/***************************************************************************** * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * (c) Copyright 1991 Christopher Fedor and Reid Simmons. All rights reserved. * * MODULE: central * * FILE: central.c * * ABSTRACT: * * This file contains the "main" of the central x_ipc server. * * REVISION HISTORY: * * $Log: central.c,v $ * Revision 1.1.1.1 2004/10/15 14:33:14 tomkol * Initial Import * * Revision 1.4 2003/04/20 02:28:12 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.6 2003/02/13 20:41:10 reids * Fixed compiler warnings. * * Revision 2.5 2000/08/14 21:28:32 reids * Added support for making under Windows. * * Revision 2.4 2000/07/19 20:55:49 reids * Added handling for SIGPIPE; fixed handling of direct messages when pipe * is broken. * Also, need to reset handlers (maybe??) since, according to the man page for * "signal", the Linux version resets the handler to its default value each * time the signal is raised. * * Revision 2.3 2000/07/03 17:03:21 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.2 2000/02/25 14:07:25 reids * Use of UNUSED_PRAGMA for compilers that do not support "#pragma unused" * * Revision 2.1.1.1 1999/11/23 19:07:36 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.1.4.7 1997/03/07 17:49:26 reids * Added support for OS2, needed by JSC team (thanks to Bob Goode). * Also fixed bug when passing between machines of different endianness. * * Revision 1.1.4.6 1997/01/27 20:38:48 reids * On VxWorks, spawn a task that spawns central with the "right" task * parameters, including "centralPriority" and "centralStacksize". * * Revision 1.1.4.5 1997/01/27 20:09:09 udo * ipc_2_6_006 to r3_Dev merge * * Revision 1.1.4.3 1997/01/11 01:20:45 udo * ipc 2.6.002 to r3_dev merge * * Revision 1.1.4.2.4.1 1996/12/24 14:35:17 reids * Don't need (use) "centralFreeMemory" on VxWorks * * Revision 1.1.4.2 1996/12/18 15:12:42 reids * Changed logging code to remove VxWorks dependence on varargs * * Revision 1.1.4.1 1996/10/02 20:57:39 reids * Fixed the method for parsing command-line options in VxWorks * * Revision 1.1 1996/06/29 00:19:34 kamyar * used to be called central.c * * Revision 1.1 1996/05/09 01:01:12 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.2 1996/04/24 19:10:57 reids * Support for the vxworks version. Main changes to the way getting time is * handled and parsing of command line options. * * Revision 1.1 1996/03/03 04:30:58 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.33 1996/02/11 04:11:58 rich * Fixed warning message. * * Revision 1.32 1996/02/10 16:49:32 rich * Fixed header problems and a crash related to direct connections. * * Revision 1.31 1996/02/06 19:04:09 rich * Changes for VXWORKS pipes. Note: the read and write sockets descriptors * can be different. * * Revision 1.30 1996/01/30 15:03:50 rich * Fixed var array index problem. Index refers to the enclosing structure. * Added ability to force 32 bit enums and changed some #defs to enums to * ease debugging. Fixed initialization problems for central. * * Revision 1.29 1996/01/05 16:31:00 rich * Added windows NT port. * * Revision 1.28 1995/12/17 20:21:08 rich * Have free routines set pointers to NULL. * Removed old makefiles. * * Revision 1.27 1995/12/15 01:23:02 rich * Moved Makefile to Makefile.generic to encourage people to use * GNUmakefile. * Fixed a memory leak when a module is closed and some other small fixes. * * Revision 1.26 1995/07/12 04:54:17 rich * Release of 8.0. * Fixed problems with sending between machines of different endien. * * Revision 1.25 1995/07/10 16:16:48 rich * Interm save. * * Revision 1.24 1995/07/08 18:24:39 rich * Change all /afs/cs to /afs/cs.cmu.edu to get ride of conflict problems. * * Revision 1.23 1995/07/06 21:15:42 rich * Solaris and Linux changes. * * Revision 1.22 1995/04/21 03:53:07 rich * Added central commands to kill the task tree and close a module. * Added x_ipcGetContext and x_ipcSetContext to support connections to multiple * central servers. x_ipcConnectModules can be called multiple times. * Fixed a bug in the resource limit pending. * Created seperate routines to print help and option messages. * * Revision 1.21 1995/04/07 05:02:44 rich * Fixed GNUmakefiles to find the release directory. * Cleaned up libc.h file for sgi and vxworks. Moved all system includes * into libc.h * Got direct queries to work. * Fixed problem in allocating/initializing generic mats. * The direct flag (-c) now mostly works. Connect message has been extended to * indicate when direct connections are the default. * Problem with failures on sunOS machines. * Fixed problem where x_ipcError would not print out its message if logging had * not been initialized. * Fixed another memory problem in modVar.c. * Fixed problems found in by sgi cc compiler. Many