void on_select(CassFuture* future, void* data) {
CassError code = cass_future_error_code(future);
if (code != CASS_OK) {
print_error(future);
} else {
const CassResult* result = cass_future_get_result(future);
CassIterator* iterator = cass_iterator_from_result(result);
while (cass_iterator_next(iterator)) {
CassUuid key;
char key_str[CASS_UUID_STRING_LENGTH];
cass_uint64_t value = 0;
const CassRow* row = cass_iterator_get_row(iterator);
cass_value_get_uuid(cass_row_get_column(row, 0), &key);
cass_uuid_string(key, key_str);
cass_value_get_int64(cass_row_get_column(row, 1), (cass_int64_t*)&value);
printf("%s, %llu\n", key_str, (unsigned long long)value);
}
cass_iterator_free(iterator);
cass_result_free(result);
}
signal_exit((CassSession*)data);
}
static
void term_sighandler(int sig_num)
{
printf("We caught signal %d\n", sig_num);
signal_exit();
printf("exiting\n");
exit(1);
}
void signal_termination_handler( //The real signal
int sig) {
printf ("Signal_termination_handler called with signal %d\n", sig);
switch (sig) {
case SIGABRT:
signal_exit (-1); //use abort code
// case SIGBUS:
case SIGSEGV:
signal_exit (0);
case SIGFPE:
signal_exit (1); //floating point
case SIGTERM:
signal_exit (2); //timeout by cmdtimer
default:
signal_exit (3); //Anything else
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
DEFINE_THREAD_ROUTINE(directx_renderer_thread, data)
{
HWND hWnd = NULL;
WNDCLASSEX wc =
{
sizeof( WNDCLASSEX ), CS_CLASSDC, MsgProc, 0L, 0L,
GetModuleHandle( NULL ), NULL, NULL, NULL, NULL,
L"A.R.Drone Video", NULL
};
RegisterClassEx( &wc );
if (data == NULL)
{
// Create the application's window
hWnd = CreateWindow( L"A.R.Drone Video", L"A.R.Drone Video",
WS_OVERLAPPEDWINDOW, 100, 100, 640, 480,
NULL, NULL, wc.hInstance, NULL );
}
else
{
hWnd = (HWND)data;
}
// Initialize Direct3D
if( SUCCEEDED( InitD3D( hWnd ) ) )
{
// Create the scene geometry
if( SUCCEEDED( InitGeometry() ) )
{
// Show the window
ShowWindow( hWnd, SW_SHOWDEFAULT );
UpdateWindow( hWnd );
// Enter the message loop
MSG msg;
ZeroMemory( &msg, sizeof( msg ) );
while( msg.message != WM_QUIT )
{
if( PeekMessage( &msg, NULL, 0U, 0U, PM_REMOVE ) )
{
TranslateMessage( &msg );
DispatchMessage( &msg );
}
else
Render();
}
}
}
UnregisterClass( L"A.R.Drone Video", wc.hInstance );
/* Tells ARDRoneTool to shutdown */
signal_exit();
return 0;
}
void controlCHandler (int signal)
{
#if CONTROL_C_HANDLER_USES_ARDRONE_TOOL_EXIT
gtk_main_quit ();
signal_exit ();
#else
// Flush all streams before terminating
fflush (NULL);
usleep (200000); // Wait 200 msec to be sure that flush occured
printf ("\nAll files were flushed\n");
exit (0);
#endif
}
void on_session_connect(CassFuture* future, void* data) {
CassSession* session = (CassSession*)data;
CassError code = cass_future_error_code(future);
if (code != CASS_OK) {
print_error(future);
signal_exit(NULL);
return;
}
execute_query(session,
"CREATE KEYSPACE examples WITH replication = { "
"'class': 'SimpleStrategy', 'replication_factor': '3' };",
on_create_keyspace);
}
void on_insert(CassFuture* future, void* data) {
CassError code = cass_future_error_code(future);
if (code != CASS_OK) {
print_error(future);
signal_exit((CassSession*)data);
} else {
const char* select_query = "SELECT * FROM callbacks";
CassStatement* statement
= cass_statement_new(select_query, 0);
CassFuture* select_future
= cass_session_execute((CassSession*)data, statement);
