Merge branch 'master' of github:szmoore/MCTX3420

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

diff --git a/server/main.c b/server/main.c
index e7edc7e..fadcd3a 100644 (file)
--- a/server/main.c
+++ b/server/main.c
@@ -17,6 +17,13 @@
 #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
 
@@ -35,7 +42,7 @@ void ParseArguments(int argc, char ** argv)
        //if (getcwd(g_options.root_dir, sizeof(g_options.root_dir)) == NULL)
        //      Fatal("Couldn't get current working directory - %s", strerror(errno));
 
-       gettimeofday(&(g_options.start_time), NULL); // Start time
+       clock_gettime(CLOCK_MONOTONIC, &(g_options.start_time)); // Start time
 
 
        g_options.auth_method = AUTH_NONE;  // Don't use authentication
@@ -120,6 +127,38 @@ void 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
@@ -129,30 +168,55 @@ 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); // 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
+       {
+               Fatal("Not running under realtime kernel");
+       }
+       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
+
+       
+
        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);
 
-       /*
+       
        if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL)
                Fatal("Control_SetMode failed with '%s'", ret);
-       */
+       
        //Sensor_StopAll();
        //Actuator_StopAll();