Tooltron

#include "tool.h"

#include "query.h"

#include "cache.h"

#include "log.h"

#include "util.h"

#include <unistd.h>

#include <signal.h>

#include <string.h>

#include <stdio.h>

#include <sys/time.h>

static struct tool_t tools[] = {

  TOOL_DECL("Mill", 1),

  TOOL_DECL("Lathe", 2),

  TOOL_DECL("Drill Press", 3),

  TOOL_DECL("Drill Press", 4),

  TOOL_DECL("CNC", 5),

  TOOL_DECL("Bandsaw", 6),

  TOOL_DECL("Circular Saw", 7),

  TOOL_DECL("Wood Band Saw", 8),

  TOOL_DECL("Chop/Miter Saw", 9),

  TOOL_DECL("Belt Sander", 10)

};

#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t))

volatile int run = 1;

volatile int refresh_cache = 0;

volatile int clear_cache = 0;

void sigint(int sig) {

  run = 0;

}

void sigusr1(int sig) {

  refresh_cache = 1;

}

void sigusr2(int sig) {

  clear_cache = 1;

}

void send_signal(int sig) {

  pid_t pid;

  pid = read_pid_file();

  if (pid > 0)

    kill(pid, sig);

}

int tooltron_main(const char *device, const char *server) {

  struct sigaction sigact;

  struct timeval time_prev, time_cur;

  int i, diff;

  log_print("Serial device: %s", device);

  log_print("CRM server: http://%s/", server);

  bzero(&sigact, sizeof(sigact));

  sigact.sa_flags = SA_RESTART;

  sigemptyset(&sigact.sa_mask);

  sigact.sa_handler = sigint;

  sigaction(SIGINT, &sigact, NULL);

  sigaction(SIGTERM, &sigact, NULL);

  sigact.sa_handler = sigusr1;

  sigaction(SIGUSR1, &sigact, NULL);

  sigact.sa_handler = sigusr2;

  sigaction(SIGUSR2, &sigact, NULL);

  if (query_init(server)) {

    return 1;

  }

  if (tool_init_mb(device)) {

    return 1;

  }

  log_print("Modbus initialized; polling tools...");

  gettimeofday(&time_prev, NULL);

  i = 0;

  while (run) {

    tool_poll(&tools[i]);

    event_q_process();

    if (refresh_cache) {

      log_print("Recieved SIGUSR1, refreshing cache content");

      query_refresh_cache();

      refresh_cache = 0;

    }

    if (clear_cache) {

      log_print("Recieved SIGUSR2, clearing cache");

      cache_clear();

      clear_cache = 0;

    }

    // slow loop period down to MB_TIMEOUT_MS

    gettimeofday(&time_cur, NULL);

    diff = (time_cur.tv_sec - time_prev.tv_sec) * 1000000

         + (time_cur.tv_usec - time_prev.tv_usec);

    diff = MB_TIMEOUT_MS * 1000 - diff;

    if (diff > 0) {

      usleep(diff);

    }

    gettimeofday(&time_prev, NULL);

    i = (i+1) % N_TOOLS;

  }

  log_print("Recieved SIGINT or SIGTERM, shutting down");

  log_print("Disabling tools");

  for (i = 0; i < N_TOOLS; i++) {

    tool_request_disable(&tools[i]);

  }

  log_print("Closing modbus connection");

  tool_close_mb();

  log_print("Exiting");

  query_cleanup();

  cache_clear();

  return 0;

}

char *usage =

"Usage: %s [-h] [-d device] [-s server[:port]] <cmd>\n"

"       -h prints this message\n"

"       -d specifies the serial port for Modbus\n"

"          defaults to /dev/ttyUSB0\n"

"       -s specifies the server where the CRM is running\n"

"          defaults to roboticsclub.org\n"

"       <cmd> can be any of the following:\n"

"          run     runs tooltron if it is not already running\n"

"          stop    signals a running tooltron to shut down\n"

"          refresh signals a running tooltron to refresh its cache\n"

"          clear   signals a running tooltron to clear its cache\n";

int main(int argc, char **argv) {

  int opt, status, as_root;

  const char *device = "/dev/ttyUSB0";

  const char *server = "roboticsclub.org";

  while ((opt = getopt(argc, argv, "hd:s:")) != -1) {

    switch (opt) {

      case 'h':

        /* Print usage, not an error */

        printf(usage, argv[0]);

        return 0;

      case 'd':

        device = optarg;

        break;

      case 's':

        server = optarg;

        break;

      default:

        /* Unknown option, error */

        printf(usage, argv[0]);

        return 1;

    }

  }

  if (optind >= argc) {

    /* Not enough arguments, error */

    printf(usage, argv[0]);

    return 1;

  }

  if (strcmp(argv[optind], "refresh") == 0) {

    send_signal(SIGUSR1);

    return 0;

  } else if (strcmp(argv[optind], "clear") == 0) {

    send_signal(SIGUSR2);

    return 0;

  } else if (strcmp(argv[optind], "stop") == 0) {

    send_signal(SIGTERM);

    return 0;

  } else if (strcmp(argv[optind], "run") == 0) {

    /* if we're not root, don't bother with the pid file */

    if (geteuid() == 0) {

      as_root = 1;

      if (create_pid_file())

        /* pid file already exists, error */

        return 1;

    } else {

      as_root = 0;

      log_print("Warning: not root. Running without a PID file");

    }

    status = tooltron_main(device, server);

    if (as_root)

      remove_pid_file();

    return status;

  }

  printf("Unknown command \"%s\"\n", argv[optind]);

  printf(usage, argv[0]);

  return 1;

}