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rtapi_app.cc
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rtapi_app.cc
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/* Copyright (C) 2006-2008 Jeff Epler <jepler@unpythonic.net>
* Copyright (C) 2012-2014 Michael Haberler <license@mah.priv.at>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
* TODO: on setuid and capabilites(7)
*
* right now this program runs as setuid root
* it might be possible to drop the wholesale root privs by using
* capabilites(7). in particular:
*
* CAP_SYS_RAWIO open /dev/mem and /dev/kmem & Perform I/O port operations
* CAP_SYS_NICE set real-time scheduling policies, set CPU affinity
*
* NB: Capabilities are a per-thread attribute,
* so this might need to be done on a per-thread basis
* see also CAP_SETPCAP, CAP_INHERITABLE and 'inheritable set'
*
* see also:
* http://stackoverflow.com/questions/13183327/drop-root-uid-while-retaining-cap-sys-nice
* http://stackoverflow.com/questions/12141420/losing-capabilities-after-setuid
*/
#include "config.h"
#include <sys/types.h>
#include <unistd.h>
#include <errno.h>
#include <uuid/uuid.h>
#include <signal.h>
#include <sys/signalfd.h>
#include <string>
#include <map>
#include <vector>
#include <algorithm>
#include <sys/resource.h>
#include <linux/capability.h>
#include <stdlib.h>
#include <stdio.h>
#include <getopt.h>
#include <errno.h>
#include <malloc.h>
#include <assert.h>
#include <syslog_async.h>
#include <limits.h>
#include <sys/prctl.h>
#include <mk-inifile.h>
#include <czmq.h>
#include <google/protobuf/text_format.h>
#include <message.pb.h>
#include <pbutil.hh> // note_printf(machinetalk::Container &c, const char *fmt, ...)
using namespace google::protobuf;
#include "rtapi.h"
#include "rtapi_global.h"
#include "rtapi_export.h"
#include "rtapi_flavor.h" // flavor_*
#include "hal.h"
#include "hal_priv.h"
#include "shmdrv.h"
#ifdef HAVE_SYS_IO_H
#include "rtapi_io.h"
#endif
#include "mk-backtrace.h"
#include "setup_signals.h"
#include "mk-zeroconf.hh"
#include "rtapi_app_module.hh"
#define BACKGROUND_TIMER 1000
#define HALMOD "hal_lib"
#define RTAPIMOD "rtapi"
using namespace std;
/* Pre-allocation size. Must be enough for the whole application life to avoid
* pagefaults by new memory requested from the system. */
#define PRE_ALLOC_SIZE (30 * 1024 * 1024)
typedef int (*hal_call_usrfunct_t)(const char *name,
const int argc,
const char **argv,
int *ureturn);
static hal_call_usrfunct_t call_usrfunct;
typedef int (*halg_foreach_t)(bool use_hal_mutex,
foreach_args_t *args,
hal_object_callback_t callback);
typedef int (*hal_exit_usercomps_t)(char *);
static std::map<string, Module> modules;
static std::map<string, pbstringarray_t> iparms; // default instance params
static std::vector<string> loading_order;
static void remove_module(std::string name);
static struct rusage rusage;
static unsigned long minflt, majflt;
static int rtapi_instance_loc;
static int use_drivers = 0;
static int foreground;
static int debug = 0;
static int signal_fd;
static bool interrupted;
static bool trap_signals = true;
int shmdrv_loaded;
long page_size;
static const char *progname;
static const char *z_uri;
static int z_port;
static int z_debug = 0;
static uuid_t process_uuid;
static char process_uuid_str[40];
static register_context_t *rtapi_publisher;
static const char *service_uuid;
#ifdef NOTYET
static int remote = 0; // announce and bind a TCP socket
static const char *ipaddr = "127.0.0.1";
static const char *z_uri_dsn;
#endif
static const char *interfaces;
static const char *inifile;
static FILE *inifp;
#ifdef NOTYET
static AvahiCzmqPoll *av_loop;
#endif
// RTAPI flavor functions are dynamically linked in through rtapi.so
// - Pointers to functions
flavor_name_t * flavor_name_ptr;
flavor_names_t * flavor_names_ptr;
flavor_is_configured_t * flavor_is_configured_ptr;
flavor_feature_t * flavor_feature_ptr;
flavor_byname_t * flavor_byname_ptr;
flavor_default_t * flavor_default_ptr;
flavor_install_t * flavor_install_ptr;
// - Keep track of whether pointers have been set
static int have_flavor_funcs = 0;
// - For storing the `-f` option until flavors are ready to be configured
static char flavor_name_opt[MAX_FLAVOR_NAME_LEN] = {0};
// global_data is set in attach_global_segment() which was already
// created by rtapi_msgd
global_data_t *global_data;
static int init_actions(int instance);
static void exit_actions(int instance);
static int harden_rt(void);
static void stderr_rtapi_msg_handler(msg_level_t level, const char *fmt, va_list ap);
static int record_instparms(Module &mi);
static void configure_flavor(machinetalk::Container &pbreply)
{
// Retrieve the flavor_*_ptr() addresses so rtapi flavor functions can be
// called.