cass_future_set_callback(select_future, on_select, data);
cass_statement_free(statement);
cass_future_free(select_future);
}
}
void
list_read_data_callback(
void * callback_arg,
globus_ftp_control_handle_t * handle,
globus_object_t * error,
globus_byte_t * buffer,
globus_size_t length,
globus_off_t offset,
globus_bool_t eof)
{
get_put_info_t * get_put_info;
get_put_info = (get_put_info_t *) callback_arg;
if(error != GLOBUS_NULL)
{
verbose_printf(1, "unable to list files\n");
monitor.rc = GLOBUS_FALSE;
signal_exit();
}
buffer[length] = '\0';
verbose_printf(3, "%s", buffer);
if (!eof)
{
globus_ftp_control_data_read(
handle,
get_put_info->buffer,
get_put_info->buffer_size,
list_read_data_callback,
(void *) get_put_info);
}
else
{
verbose_printf(2, "we have eof\n");
globus_mutex_lock(&data_monitor.mutex);
{
data_monitor.done = GLOBUS_TRUE;
globus_cond_signal(&data_monitor.cond);
}
globus_mutex_unlock(&data_monitor.mutex);
}
}
void controlCHandler (int signal)
{
printf("Ctrl-C pressed. Killing the application ...\n");
sem_unlink(NAVD_SEM_F_PATH);
sem_unlink(NAVD_SEM_E_PATH);
unlink(NAVD_BUFFER_PATH);
sem_unlink(CMD_SEM_F_PATH);
sem_unlink(CMD_SEM_E_PATH);
unlink(CMD_BUFFER_PATH);
sem_unlink(VID_SEM_F_PATH);
sem_unlink(VID_SEM_E_PATH);
unlink(VID_BUFFER_PATH);
exit(-1);
gtk_main_quit ();
signal_exit ();
// Flush all streams before terminating
fflush (NULL);
usleep (200000); // Wait 200 msec to be sure that flush occured
printf ("\nAll files were flushed\n");
exit (0);
}
void controlCHandler (int signal)
{
static int callCounter=0;
callCounter++;
/* In case GTK in unresponsive, force killing the application */
if(callCounter>3){
printf("Ctrl-C pressed several times. Killing the application ...\n");
exit(-1);
}
#if CONTROL_C_HANDLER_USES_ARDRONE_TOOL_EXIT
gtk_main_quit ();
signal_exit ();
#else
// Flush all streams before terminating
fflush (NULL);
usleep (200000); // Wait 200 msec to be sure that flush occured
printf ("\nAll files were flushed\n");
exit (0);
#endif
}
/******************************************************************************
* non-static function definitions
******************************************************************************/
int main(int argc, char **argv)
{
int retval;
struct handles handles = {
.sock = -1,
.sock2 = -1,
.server_sock = -1,
.file = NULL,
.file2 = NULL,
};
struct scope_parameter param;
if(0 != handle_options(argc,argv, &g_options))
{
usage(argv[0]);
return 1;
}
signal_init();
if (scope_init(¶m, &g_options)) {
retval = 2;
goto cleanup;
}
if (g_options.mode == client || g_options.mode == server) {
if (connection_init(&g_options, &handles)) {
retval = 3;
goto cleanup_scope;
}
} else if (g_options.mode == file) {
if (file_open(&g_options, &handles)) {
retval = 4;
goto cleanup_scope;
}
}
retval = 0;
while (!transfer_interrupted()) {
if (g_options.mode == client || g_options.mode == server) {
if (connection_start(&g_options, &handles) < 0) {
fprintf(stderr, "%s: problem opening connection.\n", __func__);
continue;
}
}
retval = transfer_data(¶m, &g_options, &handles);
if (retval && !transfer_interrupted())
fprintf(stderr, "%s: problem transferring data.\n", __func__);
if (g_options.mode == client || g_options.mode == server)
connection_stop(&handles);
if (g_options.mode == file)
break;
}
connection_cleanup(&handles);
file_close(&handles);
cleanup_scope:
scope_cleanup(¶m, &g_options);
