merge in some other fixes to make development easier
diff --git a/aos/atom_code/starter/netconsole.cc b/aos/atom_code/starter/netconsole.cc
new file mode 100644
index 0000000..e2ba2b4
--- /dev/null
+++ b/aos/atom_code/starter/netconsole.cc
@@ -0,0 +1,219 @@
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <sys/stat.h>
+#include <assert.h>
+
+#include "aos/common/logging/logging_impl.h"
+#include "aos/common/Configuration.h"
+
+namespace aos {
+namespace {
+
+struct FDsToCopy {
+ const int input;
+ const int output;
+
+ const struct sockaddr_in *const interface_address;
+};
+
+void *FDCopyThread(void *to_copy_in) {
+ FDsToCopy *to_copy = static_cast<FDsToCopy *>(to_copy_in);
+
+ char buffer[32768];
+ ssize_t position = 0;
+ while (true) {
+ assert(position >= 0);
+ assert(position <= static_cast<ssize_t>(sizeof(buffer)));
+ if (position != sizeof(buffer)) {
+ ssize_t read_bytes;
+ bool good_data = true;
+ if (to_copy->interface_address != NULL) {
+ char control_buffer[0x100];
+ struct msghdr header;
+ memset(static_cast<void *>(&header), 0, sizeof(header));
+ header.msg_control = control_buffer;
+ header.msg_controllen = sizeof(control_buffer);
+ struct iovec iovecs[1];
+ iovecs[0].iov_base = buffer + position;
+ iovecs[0].iov_len = position - sizeof(buffer);
+ header.msg_iov = iovecs;
+ header.msg_iovlen = sizeof(iovecs) / sizeof(iovecs[0]);
+ read_bytes = recvmsg(to_copy->input, &header, 0);
+ if (read_bytes != -1) {
+ for (struct cmsghdr *cmsg = CMSG_FIRSTHDR(&header);
+ cmsg != NULL;
+ cmsg = CMSG_NXTHDR(&header, cmsg)) {
+ if (cmsg->cmsg_level == IPPROTO_IP &&
+ cmsg->cmsg_type == IP_PKTINFO) {
+ unsigned char *data = CMSG_DATA(cmsg);
+ struct in_pktinfo *pktinfo;
+ memcpy(&pktinfo, &data, sizeof(void *));
+ good_data = pktinfo->ipi_spec_dst.s_addr ==
+ to_copy->interface_address->sin_addr.s_addr;
+ }
+ }
+ }
+ } else {
+ read_bytes = read(to_copy->input,
+ buffer + position, position - sizeof(buffer));
+ }
+ if (read_bytes == -1) {
+ if (errno != EINTR) {
+ LOG(FATAL, "read(%d, %p, %zd) failed with %d: %s\n",
+ to_copy->input, buffer + position, position - sizeof(buffer),
+ errno, strerror(errno));
+ }
+ } else if (read_bytes == 0 && to_copy->interface_address == NULL) {
+ // read(2) says that this means EOF
+ return NULL;
+ }
+ if (good_data) {
+ position += read_bytes;
+ }
+ }
+
+ assert(position >= 0);
+ assert(position <= static_cast<ssize_t>(sizeof(buffer)));
+ if (position > 0) {
+ ssize_t sent_bytes = write(to_copy->output, buffer, position);
+ if (sent_bytes == -1) {
+ if (errno != EINTR) {
+ LOG(FATAL, "write(%d, %p, %zd) failed with %d: %s\n",
+ to_copy->output, buffer, position, errno, strerror(errno));
+ }
+ } else if (sent_bytes != 0) {
+ if (sent_bytes == position) {
+ position = 0;
+ } else {
+ memmove(buffer, buffer + sent_bytes, position - sent_bytes);
+ position -= sent_bytes;
+ }
+ }
+ }
+ }
+}
+
+int NetconsoleMain(int argc, char **argv) {
+ logging::Init();
+
+ int input, output;
