root / mainbox / main.c @ 2dde134c
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#include "tool.h" |
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#include "query.h" |
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#include "cache.h" |
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#include "log.h" |
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#include "util.h" |
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#include <unistd.h> |
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#include <signal.h> |
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#include <string.h> |
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#include <stdio.h> |
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#include <sys/time.h> |
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|
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static struct tool_t tools[] = { |
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TOOL_DECL("Mill", 1), |
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TOOL_DECL("Lathe", 2), |
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TOOL_DECL("Drill Press", 3), |
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TOOL_DECL("Drill Press", 4), |
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TOOL_DECL("CNC", 5), |
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TOOL_DECL("Bandsaw", 6), |
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TOOL_DECL("Circular Saw", 7), |
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TOOL_DECL("Wood Band Saw", 8), |
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TOOL_DECL("Chop/Miter Saw", 9), |
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TOOL_DECL("Belt Sander", 10) |
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}; |
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|
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#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t)) |
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|
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volatile int run = 1; |
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volatile int refresh_cache = 0; |
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volatile int clear_cache = 0; |
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|
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void sigint(int sig) { |
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run = 0;
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} |
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|
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void sigusr1(int sig) { |
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refresh_cache = 1;
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} |
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|
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void sigusr2(int sig) { |
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clear_cache = 1;
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} |
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|
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void send_signal(int sig) { |
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pid_t pid; |
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|
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pid = read_pid_file(); |
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|
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if (pid > 0) |
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kill(pid, sig); |
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} |
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|
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int tooltron_main(const char *device, const char *server) { |
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struct sigaction sigact;
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struct timeval time_prev, time_cur;
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int i, diff;
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|
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log_print("Serial device: %s", device);
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log_print("CRM server: http://%s/", server);
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|
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bzero(&sigact, sizeof(sigact));
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sigact.sa_flags = SA_RESTART; |
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sigemptyset(&sigact.sa_mask); |
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|
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sigact.sa_handler = sigint; |
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sigaction(SIGINT, &sigact, NULL);
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sigaction(SIGTERM, &sigact, NULL);
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|
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sigact.sa_handler = sigusr1; |
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sigaction(SIGUSR1, &sigact, NULL);
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|
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sigact.sa_handler = sigusr2; |
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sigaction(SIGUSR2, &sigact, NULL);
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|
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if (query_init(server)) {
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return 1; |
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} |
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|
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if (tool_init_mb(device)) {
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return 1; |
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} |
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|
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log_print("Modbus initialized; polling tools...");
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|
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gettimeofday(&time_prev, NULL);
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i = 0;
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while (run) {
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tool_poll(&tools[i]); |
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event_q_process(); |
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if (refresh_cache) {
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log_print("Recieved SIGUSR1, refreshing cache content");
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query_refresh_cache(); |
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refresh_cache = 0;
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} |
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if (clear_cache) {
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log_print("Recieved SIGUSR2, clearing cache");
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cache_clear(); |
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clear_cache = 0;
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} |
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|
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// slow loop period down to MB_TIMEOUT_MS
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gettimeofday(&time_cur, NULL);
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diff = (time_cur.tv_sec - time_prev.tv_sec) * 1000000
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+ (time_cur.tv_usec - time_prev.tv_usec); |
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diff = MB_TIMEOUT_MS * 1000 - diff;
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if (diff > 0) { |
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usleep(diff); |
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} |
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gettimeofday(&time_prev, NULL);
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i = (i+1) % N_TOOLS;
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} |
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log_print("Recieved SIGINT or SIGTERM, shutting down");
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|
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log_print("Disabling tools");
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for (i = 0; i < N_TOOLS; i++) { |
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tool_request_disable(&tools[i]); |
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} |
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|
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log_print("Closing modbus connection");
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tool_close_mb(); |
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|
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log_print("Exiting");
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query_cleanup(); |
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cache_clear(); |
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return 0; |
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} |
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|
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char *usage =
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"Usage: %s [-h] [-d device] [-s server[:port]] <cmd>\n"
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" -h prints this message\n"
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" -d specifies the serial port for Modbus\n"
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" defaults to /dev/ttyUSB0\n"
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" -s specifies the server where the CRM is running\n"
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" defaults to roboticsclub.org\n"
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" <cmd> can be any of the following:\n"
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" run runs tooltron if it is not already running\n"
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" stop signals a running tooltron to shut down\n"
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" refresh signals a running tooltron to refresh its cache\n"
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" clear signals a running tooltron to clear its cache\n";
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int main(int argc, char **argv) { |
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int opt, status, as_root;
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const char *device = "/dev/ttyUSB0"; |
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const char *server = "roboticsclub.org"; |
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|
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while ((opt = getopt(argc, argv, "hd:s:")) != -1) { |
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switch (opt) {
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case 'h': |
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/* Print usage, not an error */
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printf(usage, argv[0]);
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return 0; |
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case 'd': |
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device = optarg; |
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break;
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case 's': |
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server = optarg; |
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break;
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default:
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/* Unknown option, error */
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printf(usage, argv[0]);
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return 1; |
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} |
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} |
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if (optind >= argc) {
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/* Not enough arguments, error */
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printf(usage, argv[0]);
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return 1; |
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} |
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if (strcmp(argv[optind], "refresh") == 0) { |
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send_signal(SIGUSR1); |
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return 0; |
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|
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} else if (strcmp(argv[optind], "clear") == 0) { |
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send_signal(SIGUSR2); |
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return 0; |
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|
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} else if (strcmp(argv[optind], "stop") == 0) { |
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send_signal(SIGTERM); |
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return 0; |
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|
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} else if (strcmp(argv[optind], "run") == 0) { |
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/* if we're not root, don't bother with the pid file */
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if (geteuid() == 0) { |
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as_root = 1;
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if (create_pid_file())
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/* pid file already exists, error */
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return 1; |
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} else {
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as_root = 0;
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log_print("Warning: not root. Running without a PID file");
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} |
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status = tooltron_main(device, server); |
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if (as_root)
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remove_pid_file(); |
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return status;
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} |
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printf("Unknown command \"%s\"\n", argv[optind]);
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printf(usage, argv[0]);
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return 1; |
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} |