cleanup:
signal_exit();
return retval;
}
int main(int argc, char **argv) {
int exit_code = EXIT_FAILURE;
int i;
bool help = false;
bool version = false;
bool check_config = false;
bool daemon = false;
bool debug = false;
bool libusb_debug = false;
int pid_fd = -1;
#ifdef BRICKD_WITH_LIBUDEV
bool initialized_udev = false;
#endif
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0) {
help = true;
} else if (strcmp(argv[i], "--version") == 0) {
version = true;
} else if (strcmp(argv[i], "--check-config") == 0) {
check_config = true;
} else if (strcmp(argv[i], "--daemon") == 0) {
daemon = true;
} else if (strcmp(argv[i], "--debug") == 0) {
debug = true;
} else if (strcmp(argv[i], "--libusb-debug") == 0) {
libusb_debug = true;
} else {
fprintf(stderr, "Unknown option '%s'\n\n", argv[i]);
print_usage();
return EXIT_FAILURE;
}
}
if (help) {
print_usage();
return EXIT_SUCCESS;
}
if (version) {
printf("%s\n", VERSION_STRING);
return EXIT_SUCCESS;
}
if (prepare_paths() < 0) {
return EXIT_FAILURE;
}
if (check_config) {
return config_check(_config_filename) < 0 ? EXIT_FAILURE : EXIT_SUCCESS;
}
config_init(_config_filename);
log_init();
if (daemon) {
pid_fd = daemon_start(_log_filename, _pid_filename, true);
} else {
pid_fd = pid_file_acquire(_pid_filename, getpid());
if (pid_fd == PID_FILE_ALREADY_ACQUIRED) {
fprintf(stderr, "Already running according to '%s'\n", _pid_filename);
}
}
if (pid_fd < 0) {
goto error_log;
}
log_set_debug_override(debug);
log_set_level(LOG_CATEGORY_EVENT, config_get_option("log_level.event")->value.log_level);
log_set_level(LOG_CATEGORY_USB, config_get_option("log_level.usb")->value.log_level);
log_set_level(LOG_CATEGORY_NETWORK, config_get_option("log_level.network")->value.log_level);
log_set_level(LOG_CATEGORY_HOTPLUG, config_get_option("log_level.hotplug")->value.log_level);
log_set_level(LOG_CATEGORY_HARDWARE, config_get_option("log_level.hardware")->value.log_level);
log_set_level(LOG_CATEGORY_WEBSOCKET, config_get_option("log_level.websocket")->value.log_level);
#ifdef BRICKD_WITH_RED_BRICK
log_set_level(LOG_CATEGORY_RED_BRICK, config_get_option("log_level.red_brick")->value.log_level);
log_set_level(LOG_CATEGORY_SPI, config_get_option("log_level.spi")->value.log_level);
log_set_level(LOG_CATEGORY_RS485, config_get_option("log_level.rs485")->value.log_level);
#endif
log_set_level(LOG_CATEGORY_OTHER, config_get_option("log_level.other")->value.log_level);
if (config_has_error()) {
log_error("Error(s) in config file '%s', run with --check-config option for details",
_config_filename);
goto error_config;
}
if (daemon) {
log_info("Brick Daemon %s started (daemonized)", VERSION_STRING);
} else {
log_info("Brick Daemon %s started", VERSION_STRING);
}
if (config_has_warning()) {
log_error("Warning(s) in config file '%s', run with --check-config option for details",
_config_filename);
}
if (event_init() < 0) {
goto error_event;
}
if (signal_init(handle_sigusr1) < 0) {
goto error_signal;
}
if (hardware_init() < 0) {
goto error_hardware;
}
if (usb_init(libusb_debug) < 0) {
goto error_usb;
}
#ifdef BRICKD_WITH_LIBUDEV
if (!usb_has_hotplug()) {
if (udev_init() < 0) {
goto error_udev;
}
initialized_udev = true;
}
#endif
if (network_init() < 0) {
goto error_network;
}
#ifdef BRICKD_WITH_RED_BRICK
if (gpio_init() < 0) {
goto error_gpio;
}
if (red_usb_gadget_init() < 0) {
goto error_red_usb_gadget;