+ if (argc > 1) {
+ output = open(argv[1], O_APPEND | O_CREAT | O_WRONLY | O_TRUNC, 0666);
+ if (output == -1) {
+ if (errno == EACCES || errno == ELOOP || errno == ENOSPC ||
+ errno == ENOTDIR || errno == EROFS || errno == ETXTBSY) {
+ fprintf(stderr, "Opening output file '%s' failed because of %s.\n",
+ argv[1], strerror(errno));
+ exit(EXIT_FAILURE);
+ }
+ LOG(FATAL, "open('%s', stuff, 0644) failed with %d: %s\n", argv[1],
+ errno, strerror(errno));
+ }
+ fprintf(stderr, "Writing output to '%s'.\n", argv[1]);
+ input = -1;
+ fprintf(stderr, "Not taking any input.\n");
+ } else {
+ output = STDOUT_FILENO;
+ fprintf(stderr, "Writing output to stdout.\n");
+ input = STDIN_FILENO;
+ fprintf(stderr, "Reading stdin.\n");
+ }
+
+ int on = 1;
+
+ int from_crio = socket(AF_INET, SOCK_DGRAM, 0);
+ if (from_crio == -1) {
+ LOG(FATAL, "socket(AF_INET, SOCK_DGRAM, 0) failed with %d: %s\n",
+ errno, strerror(errno));
+ }
+ if (setsockopt(from_crio, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)) == -1) {
+ LOG(FATAL, "SOL_SOCKET::SO_REUSEADDR=%d(%d) failed with %d: %s\n",
+ on, from_crio, errno, strerror(errno));
+ }
+ if (setsockopt(from_crio, SOL_SOCKET, SO_BROADCAST, &on, sizeof(on)) == -1) {
+ LOG(FATAL, "SOL_SOCKET::SO_BROADCAST=%d(%d) failed with %d: %s\n",
+ on, from_crio, errno, strerror(errno));
+ }
+ if (setsockopt(from_crio, IPPROTO_IP, IP_PKTINFO, &on, sizeof(on)) == -1) {
+ LOG(FATAL, "IPROTO_IP::IP_PKTINFO=%d(%d) failed with %d: %s\n",
+ on, from_crio, errno, strerror(errno));
+ }
+ union {
+ struct sockaddr_in in;
+ struct sockaddr addr;
+ } address;
+ address.in.sin_family = AF_INET;
+ address.in.sin_port = htons(6666);
+ address.in.sin_addr.s_addr = INADDR_ANY;
+ if (bind(from_crio, &address.addr, sizeof(address)) == -1) {
+ LOG(FATAL, "bind(%d, %p, %zu) failed with %d: %s\n",
+ from_crio, &address.addr, sizeof(address), errno, strerror(errno));
+ }
+
+ pthread_t input_thread, output_thread;
+
+ if (input != -1) {
+ int to_crio = socket(AF_INET, SOCK_DGRAM, 0);
+ if (to_crio == -1) {
+ LOG(FATAL, "socket(AF_INET, SOCK_DGRAM, 0) failed with %d: %s\n",
+ errno, strerror(errno));
+ }
+ if (setsockopt(to_crio, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)) == -1) {
+ LOG(FATAL, "SOL_SOCKET::SO_REUSEADDR=%d(%d) failed with %d: %s\n",
+ on, to_crio, errno, strerror(errno));
+ }
+ address.in.sin_port = htons(6668);
+ if (inet_aton(
+ configuration::GetIPAddress(configuration::NetworkDevice::kCRIO),
+ &address.in.sin_addr) == 0) {
+ LOG(FATAL, "inet_aton(%s, %p) failed with %d: %s\n",
+ configuration::GetIPAddress(configuration::NetworkDevice::kCRIO),
+ &address.in.sin_addr, errno, strerror(errno));
+ }
+ if (connect(to_crio, &address.addr, sizeof(address)) == -1) {
+ LOG(FATAL, "connect(%d, %p, %zu) failed with %d: %s\n",
+ to_crio, &address.addr, sizeof(address), errno, strerror(errno));
+ }
+ FDsToCopy input_fds{input, to_crio, NULL};
+ if (pthread_create(&input_thread, NULL, FDCopyThread, &input_fds) == -1) {