if (have_flavor_funcs) return; // Already did this
// Load pointers
# define GET_FLAVOR_FUNC(name) do { \
name ## _ptr = mi.sym<name ## _t *>(#name); \
if (name ## _ptr == NULL && mi.errmsg) \
note_printf(pbreply, "BUG: %s:", mi.errmsg); \
assert(name ## _ptr != NULL); \
} while (0)
Module &mi = modules[RTAPIMOD];
GET_FLAVOR_FUNC(flavor_name);
GET_FLAVOR_FUNC(flavor_names);
GET_FLAVOR_FUNC(flavor_is_configured);
GET_FLAVOR_FUNC(flavor_feature);
GET_FLAVOR_FUNC(flavor_byname);
GET_FLAVOR_FUNC(flavor_default);
GET_FLAVOR_FUNC(flavor_install);
flavor_descriptor_ptr flavor = NULL;
if (flavor_name_opt[0]) {
// Configure flavor from -f cmdline arg
if ((flavor = (*flavor_byname_ptr)(flavor_name_opt)) == NULL) {
fprintf(stderr, "No such flavor '%s'; valid flavors are:\n",
flavor_name_opt);
flavor_descriptor_ptr * f_handle;
const char * fname;
for (f_handle=NULL; (fname=(*flavor_names_ptr)(&f_handle)); )
fprintf(stderr, " %s\n", fname);
exit(1);
}
} else {
// Configure flavor from environment or automatically
flavor = (*flavor_default_ptr)(); // Exits on error
}
(*flavor_install_ptr)(flavor); // Exits on error
have_flavor_funcs = 1; // Don't run this again
}
static int do_one_item(char item_type_char,
const string ¶m_name,
const string ¶m_value,
void *vitem,
int idx,
machinetalk::Container &pbreply)
{
char *endp;
switch(item_type_char) {
case 'l': {
long *litem = *(long**) vitem;
litem[idx] = strtol(param_value.c_str(), &endp, 0);
if(*endp) {
note_printf(pbreply, "`%s' invalid for parameter `%s'",
param_value.c_str(), param_name.c_str());
return -1;
}
return 0;
}
case 'i': {
int *iitem = *(int**) vitem;
iitem[idx] = strtol(param_value.c_str(), &endp, 0);
if(*endp) {
note_printf(pbreply,
"`%s' invalid for parameter `%s'",
param_value.c_str(), param_name.c_str());
return -1;
}
return 0;
}
case 'u': {
unsigned *iitem = *(unsigned**) vitem;
iitem[idx] = strtoul(param_value.c_str(), &endp, 0);
if(*endp) {
note_printf(pbreply,
"`%s' invalid for parameter `%s'",
param_value.c_str(), param_name.c_str());
return -1;
}
return 0;
}
case 's': {
char **sitem = *(char***) vitem;
sitem[idx] = strdup(param_value.c_str());
return 0;
}
default:
note_printf(pbreply,
"%s: Invalid type character `%c'\n",
param_name.c_str(), item_type_char);
return -1;
}
return 0;
}
void remove_quotes(string &s)
{
s.erase(remove_copy(s.begin(), s.end(), s.begin(), '"'), s.end());
}
static int do_module_args(Module &mi,
pbstringarray_t args,
const string &symprefix,
machinetalk::Container &pbreply)
{
for(int i = 0; i < args.size(); i++) {
string s(args.Get(i));
remove_quotes(s);
size_t idx = s.find('=');
if(idx == string::npos) {
note_printf(pbreply, "Invalid parameter `%s'",
s.c_str());
return -1;
}
string param_name(s, 0, idx);
string param_value(s, idx+1);
void *item = mi.sym<void*>(symprefix + "address_" + param_name);
if (!item) {
note_printf(pbreply,
"Unknown parameter `%s'",
s.c_str());
return -1;
}
char **item_type = mi.sym<char**>(symprefix + "type_" + param_name);
if (!item_type || !*item_type) {
if (mi.errmsg)
note_printf(pbreply, "BUG: %s:", mi.errmsg);
note_printf(pbreply,
"Unknown parameter `%s' (type information missing)",
s.c_str());
return -1;
}
string item_type_string = *item_type;
if (item_type_string.size() > 1) {
int a, b;
char item_type_char;
