halcmd_commands.c

CNC 的开放码,EMC2 V2.2.8版

/* Copyright (C) 2007 Jeff Epler <[e-mail]>
 * Copyright (C) 2003 John Kasunich
 *                     <jmkasunich AT users DOT sourceforge DOT net>
 *
 *  Other contributers:
 *                     Martin Kuhnle
 *                     <mkuhnle AT users DOT sourceforge DOT net>
 *                     Alex Joni
 *                     <alex_joni AT users DOT sourceforge DOT net>
 *                     Benn Lipkowitz
 *                     <fenn AT users DOT sourceforge DOT net>
 *                     Stephen Wille Padnos
 *                     <swpadnos AT users DOT sourceforge DOT net>
 *
 *  This program is free software; you can redistribute it and/or
 *  modify it under the terms of version 2 of the GNU General
 *  Public License as published by the Free Software Foundation.
 *  This library 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 library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA
 *
 *  THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
 *  ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE
 *  TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of
 *  harming persons must have provisions for completely removing power
 *  from all motors, etc, before persons enter any danger area.  All
 *  machinery must be designed to comply with local and national safety
 *  codes, and the authors of this software can not, and do not, take
 *  any responsibility for such compliance.
 *
 *  This code was written as part of the EMC HAL project.  For more
 *  information, go to www.linuxcnc.org.
 */

#include "config.h"
#include "rtapi.h"		/* RTAPI realtime OS API */
#include "hal.h"		/* HAL public API decls */
#include "../hal_priv.h"	/* private HAL decls */
#include "halcmd_commands.h"

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/wait.h>
#include <unistd.h>
#include <fcntl.h>
#include <signal.h>
#include <errno.h>
#include <time.h>
#include <fnmatch.h>


static int unloadrt_comp(char *mod_name);
static void print_comp_info(char **patterns);
static void print_pin_info(char **patterns);
static void print_sig_info(char **patterns);
static void print_script_sig_info(char **patterns);
static void print_param_info(char **patterns);
static void print_funct_info(char **patterns);
static void print_thread_info(char **patterns);
static void print_comp_names(char **patterns);
static void print_pin_names(char **patterns);
static void print_sig_names(char **patterns);
static void print_param_names(char **patterns);
static void print_funct_names(char **patterns);
static void print_thread_names(char **patterns);
static void print_lock_status();
static int count_list(int list_root);
static void print_mem_status();
static char *data_type(int type);
static char *data_type2(int type);
static char *pin_data_dir(int dir);
static char *param_data_dir(int dir);
static char *data_arrow1(int dir);
static char *data_arrow2(int dir);
static char *data_value(int type, void *valptr);
static char *data_value2(int type, void *valptr);
static void save_comps(FILE *dst);
static void save_signals(FILE *dst, int only_unlinked);
static void save_links(FILE *dst, int arrows);
static void save_nets(FILE *dst, int arrows);
static void save_params(FILE *dst);
static void save_threads(FILE *dst);
static void print_help_commands(void);

static int match(char **patterns, char *value) {
    int i;
    if(!patterns || !patterns[0] || !patterns[0][0]) return 1;
    for(i=0; patterns[i] && *patterns[i]; i++) {
	char *pattern = patterns[i];
	if(strncmp(pattern, value, strlen(pattern)) == 0) return 1;
	if (fnmatch(pattern, value, 0) == 0) return 1;
    }
    return 0;
}

int do_lock_cmd(char *command)
{
    int retval=0;

    /* if command is blank or "all", want to lock everything */
    if ((command == NULL) || (strcmp(command, "all") == 0)) {
	retval = hal_set_lock(HAL_LOCK_ALL);
    } else if (strcmp(command, "none") == 0) {
	retval = hal_set_lock(HAL_LOCK_NONE);
    } else if (strcmp(command, "tune") == 0) {
	retval = hal_set_lock(HAL_LOCK_LOAD & HAL_LOCK_CONFIG);
    } else if (strcmp(command, "all") == 0) {
	retval = hal_set_lock(HAL_LOCK_ALL);
    }

    if (retval == 0) {
	/* print success message */
	halcmd_info("Locking completed");
    } else {
	halcmd_error("Locking failed\n");
    }
    return retval;
}

int do_unlock_cmd(char *command)
{
    int retval=0;

