Revision cc7646f9
Major changes to mainbox code.
-Added local cache for RFID -> tool permissions
-Queries new page /crm/roboauth/%08x, which gives bitmask of all tool
permissions instead of just one
-Added pid file at /var/run/tooltron.pid
-Now must be run as "tooltron run" and also has "tooltron refresh" and
"tooltron clear" which send signals to the pid in the pid file
-Other things I'm forgetting
| mainbox/main.c | ||
|---|---|---|
| 1 | 1 |
#include "tool.h" |
| 2 | 2 |
#include "query.h" |
| 3 |
#include "cache.h" |
|
| 3 | 4 |
#include "log.h" |
| 5 |
#include "util.h" |
|
| 4 | 6 |
#include <unistd.h> |
| 5 | 7 |
#include <signal.h> |
| 6 |
#include <strings.h>
|
|
| 8 |
#include <string.h> |
|
| 7 | 9 |
#include <stdio.h> |
| 8 | 10 |
|
| 9 |
#define SLEEP_MS 10//250
|
|
| 11 |
#define SLEEP_MS 25
|
|
| 10 | 12 |
|
| 11 | 13 |
static struct tool_t tools[] = {
|
| 12 |
TOOL_DECL("test1", 1),
|
|
| 13 |
TOOL_DECL("test2", 2),
|
|
| 14 |
TOOL_DECL("test3", 3),
|
|
| 15 |
TOOL_DECL("test4", 4),
|
|
| 16 |
TOOL_DECL("test5", 5),
|
|
| 17 |
TOOL_DECL("test6", 6),
|
|
| 18 |
TOOL_DECL("test7", 7),
|
|
| 19 |
TOOL_DECL("test8", 8),
|
|
| 20 |
TOOL_DECL("test9", 9)
|
|
| 14 |
TOOL_DECL("Mill", 1),
|
|
| 15 |
TOOL_DECL("Lathe", 2),
|
|
| 16 |
TOOL_DECL("Drill Press", 3),
|
|
| 17 |
TOOL_DECL("Drill Press", 4),
|
|
| 18 |
TOOL_DECL("CNC", 5),
|
|
| 19 |
TOOL_DECL("Bandsaw", 6),
|
|
| 20 |
TOOL_DECL("Circular Saw", 7),
|
|
| 21 |
TOOL_DECL("Wood Band Saw", 8),
|
|
| 22 |
TOOL_DECL("Chop/Miter Saw", 9),
|
|
| 23 |
TOOL_DECL("Belt Sander", 10)
|
|
| 21 | 24 |
}; |
| 22 | 25 |
|
| 23 | 26 |
#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t)) |
| 24 | 27 |
|
| 25 | 28 |
volatile int run = 1; |
| 29 |
volatile int refresh_cache = 0; |
|
| 30 |
volatile int clear_cache = 0; |
|
| 26 | 31 |
|
| 27 | 32 |
void sigint(int sig) {
|
| 28 | 33 |
run = 0; |
| 29 | 34 |
} |
| 30 | 35 |
|
| 31 |
void print_usage(const char *name) {
|
|
| 32 |
printf("Usage: %s [-h] [-d serial_device] [-s db_server[:port]]\n", name);
|
|
| 33 |
printf(" -h prints this message\n");
|
|
| 34 |
printf(" -d specifies the serial port for Modbus\n");
|
|
| 35 |
printf(" defaults to /dev/ttyUSB0\n");
|
|
| 36 |
printf(" -s specifies the server where the CRM is running\n");
|
|
| 37 |
printf(" defaults to roboticsclub.org\n");
|
|
| 36 |
void sigusr1(int sig) {
|
|
| 37 |
refresh_cache = 1; |
|
| 38 | 38 |
} |
| 39 | 39 |
|
| 40 |
int main(int argc, char **argv) {
|
|
| 41 |
int i, opt; |
|
| 42 |
struct sigaction sigact; |
|
| 43 |
const char *device = "/dev/ttyUSB0"; |
|
| 44 |
const char *server = "roboticsclub.org"; |
|
| 40 |
void sigusr2(int sig) {
|
|
| 41 |
clear_cache = 1; |
|
| 42 |
} |
|
| 45 | 43 |
|
| 46 |
while ((opt = getopt(argc, argv, "hd:s:")) != -1) {
|
|
| 47 |
switch (opt) {
|
|
| 48 |
case 'h': |
|
| 49 |
print_usage(argv[0]); |
|
| 50 |
return 0; |
|
| 51 |
case 'd': |
|
| 52 |
device = optarg; |
|
| 53 |
break; |
|
| 54 |
case 's': |
|
| 55 |
server = optarg; |
|
| 56 |
break; |
|
| 57 |
default: |
|
| 58 |
print_usage(argv[0]); |
|
| 59 |
return 1; |
|
| 60 |
} |
|
| 61 |
} |
|
| 44 |
void send_signal(int sig) {
|
|
| 45 |
pid_t pid; |
|
| 46 |
|
|
| 47 |
pid = read_pid_file(); |
|
| 48 |
|
|
| 49 |
if (pid > 0) |
|
| 50 |
kill(pid, sig); |
|
| 51 |
} |
|
| 52 |
|
|
| 53 |
int tooltron_main(const char *device, const char *server) {
|
|
| 54 |
struct sigaction sigact; |
|
| 55 |
int i; |
|
| 62 | 56 |
|
| 63 | 57 |
log_print("Serial device: %s", device);
|
| 64 | 58 |
log_print("CRM server: http://%s/", server);