int r = sscanf(item_type_string.c_str(), "%d-%d%c",
&a, &b, &item_type_char);
if(r != 3) {
note_printf(pbreply,
"Unknown parameter `%s'"
" (corrupt array type information): %s",
s.c_str(), item_type_string.c_str());
return -1;
}
size_t idx = 0;
int i = 0;
while(idx != string::npos) {
if(i == b) {
note_printf(pbreply,
"%s: can only take %d arguments",
s.c_str(), b);
return -1;
}
size_t idx1 = param_value.find(",", idx);
string substr(param_value, idx, idx1 - idx);
int result = do_one_item(item_type_char, s, substr, item, i, pbreply);
if(result != 0) return result;
i++;
idx = idx1 == string::npos ? idx1 : idx1 + 1;
}
} else {
char item_type_char = item_type_string[0];
int result = do_one_item(item_type_char, s, param_value, item, 0, pbreply);
if (result != 0) return result;
}
}
return 0;
}
static const char **pbargv(const pbstringarray_t &args)
{
const char **argv, **s;
s = argv = (const char **) calloc(sizeof(char *), args.size() + 1);
for (int i = 0; i < args.size(); i++) {
*s++ = args.Get(i).c_str();
}
*s = NULL;
return argv;
}
static void usrfunct_error(const int retval,
const string &func,
pbstringarray_t args,
machinetalk::Container &pbreply)
{
if (retval >= 0) return;
string s = pbconcat(args);
note_printf(pbreply, "hal_call_usrfunct(%s,%s) failed: %d - %s",
func.c_str(), s.c_str(), retval, strerror(-retval));
}
// separate instance args of the legacy type (name=value)
// from any other non-legacy params which should go into newinst argv
//
// given an args array like:
// foo=bar baz=123 -- blah=fasel --foo=123 -c
//
// '--' is skipped and is the separator between legacy args
// and any others passed to newinst as argc/argv
//
// the above arguments are split into
// kvpairs: foo=bar baz=123
// leftovers: blah=fasel --foo=123 -c
//
// scenario 2 - kv pairs followed by getop-style options:
// foo=bar baz=123 --baz --fasel=123 -c blah=4711
//
// the above arguments are split into
// kvpairs: foo=bar baz=123
// leftovers: --baz --fasel=123 -c blah=4711
//
// i.e. any argument following an option starting with '--' is
// treated as leftovers argument, even if it has a key=value syntax
//
static void separate_kv(pbstringarray_t &kvpairs,
pbstringarray_t &leftovers,
const pbstringarray_t &args)
{
bool extra = false;
string prefix = "--";
for(int i = 0; i < args.size(); i++) {
string s(args.Get(i));
remove_quotes(s);
if (s == prefix) { // standalone separator '--'
extra = true;
continue; // skip this argument
}
// no separator, but an option starting with -- like '--foo'
// pass this, and any following arguments and options to leftovers
if (std::equal(prefix.begin(), prefix.end(), s.begin()))
extra = true;
if (extra)
leftovers.Add()->assign(s);
else
kvpairs.Add()->assign(s);
}
}
static int do_newinst_cmd(int instance,
string comp,
string instname,
pbstringarray_t args,
machinetalk::Container &pbreply)
{
int retval = -1;
if (call_usrfunct == NULL) {
pbreply.set_retcode(1);
pbreply.add_note("this HAL library version does "
"not support user functions - version problem?");
return -1;
}
if (modules.count(comp) == 0) {
// if newinst via halcmd, it should have been automatically loaded already
note_printf(pbreply,
"newinst: component '%s' not loaded",
comp.c_str());
return -1;
}
Module &mi = modules[comp];
string s = pbconcat(iparms[mi.name]);