+ LOG(FATAL, "pthread_create(%p, NULL, %p, %p) failed with %d: %s\n",
+ &input_thread, FDCopyThread, &input_fds, errno, strerror(errno));
+ }
+ }
+
+ fprintf(stderr, "Using cRIO IP %s.\n",
+ configuration::GetIPAddress(configuration::NetworkDevice::kCRIO));
+
+ if (inet_aton(
+ configuration::GetIPAddress(configuration::NetworkDevice::kSelf),
+ &address.in.sin_addr) == 0) {
+ LOG(FATAL, "inet_aton(%s, %p) failed with %d: %s\n",
+ configuration::GetIPAddress(configuration::NetworkDevice::kSelf),
+ &address.in.sin_addr, errno, strerror(errno));
+ }
+ FDsToCopy output_fds{from_crio, output, &address.in};
+ if (pthread_create(&output_thread, NULL, FDCopyThread, &output_fds) == -1) {
+ LOG(FATAL, "pthread_create(%p, NULL, %p, %p) failed with %d: %s\n",
+ &output_thread, FDCopyThread, &output_fds, errno, strerror(errno));
+ }
+
+ // input_thread will finish when stdin gets an EOF
+ if (pthread_join((input == -1) ? output_thread : input_thread, NULL) == -1) {
+ LOG(FATAL, "pthread_join(a_thread, NULL) failed with %d: %s\n",
+ errno, strerror(errno));
+ }
+ exit(EXIT_SUCCESS);
+}
+
+} // namespace
+} // namespace aos
+
+int main(int argc, char **argv) {
+ return ::aos::NetconsoleMain(argc, argv);
+}
diff --git a/aos/atom_code/starter/starter.gyp b/aos/atom_code/starter/starter.gyp
index 91b5870..183ec9e 100644
--- a/aos/atom_code/starter/starter.gyp
+++ b/aos/atom_code/starter/starter.gyp
@@ -1,6 +1,17 @@
{
'targets': [
{
+ 'target_name': 'netconsole',
+ 'type': 'executable',
+ 'sources': [
+ 'netconsole.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:common',
+ ],
+ },
+ {
'target_name': 'starter_exe',
'type': 'executable',
'sources': [
diff --git a/aos/atom_code/starter/starter.sh b/aos/atom_code/starter/starter.sh
index 63ccd42..33906c3 100755
--- a/aos/atom_code/starter/starter.sh
+++ b/aos/atom_code/starter/starter.sh
@@ -17,4 +17,4 @@
#DUMPCAP_STDOUT_FILE=$(date "/home/driver/tmp/robot_logs/stdout_dumpcap.%F_%H-%M-%S")
#chrt -o 0 bash -c "dumpcap -i eth0 -w ${DUMPCAP_LOG_FILE} -f 'not port 8080 and not net 10.9.71.13' > ${DUMPCAP_STDOUT_FILE}" &
-#chrt -o 0 bash -c 'while true; do socat UDP4-RECV:6666,reuseaddr STDIO > /home/driver/tmp/robot_logs/netconsole-`date +%s`; done' &
+chrt -o 0 bash -c 'while true; /home/driver/robot_code/bin/netconsole /home/driver/tmp/robot_logs/netconsole-`date +%s`; done' &
diff --git a/aos/build/aos_all.gyp b/aos/build/aos_all.gyp
index 1d283a9..b4116f4 100644
--- a/aos/build/aos_all.gyp
+++ b/aos/build/aos_all.gyp
@@ -15,7 +15,8 @@
'../atom_code/core/core.gyp:*',
#'../atom_code/async_action:*', # TODO(brians) fix this broken test
'../atom_code/ipc_lib/ipc_lib.gyp:*',
- '../atom_code/starter/starter.gyp:*',
+ '../atom_code/starter/starter.gyp:starter_exe',
+ '../atom_code/starter/starter.gyp:netconsole',
'../crio/crio.gyp:unsafe_queue_test',
'../common/common.gyp:queue_test',
#'../common/messages/messages.gyp:*', # TODO(brians) did this test ever exist?