}
if (redapid_init() < 0) {
goto error_redapid;
}
if (red_stack_init() < 0) {
goto error_red_stack;
}
if (rs485_extension_init() < 0) {
goto error_rs485_extension;
}
#endif
if (event_run(network_cleanup_clients_and_zombies) < 0) {
goto error_run;
}
exit_code = EXIT_SUCCESS;
error_run:
#ifdef BRICKD_WITH_RED_BRICK
rs485_extension_exit();
error_rs485_extension:
red_stack_exit();
error_red_stack:
redapid_exit();
error_redapid:
red_usb_gadget_exit();
error_red_usb_gadget:
//gpio_exit();
error_gpio:
#endif
network_exit();
error_network:
#ifdef BRICKD_WITH_LIBUDEV
if (initialized_udev) {
udev_exit();
}
error_udev:
#endif
usb_exit();
error_usb:
hardware_exit();
error_hardware:
signal_exit();
error_signal:
event_exit();
error_event:
log_info("Brick Daemon %s stopped", VERSION_STRING);
error_config:
error_log:
log_exit();
if (pid_fd >= 0) {
pid_file_release(_pid_filename, pid_fd);
}
config_exit();
return exit_code;
}
void
simple_dir_response_callback(
void * callback_arg,
globus_ftp_control_handle_t * handle,
globus_object_t * error,
globus_ftp_control_response_t * ftp_response)
{
get_put_info_t * get_put_info;
globus_result_t result;
if (ftp_response->code == 200)
{
verbose_printf(2, "%s\n", ftp_response->response_buffer);
get_put_info = (get_put_info_t *) globus_malloc(sizeof(get_put_info_t));
get_put_info->buffer_size = BUFFER_SIZE;
get_put_info->buffer = globus_malloc(BUFFER_SIZE);
result = globus_ftp_control_send_command(
handle,
"LIST\r\n",
simple_dir_response_callback,
(void *)get_put_info);
if (result != GLOBUS_SUCCESS)
{
verbose_printf(1, "LIST failed\n");
monitor.rc = GLOBUS_FALSE;
signal_exit();
}
result = globus_ftp_control_data_connect_read(
handle, GLOBUS_NULL, GLOBUS_NULL);
if (result != GLOBUS_SUCCESS)
{
verbose_printf(1, "ls failed\n");
monitor.rc = GLOBUS_FALSE;
signal_exit();
}
}
else if (ftp_response->code == 150)
{
verbose_printf(2, "%s\n", ftp_response->response_buffer);
get_put_info = (get_put_info_t *)callback_arg;
data_monitor.done = GLOBUS_FALSE;
globus_ftp_control_data_read(
handle,
get_put_info->buffer,
get_put_info->buffer_size,
list_read_data_callback,
(void *) get_put_info);
}
else if (ftp_response->code == 226)
{
globus_mutex_lock(&data_monitor.mutex);
{
while(!data_monitor.done)
{
globus_cond_wait(&data_monitor.cond, &data_monitor.mutex);
}
}
globus_mutex_unlock(&data_monitor.mutex);
verbose_printf(2, "%s\n", ftp_response->response_buffer);
monitor.rc = GLOBUS_TRUE;
signal_exit();
}
else
{
verbose_printf(1, "Error: %s\n", ftp_response->response_buffer);
monitor.rc = GLOBUS_FALSE;
signal_exit();
}
}
int main(int argc, char **argv) {
int exit_code = EXIT_FAILURE;
int i;
bool help = false;
bool version = false;
bool check_config = false;
bool daemon = false;
const char *debug_filter = NULL;
bool libusb_debug = false;
int pid_fd = -1;
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0) {
help = true;
} else if (strcmp(argv[i], "--version") == 0) {
version = true;
} else if (strcmp(argv[i], "--check-config") == 0) {
check_config = true;
} else if (strcmp(argv[i], "--daemon") == 0) {
daemon = true;
} else if (strcmp(argv[i], "--debug") == 0) {
if (i + 1 < argc && strncmp(argv[i + 1], "--", 2) != 0) {
debug_filter = argv[++i];
} else {
debug_filter = "";
}
} else if (strcmp(argv[i], "--libusb-debug") == 0) {
libusb_debug = true;
} else {
fprintf(stderr, "Unknown option '%s'\n\n", argv[i]);