// set the default instance parameters which were recorded during
// initial load with record_instanceparams()
retval = do_module_args(mi, iparms[mi.name], RTAPI_IP_SYMPREFIX, pbreply);
if (retval < 0) {
note_printf(pbreply,
"passing default instance args for '%s' failed: '%s'",
instname.c_str(), s.c_str());
return retval;
}
s = pbconcat(args);
pbstringarray_t kvpairs, leftovers;
separate_kv(kvpairs, leftovers, args);
// set the instance parameters
retval = do_module_args(mi, kvpairs, RTAPI_IP_SYMPREFIX, pbreply);
if (retval < 0) {
note_printf(pbreply,
"passing args for '%s' failed: '%s'",
instname.c_str(), s.c_str());
return retval;
}
rtapi_print_msg(RTAPI_MSG_DBG,
"%s: instargs='%s'\n",__FUNCTION__,
s.c_str());
// massage the argv for the newinst user function,
// and call it
pbstringarray_t a;
a.Add()->assign(comp);
a.Add()->assign(instname);
a.MergeFrom(leftovers);
const char **argv = pbargv(a); // pass non-kv pairs only
int ureturn = 0;
retval = call_usrfunct("newinst", a.size(), argv, &ureturn );
if (argv) free(argv);
if (retval == 0) retval = ureturn;
usrfunct_error(retval, "newinst", args, pbreply);
return retval;
}
static int do_delinst_cmd(int instance,
string instname,
machinetalk::Container &pbreply)
{
int retval = -1;
string s;
if (call_usrfunct == NULL) {
pbreply.set_retcode(1);
pbreply.add_note("this HAL library version does not support "
"user functions - version problem?");
return -1;
}
pbstringarray_t a;
a.Add()->assign(instname);
const char **argv = pbargv(a);
int ureturn = 0;
retval = call_usrfunct("delinst", a.size(), argv, &ureturn);
if (argv) free(argv);
if (retval == 0) retval = ureturn;
usrfunct_error(retval, "delinst", a, pbreply);
return retval;
}
static int do_callfunc_cmd(int instance,
string func,
pbstringarray_t args,
machinetalk::Container &pbreply)
{
int retval = -1;
if (call_usrfunct == NULL) {
pbreply.set_retcode(1);
pbreply.add_note("this HAL library version does not support user "
"functions - version problem?");
return -1;
}
const char **argv = pbargv(args);
int ureturn = 0;
retval = call_usrfunct(func.c_str(),
args.size(),
argv,
&ureturn);
if (argv) free(argv);
if (retval == 0) retval = ureturn;
usrfunct_error(retval, func, args, pbreply);
return retval;
}
static int do_load_cmd(int instance,
string path,
pbstringarray_t args,
machinetalk::Container &pbreply)
{
Module mi;
if (mi.load(path) != 0) {
note_printf(pbreply, "%s: %s", __FUNCTION__, mi.errmsg);
return -1;
}
if (modules.count(mi.name) != 0) {
note_printf(pbreply, "%s: already loaded\n", mi.name.c_str());
return -1;
}
// Success
rtapi_print_msg(RTAPI_MSG_DBG, "Loaded module %s from path %s\n",
mi.name.c_str(), mi.path().c_str());
// first load of a module. Record default instanceparams
// so they can be replayed before newinst
record_instparms(mi);
int (*rtapi_app_main_dlsym)(void) =
mi.sym<int(*)(void)>("rtapi_app_main");
if (!rtapi_app_main_dlsym) {
note_printf(pbreply, "%s: dlsym: %s\n",
mi.name.c_str(), mi.errmsg);
return -1;
}
int result;
result = do_module_args(mi, args, RTAPI_MP_SYMPREFIX, pbreply);
if (result < 0) {
mi.close();
return -1;
}
// Configure flavor, needed even before `rtapi_app_main_dlsym()` runs
// next. This runs at every module load, but only does anything after
// RTAPIMOD, the first module loaded.
