Automatic commit of irc logs

[matches/MCTX3420.git] / server / main.c

diff --git a/server/main.c b/server/main.c
index ecdf068..a4b7c5a 100644 (file)
--- a/server/main.c
+++ b/server/main.c
@@ -16,6 +16,14 @@
 #include <syslog.h> // for system logging
 #include <signal.h> // for signal handling
 
+
+#ifdef REALTIME_VERSION
+#include <time.h>
+#include <sched.h>
+#include <sys/mman.h>
+#include <sys/utsname.h>
+#endif //REALTIME_VERSION
+
 // --- Variable definitions --- //
 Options g_options; // options passed to program through command line arguments
 
@@ -28,19 +36,20 @@ Options g_options; // options passed to program through command line arguments
  */
 void ParseArguments(int argc, char ** argv)
 {
-
-
        g_options.program = argv[0]; // program name
        g_options.verbosity = LOGDEBUG; // default log level
-       gettimeofday(&(g_options.start_time), NULL); // Start time
+       // Set the main directory
+       //if (getcwd(g_options.root_dir, sizeof(g_options.root_dir)) == NULL)
+       //      Fatal("Couldn't get current working directory - %s", strerror(errno));
+
+       clock_gettime(CLOCK_MONOTONIC, &(g_options.start_time)); // Start time
 
 
        g_options.auth_method = AUTH_NONE;  // Don't use authentication
        g_options.auth_uri = ""; // 
        g_options.ldap_base_dn = "";
+       g_options.experiment_dir = ".";
        
-
-
        for (int i = 1; i < argc; ++i)
        {
                if (argv[i][0] != '-')
@@ -71,6 +80,10 @@ void ParseArguments(int argc, char ** argv)
                        case 'd':
                                g_options.ldap_base_dn = argv[++i];
                                break;
+                       case 'e':
+                       // Experiments directory
+                               g_options.experiment_dir = argv[++i];
+                               break;
                        default:
                                Fatal("Unrecognised switch %s", argv[i]);
                                break;
@@ -84,6 +97,13 @@ void ParseArguments(int argc, char ** argv)
        Log(LOGDEBUG, "Pin Module Enabled: %d", g_options.enable_pin);
        Log(LOGDEBUG, "Auth URI: %s", g_options.auth_uri);
        Log(LOGDEBUG, "LDAP Base DN: %s", g_options.ldap_base_dn);
+       //Log(LOGDEBUG, "Root directory: %s", g_options.root_dir);
+       Log(LOGDEBUG, "Experiment directory: %s", g_options.experiment_dir);
+
+       if (!DirExists(g_options.experiment_dir))
+       {
+               Fatal("Experiment directory '%s' does not exist.", g_options.experiment_dir);
+       }
 
        if (g_options.auth_uri[0] != '\0')
        {
@@ -96,32 +116,49 @@ void ParseArguments(int argc, char ** argv)
        
 }
 
-/**
- * Handle a signal
- * @param signal - The signal number
- */
-//TODO: Something that gets massively annoying with threads is that you can't predict which one gets the signal
-// There are ways to deal with this, but I can't remember them
-// Probably sufficient to just call Thread_QuitProgram here
-void SignalHandler(int signal)
-{
-       // At the moment just always exit.
-       // Call `exit` so that Cleanup will be called to... clean up.
-       Log(LOGWARN, "Got signal %d (%s). Exiting.", signal, strsignal(signal));
-
-       //exit(signal);
-}
-
 /**
  * Cleanup before the program exits
  */
 void Cleanup()
 {
        Log(LOGDEBUG, "Begin cleanup.");
+       Sensor_Cleanup();
+       Actuator_Cleanup();
        Log(LOGDEBUG, "Finish cleanup.");
+}
+
+
+#ifdef REALTIME_VERSION
+
+#define MAX_SAFE_STACK (8*1024)
+#define NSEC_PER_SEC (1000000000)
+
+void stack_prefault()
+{
+       unsigned char dummy[MAX_SAFE_STACK];
+       memset(dummy, 0, MAX_SAFE_STACK);
+       return;
+}
 
+bool is_realtime()
+{
+       struct utsname u;
+       bool crit1 = 0;
+       bool crit2 = 0;
+       FILE * f;
+       uname(&u);
+       crit1 = (strcasestr(u.version, "PREEMPT RT") != NULL);
+       if (crit1 && ((f = fopen("/sys/kernel/realtime", "r")) != NULL))
+       {
+               int flag;
+               crit2 = ((fscanf(f, "%d", &flag) == 1) && (flag == 1));
+               fclose(f);
+       }
+       return (crit1 && crit2);
 }
 
+#endif //REALTIME_VERSION
+
 /**
  * Main entry point; start worker threads, setup signal handling, wait for threads to exit, exit
  * @param argc - Num args
@@ -131,37 +168,54 @@ void Cleanup()
  */
 int main(int argc, char ** argv)
 {
+
        // Open log before calling ParseArguments (since ParseArguments may call the Log functions)
        openlog("mctxserv", LOG_PID | LOG_PERROR, LOG_USER);
-       Log(LOGINFO, "Server started");
 
-       ParseArguments(argc, argv);
+       ParseArguments(argc, argv); // Setup the g_options structure from program arguments
 
-       //Open the system log
+       Log(LOGINFO, "Server started");
 
-       // signal handler
-       //TODO: Make this work
-       /*
-       int signals[] = {SIGINT, SIGSEGV, SIGTERM};
-       for (int i = 0; i < sizeof(signals)/sizeof(int); ++i)
+
+       
+       #ifdef REALTIME_VERSION
+       
+       if (is_realtime())
+       {
+               Log(LOGDEBUG, "Running under realtime kernel");
+       }
+       else
        {
-               signal(signals[i], SignalHandler);
+               Fatal("Not running under realtime kernel");
        }
-       */
-       Sensor_Init();
-       Actuator_Init();
+       struct sched_param param;
+       param.sched_priority = 49;
+       if (sched_setscheduler(0, SCHED_FIFO, &param) < 0)
+               Fatal("sched_setscheduler failed - %s", strerror(errno));
+       if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
+               Fatal("mlockall failed - %s", strerror(errno));
+       stack_prefault();
+       #endif //REALTIME_VERSION
+
+       
+
        Pin_Init();
-       //Sensor_StartAll("test");
-       //Actuator_StartAll("test");
-       const char *ret;
-       if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
-               Fatal("Control_SetMode failed with '%s'", ret);
+       
+       // Try and start things
+       
+       //const char *ret;
+       //if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
+       //      Fatal("Control_SetMode failed with '%s'", ret);
+       
 
        // run request thread in the main thread
        FCGI_RequestLoop(NULL);
 
-       if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL)
-               Fatal("Control_SetMode failed with '%s'", ret);
+       
+       Control_SetMode(CONTROL_STOP, NULL);
+       //if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL)
+       //      Fatal("Control_SetMode failed with '%s'", ret);
+       
        //Sensor_StopAll();
        //Actuator_StopAll();