#include "sensor.h"
#include "actuator.h"
#include "control.h"
+#include "pin_test.h"
#include "bbb_pin_defines.h"
// --- Standard headers --- //
#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
{
g_options.program = argv[0]; // program name
g_options.verbosity = LOGDEBUG; // default log level
- gettimeofday(&(g_options.start_time), NULL); // Start time
- g_options.adc_device_path = ADC_DEVICE_PATH;
- 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));
+
+ 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.auth_options = "";
+ g_options.experiment_dir = ".";
+
for (int i = 1; i < argc; ++i)
{
if (argv[i][0] != '-')
if (strlen(argv[i]) > 2)
Fatal("Human readable switches are not supported.");
+ char * end = NULL;
switch (argv[i][1])
{
- case 'a':
- g_options.adc_device_path = argv[i+1];
- Log(LOGINFO, "ADC Device Path: %s", argv[i+1]);
- ++i;
+ // 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;
+ // Authentication URI and options
+ case 'A':
+ g_options.auth_uri = 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]);
}
-}
-/**
- * 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);
+
+ if (!DirExists(g_options.experiment_dir))
+ {
+ Fatal("Experiment directory '%s' does not exist.", g_options.experiment_dir);
+ }
+
+ if (g_options.auth_uri[0] != '\0')
+ {
+ // Get the options part of the URI if it exists
+ char * c = (char*)g_options.auth_uri;
+ while (*(++c) != '\0' && *c != '#');
+
+ if (*(c++) == '#')
+ {
+ *(c-1) = '\0';
+ g_options.auth_options = c;
+ }
+
+ // Use the first part of the URI to identify the protocol:
+ c = (char*)g_options.auth_uri;
+ while (*(++c) != '\0' && *c != ':');
+
+ if (*c == '\0') // No ':' means no protocol; use plaintext file
+ {
+ g_options.auth_method = AUTH_SHADOW;
+ }
+ else if (*c == ':' && *(c+1) == '/' && *(c+2) == '/')
+ {
+
+ *c = '\0';
+ if (strcmp(g_options.auth_uri, "ldap") == 0 || strcmp(g_options.auth_uri, "ldaps") == 0)
+ {
+ *c = ':'; // LDAP URI's require the prodocol as part of the string
+ g_options.auth_method = AUTH_LDAP;
+ }
+ else if (strcmp(g_options.auth_uri, "mysql") == 0)
+ {
+ g_options.auth_uri = c+3; // MySQL doesn't (just a hostname)
+ g_options.auth_method = AUTH_MYSQL;
+ }
+ else
+ {
+ Fatal("Unsupported authentication method %s", g_options.auth_uri);
+ }
+ }
+ }
+ else
+ {
+ Log(LOGWARN, "No authentication method.");
+ }
+
+ Log(LOGDEBUG, "Verbosity: %d", g_options.verbosity);
+ Log(LOGDEBUG, "Pin Module Enabled: %d", g_options.enable_pin);
+ Log(LOGDEBUG, "Auth method: %d", g_options.auth_method);
+ Log(LOGDEBUG, "Auth URI: %s", g_options.auth_uri);
+ Log(LOGDEBUG, "Auth Options: %s", g_options.auth_options);
+ //Log(LOGDEBUG, "Root directory: %s", g_options.root_dir);
+ Log(LOGDEBUG, "Experiment directory: %s", g_options.experiment_dir);
+
+
+
}
/**
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
*/
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();
- //Sensor_StartAll("test");
- //Actuator_StartAll("test");
- const char *ret;
- if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
- Fatal("Control_SetMode failed with '%s'", ret);
+ 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
+
+
+
+ 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);
- 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();
+ Pin_Close();
+
Cleanup();
return 0;
}
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