type problems. * * Revision 1.20 1995/03/28 01:14:16 rich * - Added ability to log data with direct connections. Also fixed some * problems with global variables. It now uses broadcasts for watching variables. * - Added preliminary memory recovery routines to handle out of memory * conditions. It currently purges items from resource queues. Needs to * be tested. * - If the CENTRALHOST environment variable is not set, try the current * host. * - Fixed a problem with central registered messages that caused the parsed * formatters to be lost. * - Added const declarations where needed to the prototypes in x_ipc.h. * - x_ipcGetConnections: Get the fd_set. Needed for direct connections. * - Added x_ipcExecute and x_ipcExecuteWithConstraints. Can "execute" a goal * or command. * - x_ipcPreloadMessage: Preload the definition of a message from the * central server. * * Revision 1.19 1995/03/14 22:36:37 rich * Fixed problem with multiple read needed when doing a vector read. (Fix * to version 7.9) * Also fixed the data size problem from 7.9. * * Revision 1.18 1995/01/25 00:00:54 rich * Release of x_ipc 7.9. Mostly speed improvements. * The cvs binaries may now be located in /usr/local. * Fixed problems with little endian translation. * * Revision 1.17 1995/01/18 22:39:46 rich * X_IPC 7.9: Speed improvements. * Use unix sockets for communication on the same machine. * Eliminate copying. * Optimize loop for arrays, especially simple, primitive arrays. * Optimize the buffer size. * * Revision 1.16 1994/05/25 04:56:55 rich * Defined macros for registering simple messages and handlers at once. * Added function to ignore logging for all messages associated with a * global variable. * Moved module global variable routines to a new file so they are not * included in the .sa library file. Gets better code sharing and lets you * debug these routines. * Added code to force the module variables to be re-initialized after the * server goes down. * x_ipcClose now will not crash if the server is down and frees some module * memory. * The command line flag "-u" turns off the simple user interface. * Added routines to free hash tables and id tables. * * Revision 1.15 1994/05/06 04:46:58 rich * Put central io routines in a new file. * Fixed GNUmakefile. * * Revision 1.14 1994/05/05 00:46:00 rich * Added a gmake makefile GNUmakefile so that the system can be easily * compiled on different machines. * Can now create the targets: tarfile and ftp for creating versions for * export. * * Fixed a number of places were x_ipcExitHnd was not expected to return. * Set the x_ipcSeverGlobal to 0 when the socket is closed. * * Revision 1.13 1994/04/28 22:16:40 rich * Added very simple stdin interface to central. You can type command line * argument into standard in while central is running. One option per * line. In addition, it understands "quit" and "help". * * Revision 1.12 1994/04/28 16:15:22 reids * Changes in X_IPC Version 7.6: * 1) New functions: x_ipcIgnoreLogging and x_ipcResumeLogging * 2) Code for MacIntosh (MPW) version of X_IPC * * Revision 1.11 1994/04/26 16:23:08 rich * Now you can register an exit handler before anything else and it will * get called if connecting to central fails. * Also added code to handle pipe breaks during writes. * * Revision 1.10 1994/04/16 19:41:42 rich * First release of X_IPC for the DEC alpha. * Changes were needed because longs are 64 bits. * Fixed alignment assumption in the data message format. * Fixed the way offsets are calculated for variable length arrays. This * was a problem even without 64 bit longs and pointers. * * Added the commit date to the version information printed out with the -v * option. * * Now uses standard defines for byte order * (BYTE_ORDER = BIG_ENDIAN, LITTLE_ENDIAN or PDP_ENDIAN) * * Defined alignment types: ALIGN_INT ALINE_LONGEST and ALIGN_WORD. * * *** WARNING *** * sending longs between alphas and non-alpha machines will probably not work. * *** WARNING *** * * Revision 1.9 1994/03/28 02:22:33 rich * parseFmttrs needs to be in the server objects and not the module objects. * * Revision 1.8 1994/01/31 18:27:30 reids * Several major changes (and some minor ones) * 1. x_ipcFreeData and x_ipcFreeReply now work even if the data or message format * is NULL * 2. Using the "-t" option in central, message taps are added as a child of * the task tree node that was tapped. * 3. Named formatters are now expanded only when needed * For more details, see ../doc/x_ipc-7-4.release.notes * * Revision 1.7 1993/12/14 17:32:57 rich * Changed getMGlobal to GET_M_GLOBAL and changed getSGlobal to * GET_S_GLOBAL to conform to Chris' software standards. * * Patched problem with connecting between machines with different byte * orders. The real fix requires changing the way formats are stored. * Searching