_local, &restart_protocol, &restart_machine);
if (run_local)
{
/*
* The client is being cloned on the local machine.
*/
char msg[256];
switch(fork()) {
case -1:
sprintf (msg, "%s: Can't fork() %s", Argv[0], program);
add_log_text (msg);
perror (msg);
break;
case 0: /* kid */
chdir(cwd);
if(env) environ = env;
execvp(program, args);
sprintf (msg, "%s: Can't execvp() %s", Argv[0], program);
perror (msg);
/*
* TODO : We would like to send this log information to the
* log window in the parent. This would require opening
* a pipe between the parent and child. The child would
* set close-on-exec. If the exec succeeds, the pipe will
* be closed. If it fails, the child can write a message
* to the parent.
*/
_exit(255);
default: /* parent */
break;
}
}
else if (!remote_allowed)
{
fprintf(stderr,
"Can't remote clone client ID '%s': only local supported\n",
client->clientId);
}
else
{
/*
* The client is being cloned on a remote machine.
*/
remote_start (restart_protocol, restart_machine,
program, args, cwd, env,
non_local_display_env, non_local_session_env);
}
if (restart_protocol)
XtFree (restart_protocol);
if (restart_machine)
XtFree (restart_machine);
}
else
{
#ifdef XKB
XkbStdBell(XtDisplay(topLevel),XtWindow(topLevel),0,XkbBI_Failure);
#else
XBell (XtDisplay (topLevel), 0);
#endif
fprintf(stderr, "Can't restart ID '%s': no program or no args\n",
client->clientId);
}
if (args)
XtFree ((char *)args);
if (env)
XtFree ((char *)env);
}
Status
Restart(int flag)
{
List *cl, *pl, *vl;
PendingClient *c;
Prop *prop;
char *cwd;
char *program;
char **args;
char **env;
char **pp;
int cnt;
char *p;
char *restart_service_prop;
char *restart_protocol;
char *restart_machine;
Bool run_local;
Bool is_manager;
Bool ran_manager = 0;
for(cl = ListFirst(PendingList); cl; cl = ListNext(cl)) {
c = (PendingClient *)cl->thing;
if (verbose) {
printf("Restarting id '%s'...\n", c->clientId);
printf("Host = %s\n", c->clientHostname);
}
cwd = ".";
env = NULL;
program=NULL;
args=NULL;
restart_service_prop=NULL;
is_manager = 0;
for(pl = ListFirst(c->props); pl; pl = ListNext(pl)) {
prop = (Prop *)pl->thing;
if(!strcmp(prop->name, SmProgram)) {
vl = ListFirst(prop->values);
if(vl) program = ((PropValue *)vl->thing)->value;
if (CheckIsManager (program))
is_manager = 1;
} else if(!strcmp(prop->name, SmCurrentDirectory)) {
vl = ListFirst(prop->values);
if(vl) cwd = ((PropValue *)vl->thing)->value;
} else if(!strcmp(prop->name, "_XC_RestartService")) {
vl = ListFirst(prop->values);
if(vl) restart_service_prop =
((PropValue *)vl->thing)->value;
} else if(!strcmp(prop->name, SmRestartCommand)) {
cnt = ListCount(prop->values);
args = (char **)XtMalloc((cnt+1) * sizeof(char *));
pp = args;
for(vl = ListFirst(prop->values); vl; vl = ListNext(vl)) {
*pp++ = ((PropValue *)vl->thing)->value;
}
*pp = NULL;
} else if(!strcmp(prop->name, SmEnvironment)) {
cnt = ListCount(prop->values);
env = (char **)XtMalloc((cnt+3+1) * sizeof(char *));
pp = env;
for(vl = ListFirst(prop->values); vl; vl = ListNext(vl)) {
p = ((PropValue *)vl->thing)->value;
if((display_env && strbw(p, "DISPLAY="))
|| (session_env && strbw(p, "SESSION_MANAGER="))
|| (audio_env && strbw(p, "AUDIOSERVER="))
) continue;
*pp++ = p;
}
if(display_env) *pp++ = display_env;
if(session_env) *pp++ = session_env;
if(audio_env) *pp++ = audio_env;
*pp = NULL;
}
}
if(program && args) {
char logtext[256];
if ((flag == RESTART_MANAGERS && !is_manager) ||
(flag == RESTART_REST_OF_CLIENTS && is_manager))
{
if(args) XtFree((char *)args);
if(env) XtFree((char *)env);
continue;
}
if (flag == RESTART_MANAGERS && is_manager)
ran_manager = 1;
if (verbose) {
printf("\t%s\n", program);
printf("\t");
for(pp = args; *pp; pp++) printf("%s ", *pp);
printf("\n");
}
GetRestartInfo (restart_service_prop, c->clientHostname,
&run_local, &restart_protocol, &restart_machine);
if (run_local)
{
/*
* The client is being restarted on the local machine.
*/
sprintf (logtext, "Restarting locally : ");
for (pp = args; *pp; pp++)
{
strcat (logtext, *pp);
strcat (logtext, " ");
}
strcat (logtext, "\n");
add_log_text (logtext);
switch(fork()) {
case -1:
sprintf (logtext,
"%s: Can't fork() %s", Argv[0], program);
add_log_text (logtext);
perror (logtext);
break;
case 0: /* kid */
chdir(cwd);
if(env) environ = env;
execvp(program, args);
sprintf (logtext, "%s: Can't execvp() %s",
Argv[0], program);
perror (logtext);
/*
* TODO : We would like to send this log information to the
* log window in the parent. This would require opening
* a pipe between the parent and child. The child would
* set close-on-exec. If the exec succeeds, the pipe will
* be closed. If it fails, the child can write a message
* to the parent.