    /* if command is blank or "all", want to unlock everything */
    if ((command == NULL) || (strcmp(command, "all") == 0)) {
	retval = hal_set_lock(HAL_LOCK_NONE);
    } else if (strcmp(command, "all") == 0) {
	retval = hal_set_lock(HAL_LOCK_NONE);
    } else if (strcmp(command, "tune") == 0) {
	retval = hal_set_lock(HAL_LOCK_LOAD & HAL_LOCK_CONFIG);
    }

    if (retval == 0) {
	/* print success message */
	halcmd_info("Unlocking completed");
    } else {
	halcmd_error("Unlocking failed\n");
    }
    return retval;
}

int do_linkpp_cmd(char *first_pin_name, char *second_pin_name)
{
    int retval;
    hal_pin_t *first_pin, *second_pin;
    static int dep_msg_printed = 0;

    if ( dep_msg_printed == 0 ) {
	halcmd_warning("linkpp command is deprecated, use 'net'\n");
	dep_msg_printed = 1;
    }
    rtapi_mutex_get(&(hal_data->mutex));
    /* check if the pins are there */
    first_pin = halpr_find_pin_by_name(first_pin_name);
    second_pin = halpr_find_pin_by_name(second_pin_name);
    if (first_pin == 0) {
	/* first pin not found*/
	rtapi_mutex_give(&(hal_data->mutex));
	halcmd_error("pin '%s' not found\n", first_pin_name);
	return HAL_INVAL; 
    } else if (second_pin == 0) {
	rtapi_mutex_give(&(hal_data->mutex));
	halcmd_error("pin '%s' not found\n", second_pin_name);
	return HAL_INVAL; 
    }
    
    /* give the mutex, as the other functions use their own mutex */
    rtapi_mutex_give(&(hal_data->mutex));
    
    /* check that both pins have the same type, 
       don't want to create a sig, which after that won't be usefull */
    if (first_pin->type != second_pin->type) {
	halcmd_error("pins '%s' and '%s' not of the same type\n",
                first_pin_name, second_pin_name);
	return HAL_INVAL; 
    }
	
    /* now create the signal */
    retval = hal_signal_new(first_pin_name, first_pin->type);

    if (retval == HAL_SUCCESS) {
	/* if it worked, link the pins to it */
	retval = hal_link(first_pin_name, first_pin_name);

	if ( retval == HAL_SUCCESS ) {
	/* if that worked, link the second pin to the new signal */
	    retval = hal_link(second_pin_name, first_pin_name);
	}
    }
    if (retval != HAL_SUCCESS) {
	halcmd_error("linkpp failed\n");
    }
    return retval;
}

int do_linkps_cmd(char *pin, char *sig)
{
    int retval;

    retval = hal_link(pin, sig);
    if (retval == 0) {
	/* print success message */
        halcmd_info("Pin '%s' linked to signal '%s'\n", pin, sig);
    } else {
        halcmd_error("link failed\n");
    }
    return retval;
}

int do_linksp_cmd(char *sig, char *pin) {
    return do_linkps_cmd(pin, sig);
}


int do_unlinkp_cmd(char *pin)
{
    int retval;

    retval = hal_unlink(pin);
    if (retval == 0) {
	/* print success message */
	halcmd_info("Pin '%s' unlinked\n", pin);
    } else {
        halcmd_error("unlink failed\n");
    }
    return retval;
}

int do_source_cmd(char *hal_filename) {
    FILE *f = fopen(hal_filename, "r");
    char buf[MAX_CMD_LEN+1];
    int fd;
    int result = HAL_SUCCESS;
    int lineno_save = halcmd_get_linenumber();
    int linenumber = 0;
    const char *filename_save = halcmd_get_filename();

    if(!f) {
        fprintf(stderr, "Could not open hal file '%s': %s\n",
                hal_filename, strerror(errno));
        return HAL_FAIL;
    }
    fd = fileno(f);
    fcntl(fd, F_SETFD, FD_CLOEXEC);

    halcmd_set_filename(hal_filename);

    while(1) {
        char *readresult = fgets(buf, MAX_CMD_LEN, f);
        halcmd_set_linenumber(linenumber++);
        if(readresult == 0) {
            if(feof(f)) break;
            halcmd_error("Error reading file: %s\n", strerror(errno));
            result = HAL_FAIL;
            break;
        }
        result = halcmd_parse_line(buf);
        if(result != 0) break;
    }

    halcmd_set_linenumber(lineno_save);
    halcmd_set_filename(filename_save);
    linenumber = lineno_save;

    fclose(f);
    return result;
}

int do_start_cmd(void) {
    int retval = hal_start_threads();
    if (retval == 0) {
        /* print success message */
        halcmd_info("Realtime threads started\n");
    }
    return retval;
}

int do_stop_cmd(void) {
    int retval = hal_stop_threads();
    if (retval == 0) {
        /* print success message */
        halcmd_info("Realtime threads stopped\n");
    }
    return retval;
}

int do_addf_cmd(char *func, char *thread, char **opt) {
    char *position_str = opt ? opt[0] : NULL;
    int position = -1;
    int retval;

    if(position_str && *position_str) position = atoi(position_str);

    retval = hal_add_funct_to_thread(func, thread, position);
    if(retval == 0) {
        halcmd_info("Function '%s' added to thread '%s'\n",
                    func, thread);
    } else {
        halcmd_error("addf failed\n");
    }
    return retval;
}


int do_delf_cmd(char *func, char *thread) {
    int retval;

    retval = hal_del_funct_from_thread(func, thread);
    if(retval == 0) {
        halcmd_info("Function '%s' removed from thread '%s'\n",
                    func, thread);
    } else {
        halcmd_error("delf failed\n");
    }

    return retval;
}

static int preflight_net_cmd(char *signal, hal_sig_t *sig, char *pins[]) {
    int i, type=-1, writers=0, bidirs=0, pincnt=0;