print_usage();
return EXIT_FAILURE;
}
}
if (help) {
print_usage();
return EXIT_SUCCESS;
}
if (version) {
printf("%s\n", VERSION_STRING);
return EXIT_SUCCESS;
}
if (check_config) {
return config_check(CONFIG_FILENAME) < 0 ? EXIT_FAILURE : EXIT_SUCCESS;
}
config_init(CONFIG_FILENAME);
if (config_has_error()) {
fprintf(stderr, "Error(s) occurred while reading config file '%s'\n",
CONFIG_FILENAME);
goto error_config;
}
log_init();
if (daemon) {
pid_fd = daemon_start(LOG_FILENAME, PID_FILENAME, false);
} else {
pid_fd = pid_file_acquire(PID_FILENAME, getpid());
if (pid_fd == PID_FILE_ALREADY_ACQUIRED) {
fprintf(stderr, "Already running according to '%s'\n", PID_FILENAME);
}
}
if (pid_fd < 0) {
goto error_pid_file;
}
log_info("Brick Daemon %s started (pid: %u, daemonized: %d)",
VERSION_STRING, getpid(), daemon ? 1 : 0);
if (debug_filter != NULL) {
log_enable_debug_override(debug_filter);
}
if (config_has_warning()) {
log_warn("Warning(s) in config file '%s', run with --check-config option for details",
CONFIG_FILENAME);
}
if (event_init() < 0) {
goto error_event;
}
if (signal_init(NULL, handle_sigusr1) < 0) {
goto error_signal;
}
if (hardware_init() < 0) {
goto error_hardware;
}
if (usb_init(libusb_debug) < 0) {
goto error_usb;
}
if (iokit_init() < 0) {
goto error_iokit;
}
if (network_init() < 0) {
goto error_network;
}
if (event_run(network_cleanup_clients_and_zombies) < 0) {
goto error_run;
}
exit_code = EXIT_SUCCESS;
error_run:
network_exit();
error_network:
iokit_exit();
error_iokit:
usb_exit();
error_usb:
hardware_exit();
error_hardware:
signal_exit();
error_signal:
event_exit();
error_event:
log_info("Brick Daemon %s stopped", VERSION_STRING);
error_pid_file:
if (pid_fd >= 0) {
pid_file_release(PID_FILENAME, pid_fd);
}
log_exit();
error_config:
config_exit();
return exit_code;
}
void err_exit() {
signal_exit (-1);
}
int main(int argc, char **argv) {
int exit_code = EXIT_FAILURE;
int i;
bool help = false;
bool version = false;
bool check_config = false;
bool daemon = false;
const char *debug_filter = NULL;
int pid_fd = -1;
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0) {
help = true;
} else if (strcmp(argv[i], "--version") == 0) {
version = true;
} else if (strcmp(argv[i], "--check-config") == 0) {
check_config = true;
} else if (strcmp(argv[i], "--daemon") == 0) {
daemon = true;
} else if (strcmp(argv[i], "--debug") == 0) {
if (i + 1 < argc && strncmp(argv[i + 1], "--", 2) != 0) {
debug_filter = argv[++i];
} else {
debug_filter = "";
}
} else {
fprintf(stderr, "Unknown option '%s'\n\n", argv[i]);
print_usage();
return EXIT_FAILURE;
}
}
if (help) {
print_usage();
return EXIT_SUCCESS;
}
if (version) {
printf("%s\n", VERSION_STRING);
return EXIT_SUCCESS;
}
read_image_version();
_x11_enabled = access("/etc/tf_x11_enabled", F_OK) == 0;
if (prepare_paths() < 0) {
return EXIT_FAILURE;
}
if (check_config) {
return config_check(_config_filename) < 0 ? EXIT_FAILURE : EXIT_SUCCESS;
}
config_init(_config_filename);
if (config_has_error()) {
fprintf(stderr, "Error(s) occurred while reading config file '%s'",
_config_filename);
goto error_config;
}
log_init();
if (daemon) {
pid_fd = daemon_start(_log_filename, _pid_filename, 1);
} else {
pid_fd = pid_file_acquire(_pid_filename, getpid());
if (pid_fd == PID_FILE_ALREADY_ACQUIRED) {
fprintf(stderr, "Already running according to '%s'\n", _pid_filename);
}
}
if (pid_fd < 0) {