|
| 65 | 59 |
|
| 66 | 60 |
bzero(&sigact, sizeof(sigact)); |
| 67 |
sigact.sa_handler = sigint; |
|
| 68 | 61 |
sigact.sa_flags = SA_RESTART; |
| 69 | 62 |
sigemptyset(&sigact.sa_mask); |
| 63 |
|
|
| 64 |
sigact.sa_handler = sigint; |
|
| 70 | 65 |
sigaction(SIGINT, &sigact, NULL); |
| 66 |
sigaction(SIGTERM, &sigact, NULL); |
|
| 67 |
|
|
| 68 |
sigact.sa_handler = sigusr1; |
|
| 69 |
sigaction(SIGUSR1, &sigact, NULL); |
|
| 70 |
|
|
| 71 |
sigact.sa_handler = sigusr2; |
|
| 72 |
sigaction(SIGUSR2, &sigact, NULL); |
|
| 71 | 73 |
|
| 72 | 74 |
if (query_init(server)) {
|
| 73 | 75 |
return 1; |
| ... | ... | |
| 83 | 85 |
while (run) {
|
| 84 | 86 |
tool_poll(&tools[i]); |
| 85 | 87 |
event_q_process(); |
| 88 |
if (refresh_cache) {
|
|
| 89 |
log_print("Recieved SIGUSR1, refreshing cache content");
|
|
| 90 |
query_refresh_cache(); |
|
| 91 |
refresh_cache = 0; |
|
| 92 |
} |
|
| 93 |
if (clear_cache) {
|
|
| 94 |
log_print("Recieved SIGUSR2, clearing cache");
|
|
| 95 |
cache_clear(); |
|
| 96 |
clear_cache = 0; |
|
| 97 |
} |
|
| 86 | 98 |
usleep(SLEEP_MS * (useconds_t)1000); |
| 87 | 99 |
i = (i+1) % N_TOOLS; |
| 88 | 100 |
} |
| ... | ... | |
| 96 | 108 |
tool_close_mb(); |
| 97 | 109 |
|
| 98 | 110 |
log_print("Exiting");
|
| 111 |
query_cleanup(); |
|
| 112 |
cache_clear(); |
|
| 99 | 113 |
return 0; |
| 100 | 114 |
} |
| 115 |
|
|
| 116 |
char *usage = |
|
| 117 |
"Usage: %s [-h] [-d device] [-s server[:port]] <cmd>\n" |
|
| 118 |
" -h prints this message\n" |
|
| 119 |
" -d specifies the serial port for Modbus\n" |
|
| 120 |
" defaults to /dev/ttyUSB0\n" |
|
| 121 |
" -s specifies the server where the CRM is running\n" |
|
| 122 |
" defaults to roboticsclub.org\n" |
|
| 123 |
" <cmd> can be any of the following:\n" |
|
| 124 |
" run runs tooltron if it is not already running\n" |
|
| 125 |
" refresh signals an already running tooltron to refresh its cache\n" |
|
| 126 |
" clear signals an already running tooltron to clear its cache\n"; |
|
| 127 |
|
|
| 128 |
int main(int argc, char **argv) {
|
|
| 129 |
int opt; |
|
| 130 |
const char *device = "/dev/ttyUSB0"; |
|
| 131 |
const char *server = "roboticsclub.org"; |
|
| 132 |
|
|
| 133 |
while ((opt = getopt(argc, argv, "hd:s:")) != -1) {
|
|
| 134 |
switch (opt) {
|
|
| 135 |
case 'h': |
|
| 136 |
/* Print usage, not an error */ |
|
| 137 |
printf(usage, argv[0]); |
|
| 138 |
return 0; |
|
| 139 |
case 'd': |
|
| 140 |
device = optarg; |
|
| 141 |
break; |
|
| 142 |
case 's': |
|
| 143 |
server = optarg; |
|
| 144 |
break; |
|
| 145 |
default: |
|
| 146 |
/* Unknown option, error */ |
|
| 147 |
printf(usage, argv[0]); |
|
| 148 |
return 1; |
|
| 149 |
} |
|
| 150 |
} |
|
| 151 |
|
|
| 152 |
if (optind >= argc) {
|
|
| 153 |
/* Not enough arguments, error */ |
|
| 154 |
printf(usage, argv[0]); |
|
| 155 |
return 1; |
|
| 156 |
} |
|
| 157 |
|
|
| 158 |
if (strcmp(argv[optind], "refresh") == 0) {
|
|
| 159 |
send_signal(SIGUSR1); |
|
| 160 |
return 0; |
|
| 161 |
} else if (strcmp(argv[optind], "clear") == 0) {
|
|
| 162 |
send_signal(SIGUSR2); |
|
| 163 |
return 0; |
|
| 164 |
} else if (strcmp(argv[optind], "run") != 0) {
|
|
| 165 |
/* <cmd> is not "refresh", "clear", or "run", error */ |
|
| 166 |
printf(usage, argv[0]); |
|
| 167 |
return 1; |
|
| 168 |
} |
|
| 169 |
|
|
| 170 |
if (create_pid_file()) |
|
| 171 |
/* pid file already exists, error */ |
|
| 172 |
return 1; |
|
| 173 |
|
|
| 174 |
return tooltron_main(device, server); |
|
| 175 |
} |
|
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