configure_flavor(pbreply);
// need to call rtapi_app_main with as root
// RT thread creation and hardening requires this
if ((result = rtapi_app_main_dlsym()) < 0) {
note_printf(pbreply, "rtapi_app_main(%s): %d %s\n",
mi.name.c_str(), result, strerror(-result));
return result;
}
modules[mi.name] = mi;
loading_order.push_back(mi.name);
rtapi_print_msg(RTAPI_MSG_DBG, "%s: loaded from %s\n",
mi.name.c_str(), mi.path().c_str());
return 0;
}
static int do_unload_cmd(int instance, string name, machinetalk::Container &reply)
{
int retval = 0;
if (modules.count(name) == 0) {
note_printf(reply, "unload: '%s' not loaded\n",
name.c_str());
return -1;
} else {
Module &mi = modules[name];
int (*stop)(void) = mi.sym<int(*)(void)>("rtapi_app_exit");
if (stop)
stop();
mi.close();
modules.erase(modules.find(name));
remove_module(name);
}
rtapi_print_msg(RTAPI_MSG_DBG, " '%s' unloaded\n", name.c_str());
return retval;
}
static int exit_usercomps(char *name)
{
Module &hallib = modules[HALMOD];
hal_exit_usercomps_t huc =
hallib.sym<hal_exit_usercomps_t>("hal_exit_usercomps");
return huc(NULL);
}
static int stop_threads(void)
{
typedef int (*f_t)(void);
Module &hallib = modules[HALMOD];
f_t hst = hallib.sym<f_t>("hal_stop_threads");
return hst();
}
// shut down the stack in reverse loading order
static void exit_actions(int instance)
{
machinetalk::Container reply;
stop_threads();
sleep(0.2);
exit_usercomps(NULL);
size_t index = loading_order.size() - 1;
for(std::vector<std::string>::reverse_iterator rit = loading_order.rbegin();
rit != loading_order.rend(); ++rit, --index) {
do_unload_cmd(instance, *rit, reply);
}
}
static int init_actions(int instance)
{
int retval;
machinetalk::Container reply;
retval = do_load_cmd(instance, RTAPIMOD, pbstringarray_t(), reply);
if (retval)
return retval;
if ((retval = do_load_cmd(instance, HALMOD, pbstringarray_t(), reply)))
return retval;
// resolve the "hal_call_usrfunct" for later
// callfunc, newinst & delinst need it
Module &hallib = modules[HALMOD];
call_usrfunct = hallib.sym<hal_call_usrfunct_t>("hal_call_usrfunct");
if (call_usrfunct == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR,
"cant resolve 'hal_call_usrfunct' in "
"hal_lib - version problem?");
if (hallib.errmsg)
rtapi_print_msg(
RTAPI_MSG_ERR, "dlsym(hal_call_usrfunct): '%s'", hallib.errmsg);
return -1;
}
return 0;
}
static int attach_global_segment()
{
int retval = 0;
int globalkey = OS_KEY(GLOBAL_KEY, rtapi_instance_loc);
int size = 0;
int tries = 10; // 5 sec deadline for msgd/globaldata to come up
shm_common_init();
do {
retval = shm_common_new(globalkey, &size,
rtapi_instance_loc, (void **) &global_data, 0);
if (retval < 0) {
tries--;
if (tries == 0) {
syslog_async(LOG_ERR,
"rtapi_app:%d: ERROR: cannot attach global segment key=0x%x %s\n",
rtapi_instance_loc, globalkey, strerror(-retval));
return retval;
}
struct timespec ts = {0, 500 * 1000 * 1000}; //ms
nanosleep(&ts, NULL);
}
} while (retval < 0);
if (size < (int) sizeof(global_data_t)) {
syslog_async(LOG_ERR,
"rtapi_app:%d global segment size mismatch: expect >%zu got %d\n",
rtapi_instance_loc, sizeof(global_data_t), size);
return -EINVAL;
}
tries = 10;
while (global_data->magic != GLOBAL_READY) {
tries--;
if (tries == 0) {
syslog_async(LOG_ERR,
"rtapi_app:%d: ERROR: global segment magic not changing to ready: magic=0x%x\n",
rtapi_instance_loc, global_data->magic);
return -EINVAL;
}
struct timespec ts = {0, 500 * 1000 * 1000}; //ms
nanosleep(&ts, NULL);
}
syslog_async(LOG_DEBUG,
"rtapi_app:%d: Attached global segment magic=0x%x\n",