goto error_pid_file;
}
if (daemon && _x11_enabled) {
log_info("RED Brick API Daemon %s started (daemonized, X11 enabled) on %s image",
VERSION_STRING, _image_version);
} else if (daemon) {
log_info("RED Brick API Daemon %s started (daemonized) on %s image",
VERSION_STRING, _image_version);
} else if (_x11_enabled) {
log_info("RED Brick API Daemon %s started (X11 enabled) on %s image",
VERSION_STRING, _image_version);
} else {
log_info("RED Brick API Daemon %s started on %s image",
VERSION_STRING, _image_version);
}
if (debug_filter != NULL) {
log_enable_debug_override(debug_filter);
}
if (config_has_warning()) {
log_warn("Warning(s) in config file '%s', run with --check-config option for details",
_config_filename);
}
if (event_init() < 0) {
goto error_event;
}
if (signal_init(handle_sighup, NULL) < 0) {
goto error_signal;
}
if (process_monitor_init() < 0) {
goto error_process_monitor;
}
if (cron_init() < 0) {
goto error_cron;
}
if (inventory_init() < 0) {
goto error_inventory;
}
if (api_init() < 0) {
goto error_api;
}
if (network_init(_brickd_socket_filename, _cron_socket_filename) < 0) {
goto error_network;
}
if (inventory_load_programs() < 0) {
goto error_load_programs;
}
if (event_run(network_cleanup_brickd_and_socats) < 0) {
goto error_run;
}
exit_code = EXIT_SUCCESS;
error_run:
inventory_unload_programs();
error_load_programs:
network_exit();
error_network:
api_exit();
error_api:
inventory_exit();
error_inventory:
cron_exit();
error_cron:
process_monitor_exit();
error_process_monitor:
signal_exit();
error_signal:
event_exit();
error_event:
log_info("RED Brick API Daemon %s stopped", VERSION_STRING);
error_pid_file:
if (pid_fd >= 0) {
pid_file_release(_pid_filename, pid_fd);
}
log_exit();
error_config:
config_exit();
return exit_code;
}
int main(int argc, char **argv) {
int exit_code = EXIT_FAILURE;
int i;
bool help = false;
bool version = false;
bool check_config = false;
bool daemon = false;
const char *debug_filter = NULL;
int pid_fd = -1;
#ifdef BRICKD_WITH_LIBUDEV
bool initialized_udev = false;
#endif
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0) {
help = true;
} else if (strcmp(argv[i], "--version") == 0) {
version = true;
} else if (strcmp(argv[i], "--check-config") == 0) {
check_config = true;
} else if (strcmp(argv[i], "--daemon") == 0) {
daemon = true;
} else if (strcmp(argv[i], "--debug") == 0) {
if (i + 1 < argc && strncmp(argv[i + 1], "--", 2) != 0) {
debug_filter = argv[++i];
} else {
debug_filter = "";
}
} else {
fprintf(stderr, "Unknown option '%s'\n\n", argv[i]);
print_usage();
return EXIT_FAILURE;
}
}
if (help) {
print_usage();
return EXIT_SUCCESS;
}
if (version) {
printf("%s\n", VERSION_STRING);
return EXIT_SUCCESS;
}
if (prepare_paths() < 0) {
return EXIT_FAILURE;
}
if (check_config) {
return config_check(_config_filename) < 0 ? EXIT_FAILURE : EXIT_SUCCESS;
}
config_init(_config_filename);
if (config_has_error()) {
fprintf(stderr, "Error(s) occurred while reading config file '%s'\n",
_config_filename);
goto error_config;
}
log_init();
if (daemon) {
pid_fd = daemon_start(_log_filename, &_log_file, _pid_filename, true);
} else {
pid_fd = pid_file_acquire(_pid_filename, getpid());
if (pid_fd == PID_FILE_ALREADY_ACQUIRED) {
fprintf(stderr, "Already running according to '%s'\n", _pid_filename);
}
}
if (pid_fd < 0) {
goto error_pid_file;
}
log_info("Brick Daemon %s started (pid: %u, daemonized: %d)",