*/
_exit(255);
default: /* parent */
break;
}
}
else if (!remote_allowed)
{
fprintf(stderr,
"Can't remote start client ID '%s': only local supported\n",
c->clientId);
}
else
{
/*
* The client is being restarted on a remote machine.
*/
sprintf (logtext, "Restarting remotely on %s : ",
restart_machine);
for (pp = args; *pp; pp++)
{
strcat (logtext, *pp);
strcat (logtext, " ");
}
strcat (logtext, "\n");
add_log_text (logtext);
remote_start (restart_protocol, restart_machine,
program, args, cwd, env,
non_local_display_env, non_local_session_env);
}
if (restart_protocol)
XtFree (restart_protocol);
if (restart_machine)
XtFree (restart_machine);
} else {
fprintf(stderr, "Can't restart ID '%s': no program or no args\n",
c->clientId);
}
if(args) XtFree((char *)args);
if(env) XtFree((char *)env);
}
if (flag == RESTART_MANAGERS && !ran_manager)
return (0);
else
return (1);
}
//キャリブレーション関数
void RN_calibrate()
{
//黒値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(880, 512, 10);
BLACK_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//白値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(906, 512, 10);
WHITE_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//灰色値計算
GRAY_VALUE=(BLACK_VALUE+WHITE_VALUE)/2;
//ジャイロオフセット及びバッテリ電圧値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(932, 512, 10);
GYRO_OFFSET_INIT += (U32)ecrobot_get_gyro_sensor(NXT_PORT_S1);
GYRO_OFFSET_INIT = GYRO_OFFSET_INIT;
gyroValue = GYRO_OFFSET_INIT;
battery_value = ecrobot_get_battery_voltage();
min_vol = battery_value;
systick_wait_ms(500);
break;
}
}
//走行開始合図
while(1){
//リモートスタート
if(remote_start()==1)
{
ecrobot_sound_tone(982,512,10);
tail_mode = RN_TAILUP;
setting_mode = RN_RUN;
runner_mode = RN_MODE_BALANCE;
break;
}
//タッチセンサスタート
else if (ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(982,512,10);
while(1){
if (ecrobot_get_touch_sensor(NXT_PORT_S4) != TRUE)
{
setting_mode = RN_RUN;
runner_mode = RN_MODE_BALANCE;
tail_mode = RN_TAILUP;
break;
}
}
break;
}
}
}
//キャリブレーション関数
void RN_calibrate(){
tail_mode_change(0,ANGLEOFDOWN,1,2);
//黒値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE){
ecrobot_sound_tone(880, 512, 10);
BLACK_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//白値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE){
ecrobot_sound_tone(906, 512, 10);
WHITE_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//灰色値計算
GRAY_VALUE=(BLACK_VALUE+WHITE_VALUE)/2;
//ジャイロオフセット及びバッテリ電圧値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE){
ecrobot_sound_tone(932, 512, 10);
gyro_offset += (U32)ecrobot_get_gyro_sensor(NXT_PORT_S1);
systick_wait_ms(500);
break;
}
}
//走行開始合図
while(1){
//リモートスタート
if(remote_start()==1){
ecrobot_sound_tone(982,512,30);
tail_mode_change(1,ANGLEOFUP,0,2);
setting_mode = RN_SPEEDZERO;
runner_mode = RN_MODE_BALANCE;
break;
}
//タッチセンサスタート
else if (ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE){
ecrobot_sound_tone(982,512,10);
while(1){
if (ecrobot_get_touch_sensor(NXT_PORT_S4) != TRUE){
setting_mode = RN_SPEEDZERO;
runner_mode_change(1);
tail_mode_change(1,ANGLEOFUP,0,2);
break;
}
}
break;
}
}
}
//キャリブレーション
void RN_calibrate()
{
//黒値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(880, 512, 30);
BLACK_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//白値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(906, 512, 30);
WHITE_VALUE=ecrobot_get_light_sensor(NXT_PORT_S3);
systick_wait_ms(500);
break;
}
}
//灰色値計算
GRAY_VALUE=(BLACK_VALUE+WHITE_VALUE)/2;
//ジャイロオフセット及びバッテリ電圧値
while(1){
if(ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(932, 512, 30);
gyro_offset += (U32)ecrobot_get_gyro_sensor(NXT_PORT_S1);
battery_value = ecrobot_get_battery_voltage();
min_vol = battery_value;
systick_wait_ms(500);
break;
}
}
//走行開始合図
while(1){
if(remote_start()==1)
{
ecrobot_sound_tone(982,512,30);
tail_mode = RN_TAILUP;
setting_mode = RN_RUN;
runner_mode = RN_MODE_CONTROL;
break;
}
else if (ecrobot_get_touch_sensor(NXT_PORT_S4) == TRUE)
{
ecrobot_sound_tone(982,512,30);
while(1){
if (ecrobot_get_touch_sensor(NXT_PORT_S4) != TRUE)
{
setting_mode = RN_RUN;
runner_mode = RN_MODE_CONTROL;
tail_mode = RN_TAILUP;
break;
}
}
break;
}
}
//キャリブレーション終了
}