rtapi_instance_loc, global_data->magic);
return retval;
}
// handle commands from zmq socket
static int rtapi_request(zloop_t *loop, zsock_t *socket, void *arg)
{
zmsg_t *r = zmsg_recv(socket);
char *origin = zmsg_popstr (r);
zframe_t *request_frame = zmsg_pop (r);
static bool force_exit = false;
Module mi;
int retval;
int (*create_thread)(const hal_threadargs_t*);
int (*delete_thread)(const char *);
if(request_frame == NULL){
rtapi_print_msg(RTAPI_MSG_ERR, "rtapi_request(): NULL zframe_t 'request_frame' passed");
return -1;
}
machinetalk::Container pbreq, pbreply;
if (!pbreq.ParseFromArray(zframe_data(request_frame),
zframe_size(request_frame))) {
rtapi_print_msg(RTAPI_MSG_ERR, "cant decode request from %s (size %zu)",
origin ? origin : "NULL",
zframe_size(request_frame));
zmsg_destroy(&r);
return 0;
}
if (z_debug) {
string buffer;
if (TextFormat::PrintToString(pbreq, &buffer)) {
fprintf(stderr, "request: %s\n",buffer.c_str());
}
}
pbreply.set_type(machinetalk::MT_RTAPI_APP_REPLY);
switch (pbreq.type()) {
case machinetalk::MT_RTAPI_APP_PING:
char buffer[RTAPI_LINELEN];
snprintf(buffer, sizeof(buffer),
"pid=%d flavor=%s gcc=%s git=%s",
getpid(), (*flavor_name_ptr)(NULL), __VERSION__, GIT_VERSION);
pbreply.add_note(buffer);
pbreply.set_retcode(0);
break;
case machinetalk::MT_RTAPI_APP_EXIT:
assert(pbreq.has_rtapicmd());
exit_actions(pbreq.rtapicmd().instance());
force_exit = true;
pbreply.set_retcode(0);
break;
case machinetalk::MT_RTAPI_APP_CALLFUNC:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_func());
assert(pbreq.rtapicmd().has_instance());
pbreply.set_retcode(do_callfunc_cmd(pbreq.rtapicmd().instance(),
pbreq.rtapicmd().func(),
pbreq.rtapicmd().argv(),
pbreply));
break;
case machinetalk::MT_RTAPI_APP_NEWINST:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_comp());
assert(pbreq.rtapicmd().has_instname());
assert(pbreq.rtapicmd().has_instance());
pbreply.set_retcode(do_newinst_cmd(pbreq.rtapicmd().instance(),
pbreq.rtapicmd().comp(),
pbreq.rtapicmd().instname(),
pbreq.rtapicmd().argv(),
pbreply));
break;
case machinetalk::MT_RTAPI_APP_DELINST:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_instname());
assert(pbreq.rtapicmd().has_instance());
pbreply.set_retcode(do_delinst_cmd(pbreq.rtapicmd().instance(),
pbreq.rtapicmd().instname(),
pbreply));
break;
case machinetalk::MT_RTAPI_APP_LOADRT:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_modname());
assert(pbreq.rtapicmd().has_instance());
pbreply.set_retcode(do_load_cmd(pbreq.rtapicmd().instance(),
pbreq.rtapicmd().modname(),
pbreq.rtapicmd().argv(),
pbreply));
break;
case machinetalk::MT_RTAPI_APP_UNLOADRT:
assert(pbreq.rtapicmd().has_modname());
assert(pbreq.rtapicmd().has_instance());
pbreply.set_retcode(do_unload_cmd(pbreq.rtapicmd().instance(),
pbreq.rtapicmd().modname(),
pbreply));
break;
case machinetalk::MT_RTAPI_APP_LOG:
assert(pbreq.has_rtapicmd());
if (pbreq.rtapicmd().has_rt_msglevel()) {
global_data->rt_msg_level = pbreq.rtapicmd().rt_msglevel();
}
if (pbreq.rtapicmd().has_user_msglevel()) {
global_data->user_msg_level = pbreq.rtapicmd().user_msglevel();
}
pbreply.set_retcode(0);
break;
case machinetalk::MT_RTAPI_APP_NEWTHREAD:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_threadname());
assert(pbreq.rtapicmd().has_threadperiod());
assert(pbreq.rtapicmd().has_cpu());
assert(pbreq.rtapicmd().has_use_fp());
assert(pbreq.rtapicmd().has_instance());
assert(pbreq.rtapicmd().has_flags());
if (modules.count(HALMOD) == 0) {
pbreply.add_note("hal_lib not loaded");
pbreply.set_retcode(-1);
break;
}
mi = modules[HALMOD];
create_thread =