VERSION_STRING, getpid(), daemon ? 1 : 0);
if (debug_filter != NULL) {
log_enable_debug_override(debug_filter);
}
if (config_has_warning()) {
log_warn("Warning(s) in config file '%s', run with --check-config option for details",
_config_filename);
}
if (event_init() < 0) {
goto error_event;
}
if (signal_init(handle_sighup, handle_sigusr1) < 0) {
goto error_signal;
}
if (hardware_init() < 0) {
goto error_hardware;
}
if (usb_init() < 0) {
goto error_usb;
}
#ifdef BRICKD_WITH_LIBUDEV
if (!usb_has_hotplug()) {
if (udev_init() < 0) {
goto error_udev;
}
initialized_udev = true;
}
#endif
if (network_init() < 0) {
goto error_network;
}
if (mesh_init() < 0) {
goto error_mesh;
}
#ifdef BRICKD_WITH_RED_BRICK
if (gpio_init() < 0) {
goto error_gpio;
}
if (redapid_init() < 0) {
goto error_redapid;
}
if (red_stack_init() < 0) {
goto error_red_stack;
}
if (red_extension_init() < 0) {
goto error_red_extension;
}
if (red_usb_gadget_init() < 0) {
goto error_red_usb_gadget;
}
red_led_set_trigger(RED_LED_GREEN, config_get_option_value("led_trigger.green")->symbol);
red_led_set_trigger(RED_LED_RED, config_get_option_value("led_trigger.red")->symbol);
#endif
if (event_run(network_cleanup_clients_and_zombies) < 0) {
goto error_run;
}
#ifdef BRICKD_WITH_RED_BRICK
hardware_announce_disconnect();
network_announce_red_brick_disconnect();
red_usb_gadget_announce_red_brick_disconnect();
#endif
exit_code = EXIT_SUCCESS;
error_run:
#ifdef BRICKD_WITH_RED_BRICK
red_usb_gadget_exit();
error_red_usb_gadget:
red_extension_exit();
error_red_extension:
red_stack_exit();
error_red_stack:
redapid_exit();
error_redapid:
//gpio_exit();
error_gpio:
#endif
network_exit();
error_mesh:
mesh_exit();
error_network:
#ifdef BRICKD_WITH_LIBUDEV
if (initialized_udev) {
udev_exit();
}
error_udev:
#endif
usb_exit();
error_usb:
hardware_exit();
error_hardware:
signal_exit();
error_signal:
event_exit();
error_event:
log_info("Brick Daemon %s stopped", VERSION_STRING);
error_pid_file:
if (pid_fd >= 0) {
pid_file_release(_pid_filename, pid_fd);
}
log_exit();
error_config:
config_exit();
return exit_code;
}
int main (int argc, char **argv)
{
char *user_line = NULL, *qp_reply = NULL;
size_t qp_reply_len = 0, user_len = 0;
int ret = 0;
/* reading to the from Quickplot */
FILE *file_from = NULL;
char path_to[FIFO_PATH_LEN], path_from[FIFO_PATH_LEN];
*path_to = '\0';
*path_from = '\0';
if(argc == 2 && (!strcmp(argv[1], "-h") || !strcmp(argv[1], "--help")))
usage();
if(argc == 2 && argv[1][0] > '0' && argv[1][0] < '9')
{
char *end;
pid = strtoul(argv[1], &end, 10);
if(*end != '\0')
{
printf("Cannot parse PID from \"%s\"\n\n", argv[1]);
usage();
}
}
if(pid == -1)
{
char *qp_path;
size_t len;
len = strlen(argv[0]);
/* remove the _shell part of stuff/path_to/quickplot_shell */
if(len >= 15)
{
qp_path = qp_strdup(argv[0]);
qp_path[len-6] = '\0';
}
else
qp_path = qp_strdup("quickplot");
signal(SIGUSR1, usr1_catcher);
errno = 0;
pid = fork();
if(pid == -1)
{
QP_EERROR("failed to fork()\n");
return 1;
}
if(pid != 0)
{
// parent runs quickplot
char **e_argv;
int i;
char last_arg[64];
e_argv = qp_malloc((argc+2)*sizeof(*e_argv));
e_argv[0] = qp_strdup("quickplot");
for(i=1;i<argc;++i)
e_argv[i] = argv[i];
snprintf(last_arg, 64, "--signal=%d", pid);
e_argv[i++] = last_arg;
e_argv[i] = NULL;
execv(qp_path, e_argv);
QP_EERROR("failed to execute %s\n", qp_path);
// we failed, kill my child.