diff --git a/aos/build/build.sh b/aos/build/build.sh
index cc349d0..c1cf166 100755
--- a/aos/build/build.sh
+++ b/aos/build/build.sh
@@ -58,24 +58,32 @@
if [ "${ACTION}" == "clean" ]; then
rm -r ${OUTDIR}
else
- if [ "${ACTION}" != "deploy" -a "${ACTION}" != "tests" ]; then
- GYP_ACTION=${ACTION}
- else
- GYP_ACTION=
- fi
+ if [ "${ACTION}" != "deploy" -a "${ACTION}" != "tests" -a "${ACTION}" != "redeploy" ]; then
+ GYP_ACTION=${ACTION}
+ else
+ GYP_ACTION=
+ fi
${NINJA} -C ${OUTDIR}/Default ${GYP_ACTION}
- case ${ACTION} in
- deploy)
- [ ${PLATFORM} == atom ] && \
- rsync --progress -c -r --rsync-path=/home/driver/bin/rsync \
- ${OUTDIR}/Default/outputs/* \
- driver@`${AOS}/build/get_ip fitpc`:/home/driver/robot_code/bin
- [ ${PLATFORM} == crio ] && \
- ncftpput `${AOS}/build/get_ip robot` / \
- ${OUTDIR}/Default/lib/FRC_UserProgram.out
- ;;
- tests)
- find ${OUTDIR}/Default/tests -executable -exec {} \;
- ;;
- esac
+ if [[ ${ACTION} == deploy || ${ACTION} == redeploy ]]; then
+ [ ${PLATFORM} == atom ] && \
+ rsync --progress -c -r --rsync-path=/home/driver/bin/rsync \
+ ${OUTDIR}/Default/outputs/* \
+ driver@`${AOS}/build/get_ip fitpc`:/home/driver/robot_code/bin
+ [ ${PLATFORM} == crio ] && \
+ ncftpput `${AOS}/build/get_ip robot` / \
+ ${OUTDIR}/Default/lib/FRC_UserProgram.out
+ fi
+ if [[ ${ACTION} == redeploy ]]; then
+ if [[ ${PLATFORM} != crio ]]; then
+ echo "Platform ${PLATFORM} does not support redeploy." 1>&2
+ exit 1
+ fi
+ ${OUTDIR}/../out_atom/Default/outputs/netconsole <<"END"
+unld "FRC_UserProgram.out"
+ld < FRC_UserProgram.out
+END
+ fi
+ if [[ ${ACTION} == tests ]]; then
+ find ${OUTDIR}/Default/tests -executable -exec {} \;
+ fi
fi
diff --git a/aos/common/Configuration.cpp b/aos/common/Configuration.cpp
index 2d7095b..f379aac 100644
--- a/aos/common/Configuration.cpp
+++ b/aos/common/Configuration.cpp
@@ -165,6 +165,10 @@
return RawIPAddress(179);
case NetworkDevice::kCRIO:
return RawIPAddress(2);
+ case NetworkDevice::kSelf:
+ char *ret = static_cast<char *>(malloc(kMaxAddrLength));
+ if (!GetOwnIPAddress(ret, kMaxAddrLength)) return NULL;
+ return ret;
}
LOG(FATAL, "Unknown network device.");
return NULL;
diff --git a/aos/common/Configuration.h b/aos/common/Configuration.h
index 2f7e777..e1b7ef5 100644
--- a/aos/common/Configuration.h
+++ b/aos/common/Configuration.h
@@ -31,6 +31,8 @@
// The computer that the cRIO talks to.
kAtom,
kCRIO,
+ // Whatever device this is being run on.
+ kSelf,
};
// Returns the IP address to get to the specified machine.
// The return value should be passed to free(3) if it is no longer needed.