Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Make HAL_Initialize timeout configurable, makes result a bool, and makes Java an exception rather than assert. (#557)

Browse Source
This commit is contained in:
Thad House
2017-07-01 00:43:06 -07:00
committed by Peter Johnson
parent d34c844900
commit 2da26c0579
7 changed files with 66 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

95
hal/lib/athena/HAL.cpp
View File

@@ -287,15 +287,61 @@ void HAL_BaseInitialize(int32_t* status) {
initialized = true;
}
static bool killExistingProgram(int timeout, int mode) {
// Kill any previous robot programs
std::fstream fs;
// By making this both in/out, it won't give us an error if it doesnt exist
fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
if (fs.bad()) return false;
pid_t pid = 0;
if (!fs.eof() && !fs.fail()) {
fs >> pid;
// see if the pid is around, but we don't want to mess with init id=1, or
// ourselves
if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid()) {
llvm::outs() << "Killing previously running FRC program...\n";
kill(pid, SIGTERM); // try to kill it
std::this_thread::sleep_for(std::chrono::milliseconds(timeout));
if (kill(pid, 0) == 0) {
// still not successfull
if (mode == 0) {
llvm::outs() << "FRC pid " << pid << " did not die within " << timeout
<< "ms. Aborting\n";
return 0; // just fail
} else if (mode == 1) { // kill -9 it
kill(pid, SIGKILL);
} else {
llvm::outs() << "WARNING: FRC pid " << pid << " did not die within "
<< timeout << "ms.\n";
}
}
}
}
fs.close();
// we will re-open it write only to truncate the file
fs.open("/var/lock/frc.pid", std::fstream::out | std::fstream::trunc);
fs.seekp(0);
pid = getpid();
fs << pid << std::endl;
fs.close();
return true;
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
int32_t HAL_Initialize(int32_t mode) {
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
setlinebuf(stdin);
setlinebuf(stdout);
prctl(PR_SET_PDEATHSIG, SIGTERM);
// Return false if program failed to kill an existing program
if (!killExistingProgram(timeout, mode)) {
return false;
}
FRC_NetworkCommunication_Reserve(nullptr);
std::atexit([]() {
@@ -311,52 +357,21 @@ int32_t HAL_Initialize(int32_t mode) {
timerRollover, nullptr, &status);
if (status == 0) {
uint64_t curTime = HAL_GetFPGATime(&status);
if (status == 0)
if (status == 0) {
HAL_UpdateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL,
&status);
}
// Kill any previous robot programs
std::fstream fs;
// By making this both in/out, it won't give us an error if it doesnt exist
fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
if (fs.bad()) return 0;
pid_t pid = 0;
if (!fs.eof() && !fs.fail()) {
fs >> pid;
// see if the pid is around, but we don't want to mess with init id=1, or
// ourselves
if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid()) {
llvm::outs() << "Killing previously running FRC program...\n";
kill(pid, SIGTERM); // try to kill it
std::this_thread::sleep_for(std::chrono::milliseconds(100));
if (kill(pid, 0) == 0) {
// still not successfull
if (mode == 0) {
llvm::outs() << "FRC pid " << pid
<< " did not die within 110ms. Aborting\n";
return 0; // just fail
} else if (mode == 1) { // kill -9 it
kill(pid, SIGKILL);
} else {
llvm::outs() << "WARNING: FRC pid " << pid
<< " did not die within 110ms.\n";
}
}
} else {
// return false if status failed.
return false;
}
} else {
// return false if status failed.
return false;
}
fs.close();
// we will re-open it write only to truncate the file
fs.open("/var/lock/frc.pid", std::fstream::out | std::fstream::trunc);
fs.seekp(0);
pid = getpid();
fs << pid << std::endl;
fs.close();
HAL_InitializeDriverStation();
return 1;
return true;
}
int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,