kill(pid, SIGINT);
return 1; // failed
}
else
{
pid = getppid();
/* wait for sig SIGCONT */
DEBUG("pid=%d waiting for signal\n", getpid());
while(!got_usr1)
usleep(100000);
DEBUG("pid=%d got signal\n", getpid());
}
}
errno = 0;
if(kill(pid, SIGCONT))
{
QP_EERROR("Failed to signal pid %d\n", pid);
return 1;
}
errno = 0;
if(mkfifo(set_to_qp_fifo_path(path_to, pid, getpid()),
S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP))
{
QP_EERROR("Failed to create fifo %s\n", path_to);
*path_to = '\0';
ret = 1;
goto cleanup;
}
errno = 0;
if(mkfifo(set_from_qp_fifo_path(path_from, pid, getpid()),
S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP))
{
QP_EERROR("Failed to create fifo %s\n", path_from);
*path_from = '\0';
ret = 1;
goto cleanup;
}
/* Since the FIFO block on fopen(,"r") we will signal
* before we call fopen(,"r").
*
* Looks like fopen(,"w") blocks too. */
errno = 0;
if(kill(pid, SIGUSR1))
{
QP_EERROR("Failed to signal pid %d\n", pid);
return 1;
}
errno = 0;
if(!(file_to = fopen(path_to, "w")))
{
QP_EERROR("fopen(\"%s\",\"a\") failed\n", path_to);
ret = 1;
goto cleanup_with_signal;
}
errno = 0;
if(!(file_from = fopen(path_from, "r")))
{
QP_EERROR("fopen(\"%s\",\"r\") failed\n", path_from);
ret = 1;
goto cleanup_with_signal;
}
setlinebuf(file_from);
prompt = allocate_prompt();
#ifdef QP_DEBUG
signal(SIGSEGV, debug_sighandler);
signal(SIGABRT, debug_sighandler);
#endif
signal(SIGTERM, term_sighandler);
signal(SIGQUIT, term_sighandler);
signal(SIGINT, term_sighandler);
stdin_isatty = isatty(fileno(stdin));
qp_shell_initialize(1);
#ifdef HAVE_LIBREADLINE
if(stdin_isatty)
{
use_readline = 1;
printf("Using readline version: %d.%d\n",
RL_VERSION_MAJOR, RL_VERSION_MINOR);
}
else
{
#else
printf("Using getline()\n");
#endif
#ifdef HAVE_LIBREADLINE
}
#endif
/* Exercise the pipe so it does not block the Quickplot
* service on fopen(,"r"). */
fprintf(file_to, "start\n");
fflush(file_to);
if(read_and_spew_until_end(&qp_reply, &qp_reply_len, file_from, pid))
goto cleanup_with_signal;
/* We can hide the FIFO files now that both parties are connected.
* The OS will keep the FIFO files in existence so long as one of
* the two processes have them open. */
unlink(path_to);
*path_to = '\0';
unlink(path_from);
*path_from = '\0';
while((Getline(&user_line, &user_len)))
{
char **argv;
int argc;
size_t len;
char *history_mem = NULL;
len = strlen(user_line) + 1;
argv = get_args(user_line, &argc);
if(argc > 0)
{
if(!strcmp("exit", *argv)) // exit
break;
if(!strcmp("quit", *argv)) // quit
{
fprintf(file_to, "quit\n");
fflush(file_to);
break;
}
if(process_client_side_commands(&argc, &argv,
stdin, stdout, len, &history_mem
#ifdef HAVE_LIBREADLINE
, 0, &use_readline
#endif
))
{
if(!strcmp("input", *argv) && argc > 1)
{
stdin_isatty = isatty(fileno(stdin));
}
}
else // command to server
{
int i;
#ifdef QP_DEBUG
if(SPEW_LEVEL() <= 1)
{
printf("Read user line: \"%s\"", argv[0]);
for(i=1; i<argc; ++i)
printf(" %s", argv[i]);
printf("\n");
}
#endif
fprintf(file_to, "%s", argv[0]);
for(i=1; i<argc; ++i)
fprintf(file_to, " %s", argv[i]);
fprintf(file_to,"\n");
fflush(file_to);
// read and print reply
if(read_and_spew_until_end(&qp_reply, &qp_reply_len, file_from, pid))
goto cleanup_with_signal;
}
}
if(history_mem)
free(history_mem);
free(argv);
}
#ifdef HAVE_READLINE_HISTORY
Save_history();
#endif
cleanup_with_signal:
signal_exit();
cleanup:
if(*path_to)
unlink(path_to);
if(*path_from)
unlink(path_from);
printf("exiting\n");
return ret;
}