    /* if signal already exists, use its info */
    if (sig) {
	type = sig->type;
	writers = sig->writers;
	bidirs = sig->bidirs;
    }

    for(i=0; pins[i] && *pins[i]; i++) {
        hal_pin_t *pin = 0;
        pin = halpr_find_pin_by_name(pins[i]);
        if(!pin) {
            halcmd_error("pin '%s' does not exist\n",
                    pins[i]);
            return HAL_NOTFND;
        }
        if(SHMPTR(pin->signal) == sig) {
	     /* Already on this signal */
	    pincnt++;
	    continue;
	} else if(pin->signal != 0) {
            halcmd_error("pin '%s' was already linked\n",
                    pin->name);
            return HAL_INVAL;
	}
	if (type == -1) {
	    /* no pre-existing type, use this pin's type */
	    type = pin->type;
	}
        if(type != pin->type) {
            halcmd_error("Type mismatch on pin '%s'\n",
                    pin->name);
            return HAL_INVAL;
        }
        if(pin->dir == HAL_OUT) {
            if(writers || bidirs) {
                halcmd_error("Signal '%s' can not add OUT pin '%s'\n",
                        signal, pin->name);
                return HAL_INVAL;
            }
            writers++;
        }
	if(pin->dir == HAL_IO) {
            if(writers) {
                halcmd_error("Signal '%s' can not add I/O pin '%s'\n",
                        signal, pin->name);
                return HAL_INVAL;
            }
            bidirs++;
        }
        pincnt++;
    }
    if(pincnt)
        return HAL_SUCCESS;
    halcmd_error("'net' requires at least one pin, none given\n");
    return HAL_INVAL;
}

int do_net_cmd(char *signal, char *pins[]) {
    hal_sig_t *sig;
    int i, retval;

    rtapi_mutex_get(&(hal_data->mutex));
    /* see if signal already exists */
    sig = halpr_find_sig_by_name(signal);

    /* verify that everything matches up (pin types, etc) */
    retval = preflight_net_cmd(signal, sig, pins);
    if(retval != HAL_SUCCESS) {
        rtapi_mutex_give(&(hal_data->mutex));
        return retval;
    }

    {
	hal_pin_t *pin = halpr_find_pin_by_name(signal);
	if(pin) {
	    halcmd_error("Signal name '%s' must not be the same as a pin.\n",
		signal);
	    rtapi_mutex_give(&(hal_data->mutex));
	    return HAL_BADVAR;
	}
    }
    if(!sig) {
        /* Create the signal with the type of the first pin */
        hal_pin_t *pin = halpr_find_pin_by_name(pins[0]);
        rtapi_mutex_give(&(hal_data->mutex));
        if(!pin) {
            return HAL_NOTFND;
        }
        retval = hal_signal_new(signal, pin->type);
    } else {
	/* signal already exists */
        rtapi_mutex_give(&(hal_data->mutex));
    }
    /* add pins to signal */
    for(i=0; retval == HAL_SUCCESS && pins[i] && *pins[i]; i++) {
        retval = do_linkps_cmd(pins[i], signal);
    }

    return retval;
}

#if 0  /* newinst deferred to version 2.2 */
int do_newinst_cmd(char *comp_name, char *inst_name) {
    hal_comp_t *comp = halpr_find_comp_by_name(comp_name);

    if(!comp) {
        halcmd_error( "No such component: %s\n", comp_name);
        return HAL_NOTFND;
    }
    if(!comp->make) {
        halcmd_error( "%s does not support 'newinst'\n", comp_name);
        return HAL_UNSUP;
    }
    if ( *inst_name == '\0' ) {
        halcmd_error( "Must supply name for new instance\n");
        return HAL_INVAL;
    }	

#if defined(RTAPI_SIM)
    {
        char *argv[MAX_TOK];
        int m = 0, result;
        argv[m++] = EMC2_BIN_DIR "/rtapi_app";
        argv[m++] = "newinst";
        argv[m++] = comp_name;
        argv[m++] = inst_name;
        argv[m++] = 0;
        result = hal_systemv(argv);
        if(result != 0) {
            halcmd_error( "newinst failed: %d\n", result);
            return HAL_FAIL;
        }
    }
#else
    {
    FILE *f;
    f = fopen("/proc/rtapi/hal/newinst", "w");
    if(!f) {
        halcmd_error( "cannot open proc entry: %s\n",
                strerror(errno));
        return HAL_FAIL;
    }

    rtapi_mutex_get(&(hal_data->mutex));

    while(hal_data->pending_constructor) {
        struct timespec ts = {0, 100 * 1000 * 1000}; // 100ms
        rtapi_mutex_give(&(hal_data->mutex));