mi.sym<int(*)(const hal_threadargs_t*)>("hal_create_xthread");
if (create_thread == NULL) {
pbreply.add_note("symbol 'hal_create_thread' not found in hal_lib");
pbreply.set_retcode(-1);
break;
}
hal_threadargs_t args;
args.name = pbreq.rtapicmd().threadname().c_str();
args.period_nsec = pbreq.rtapicmd().threadperiod();
args.uses_fp = pbreq.rtapicmd().use_fp();
args.cpu_id = pbreq.rtapicmd().cpu();
args.flags = (rtapi_thread_flags_t) pbreq.rtapicmd().flags();
strncpy(args.cgname, pbreq.rtapicmd().cgname().c_str(), RTAPI_LINELEN-1);
retval = create_thread(&args);
if (retval < 0) {
pbreply.add_note("hal_create_xthread() failed, see log");
}
pbreply.set_retcode(retval);
break;
case machinetalk::MT_RTAPI_APP_DELTHREAD:
assert(pbreq.has_rtapicmd());
assert(pbreq.rtapicmd().has_threadname());
assert(pbreq.rtapicmd().has_instance());
if (modules.count(HALMOD) == 0) {
pbreply.add_note("hal_lib not loaded");
pbreply.set_retcode(-1);
break;
}
mi = modules[HALMOD];
delete_thread = mi.sym<int(*)(const char *)>("hal_thread_delete");
if (delete_thread == NULL) {
pbreply.add_note("symbol 'hal_thread_delete' not found in hal_lib");
pbreply.set_retcode(-1);
break;
}
retval = delete_thread(pbreq.rtapicmd().threadname().c_str());
pbreply.set_retcode(retval);
break;
default:
rtapi_print_msg(RTAPI_MSG_ERR,
"unkown command type %d)",
(int) pbreq.type());
zmsg_destroy(&r);
return 0;
}
// log accumulated notes
for (int i = 0; i < pbreply.note_size(); i++) {
rtapi_print_msg(pbreply.retcode() ? RTAPI_MSG_ERR : RTAPI_MSG_DBG,
"%s", pbreply.note(i).c_str());
}
// TODO: extract + attach error message
size_t reply_size = pbreply.ByteSize();
zframe_t *reply = zframe_new (NULL, reply_size);
if(reply == NULL){
rtapi_print_msg(RTAPI_MSG_ERR, "rtapi_request(): NULL zframe_t 'reply' passed");
return -1;
}
if (!pbreply.SerializeWithCachedSizesToArray(zframe_data (reply))) {
zframe_destroy(&reply);
rtapi_print_msg(RTAPI_MSG_ERR,
"cant serialize to %s (type %d size %zu)",
origin ? origin : "NULL",
pbreply.type(),
reply_size);
} else {
if (z_debug) {
string buffer;
if (TextFormat::PrintToString(pbreply, &buffer)) {
fprintf(stderr, "reply: %s\n",buffer.c_str());
}
}
assert(zstr_sendm (socket, origin) == 0);
if (zframe_send (&reply, socket, 0)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"cant serialize to %s (type %d size %zu)",
origin ? origin : "NULL",
pbreply.type(),
zframe_size(reply));
}
}
free(origin);
zmsg_destroy(&r);
if (force_exit) // terminate the zloop
return -1;
return 0;
}
static void btprint(const char *prefix, const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
rtapi_msg_handler_t print = rtapi_get_msg_handler();
print(RTAPI_MSG_ERR, fmt, args);
va_end(args);
}
// handle signals delivered via sigaction - not all signals
// can be dealt with through signalfd(2)
// log, try to do something sane, and dump core
static void sigaction_handler(int sig, siginfo_t *si, void *uctx)
{
switch (sig) {
case SIGXCPU:
// should not happen - must be handled in RTAPI if enabled
rtapi_print_msg(RTAPI_MSG_ERR, "rtapi_app: BUG: SIGXCPU should be handled in RTAPI");
// NB: fall through
default:
rtapi_print_msg(RTAPI_MSG_ERR,
"signal %d - '%s' received, dumping core (current dir=%s)",
sig, strsignal(sig), get_current_dir_name());
backtrace("", "rtapi_app", btprint, 3);
if (global_data)
global_data->rtapi_app_pid = 0;
closelog_async(); // let syslog_async drain
sleep(1);
// reset handler for current signal to default
signal(sig, SIG_DFL);
// and re-raise so we get a proper core dump and stacktrace
kill(getpid(), sig);
sleep(1);