for structural similar formats does not guarantee that you * find the right format. * * Revision 1.6 1993/12/01 18:02:49 rich * Fixed a problem with the port number being double converted to network * byte order. * Some general cleanup. * * Revision 1.5 1993/11/21 20:17:18 rich * Added shared library for sun4c_411 sunos machines. * Added install to the makefile. * Fixed problems with global variables. * * Revision 1.4 1993/08/30 21:53:10 fedor * V7+V6+VXWORKS Everything compiles but there are initialization problems. * * Revision 1.3 1993/08/27 07:14:16 fedor * First Pass at V7 and V6+VXWORKS merge * * Revision 1.2 1993/05/26 23:16:57 rich * Fixed up the comments at the top of the file. * * Revision 1.1.1.1 1993/05/20 05:45:16 rich * Importing x_ipc version 8 * * Revision 7.1 1993/05/20 00:29:16 rich * RTG - initial checkin of Chris Fedor's version 8 of x_ipc * * Revision 1.2 1993/05/19 17:23:16 fedor * Added Logging. * * 25-Jul-91 Reid Simmons at School of Computer Science, CMU * Removed the -b option (buffers are no longer managed). * Added -r option to try resending messages after module crashes. * * 8-Jul-91 Reid Simmons at School of Computer Science, CMU * Removed the -gc option. * Added -b option to pre-allocate a data message buffer. * * 7-Apr-90 Christopher Fedor at School of Computer Science, CMU * Added -v option to simply display current server version info. * * 30-Mar-90 Christopher Fedor at School of Computer Science, CMU * Revised to software standards. * * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:14 $ * $Author: tomkol $ * *****************************************************************************/ #include "globalS.h" /***************************************************************************** * * FUNCTION: int parseExpectedMods(argc, argv, expectedMods) * * DESCRIPTION: * * INPUTS: * int argc; * char **argv; * int *expectedMods; * * OUTPUTS: void * *****************************************************************************/ #ifndef VXWORKS static void parseExpectedMods(int argc, char **argv, int *expectedMods) { int i; /* Default to 1 module. */ *expectedMods = 1; for (i=1; i #include #include static void doSiouxStuff (void) { SIOUXSettings.autocloseonquit = TRUE; SIOUXSettings.showstatusline = TRUE; SIOUXSettings.asktosaveonclose = FALSE; } #endif #ifdef VXWORKS /* Used for cleaning stopping central */ static int centralTID = 0; /* To be called from the shell */ void killCentral (void) { if (centralTID != 0) kill(centralTID, SIGTERM); } int centralPriority = CENTRAL_VXWORKS_PRIORITY; int centralStacksize = CENTRAL_VXWORKS_STACKSIZE; void central (char *options) { taskSpawn(CENTRAL_VXWORKS_NAME, centralPriority, CENTRAL_VXWORKS_OPTIONS, centralStacksize, (FUNCPTR)centralMain, (int)options, 0, 0, 0, 0, 0, 0, 0, 0, 0); } void centralMain(char *options) #else int main(int argc, char **argv) #endif { int expectedMods = 0; #ifdef macintosh doSiouxStuff(); argc = ccommand(&argv); #endif /* Added by Bob Goode/Tam Ngo, 5/21/97, for WINSOCK option. */ #ifdef OS2 sock_init(); #elif defined(_WINSOCK_) startWinsock(); #endif /* Winsock DLL loading */ x_ipcModuleInitialize(); #ifdef VXWORKS /* Do this only after the socket is set up (in case there is an old central lying around that needs killed */ centralTID = taskIdSelf(); #endif globalSInit(); #if !defined(THINK_C) && !defined(macintosh) && !defined(__TURBOC__) && !defined(OS2) && !defined(_WIN95_MSC_) && !defined(WINNT) && !defined(WIN32) (void)signal(SIGINT, abortCentral); (void)signal(SIGBUS, abortCentral); (void)signal(SIGSEGV, abortCentral); (void)signal(SIGPIPE, pipeClosedHnd); (void)signal(SIGTERM, abortCentral); #endif /* !THINK_C && !macintosh */ #ifndef VXWORKS if ((argc > 1) && (STREQ(argv[1], "-v"))) displayVersion(); else if ((argc > 1) && (STREQ(argv[1], "-h"))) { displayOptions(argv[0]); #ifdef macintosh SIOUXSettings.autocloseonquit = FALSE; #endif } else { parseExpectedMods(argc, argv, &expectedMods); parseCommandLineOptions(argc, argv); #else if ((options!= NULL) && (strstr(options, "-v") || strstr(options, "-V"))) { displayVersion(); } else if ((options!= NULL) && (strstr(options, "-h") || strstr(options, "-H"))) { displayOptions("central"); } else { parseOpsFromStr(options, &expectedMods, FALSE); #endif if (expectedMods < 1) expectedMods = 1; if (!serverInitialize(expectedMods)) { X_IPC_ERROR("ERROR: Unable to start server, Is one already running?\n"); } #ifndef VXWORKS /* Register a method for freeing memory in an emergency. */ x_ipcRegisterFreeMemHnd(centralFreeMemory,3); if (GET_S_GLOBAL(listenToStdin)) printPrompt(); #endif fprintf(stderr, "Message daemon running...\n"); listenLoop(); } #ifdef _WINSOCK_ WSACleanup(); printf("Socket cleaned up."); #endif /* Unload Winsock DLL */ #ifndef VXWORKS return 1; #endif }