X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fmain.c;h=bd649a7fa7680544f22a64180980c39fd6d1bd3e;hb=f153e203bc4215026abd0dcce8427d633b5a6398;hp=ec21a25e8c1af0581fe987420fa8476588cd2f76;hpb=ed21599957130173a661904f22e50af59a96a6ac;p=matches%2FMCTX3420.git diff --git a/server/main.c b/server/main.c index ec21a25..bd649a7 100644 --- a/server/main.c +++ b/server/main.c @@ -1,16 +1,29 @@ /** * @file main.c - * @purpose main and its helper functions, signal handling and cleanup functions + * @brief main and its helper functions, signal handling and cleanup functions */ // --- Custom headers --- // #include "common.h" #include "options.h" #include "sensor.h" +#include "actuator.h" +#include "control.h" +#include "pin_test.h" +#include "bbb_pin_defines.h" // --- Standard headers --- // +#include // for system logging #include // for signal handling + +#ifdef REALTIME_VERSION +#include +#include +#include +#include +#endif //REALTIME_VERSION + // --- Variable definitions --- // Options g_options; // options passed to program through command line arguments @@ -25,24 +38,82 @@ 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 - Log(LOGDEBUG, "Called as %s with %d arguments.", g_options.program, argc); -} + // 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)); -/** - * 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)); - Thread_QuitProgram(false); - //exit(signal); + 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] != '-') + Fatal("Unexpected argv[%d] - %s", i, argv[i]); + + if (i+1 >= argc || argv[i+1][0] == '-') + Fatal("No argument following switch %s", argv[i]); + + if (strlen(argv[i]) > 2) + Fatal("Human readable switches are not supported."); + + char * end = NULL; + switch (argv[i][1]) + { + // Set program verbosity + case 'v': + g_options.verbosity = strtol(argv[++i], &end, 10); + break; + // Enable/Disable pin test + case 'p': + g_options.enable_pin = !(strtol(argv[++i], &end, 10)); + break; + // LDAP URI + case 'A': + g_options.auth_uri = argv[++i]; + break; + // LDAP DN + 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; + } + + if (end != NULL && *end != '\0') + Fatal("argv[%d] -%c requires an integer (got \"%s\" instead)", i-1, argv[i-1][0], argv[i]); + } + + Log(LOGDEBUG, "Verbosity: %d", g_options.verbosity); + 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') + { + //HACK... + if (PathExists(g_options.auth_uri)) + g_options.auth_method = AUTH_SHADOW; + else + g_options.auth_method = AUTH_LDAP; + } + } /** @@ -51,10 +122,43 @@ void SignalHandler(int signal) 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 @@ -64,26 +168,61 @@ void Cleanup() */ int main(int argc, char ** argv) { - ParseArguments(argc, argv); - // signal handler - //TODO: Make this work - /* - int signals[] = {SIGINT, SIGSEGV, SIGTERM}; - for (int i = 0; i < sizeof(signals)/sizeof(int); ++i) + // Open log before calling ParseArguments (since ParseArguments may call the Log functions) + openlog("mctxserv", LOG_PID | LOG_PERROR, LOG_USER); + + ParseArguments(argc, argv); // Setup the g_options structure from program arguments + + Log(LOGINFO, "Server started"); + + + + #ifdef REALTIME_VERSION + + if (is_realtime()) + { + Log(LOGDEBUG, "Running under realtime kernel"); + } + else { - signal(signals[i], SignalHandler); + Fatal("Not running under realtime kernel"); } - */ - Sensor_Spawn(); + struct sched_param param; + param.sched_priority = 49; + if (sched_setscheduler(0, SCHED_FIFO, ¶m) < 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 + + + + Sensor_Init(); + Actuator_Init(); + Pin_Init(); + + // 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); - // Join the dark side, Luke - // *cough* - // Join the sensor threads - Sensor_Join(); + + Conrol_SetMode(CONTROL_STOP, NULL); + //if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL) + // Fatal("Control_SetMode failed with '%s'", ret); + + //Sensor_StopAll(); + //Actuator_StopAll(); + + Pin_Close(); + Cleanup(); return 0; }