fixed logs

Z1000_focus/can_io.c

@@ -26,9 +26,10 @@
 #include <sys/ipc.h>
 #include <sys/msg.h>
 
-
+#include "usefull_macros.h"
 #include "canmsg.h"
 #include "can_io.h"
+#include "checkfile.h"
 
 char can_dev[40] = "/dev/can0";
 int can_fd=-1;
@@ -110,8 +111,7 @@ void *init_can_io() { /* returns shared area addr. for client control process*/
             memcpy(can_shm_key.name, p+1, 4);
             can_shm_key.name[4]='\0';
         }else{
-            fprintf(stderr,"Wrong CAN device name: %s\n", can_dev);
+            ERRX("Wrong CAN device name: %s\n", can_dev);
-            exit(1);
         }
         can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, 0644);
         if(can_shm_id<0 && errno==EACCES)
@@ -123,22 +123,18 @@ void *init_can_io() { /* returns shared area addr. for client control process*/
         if(can_shm_id<0){
             can_prtime(stderr);
             if(new_shm)
-                sprintf(msg,"Can't create shm CAN buffer '%s'",can_shm_key.name);
+                ERR("Can't create shm CAN buffer '%s'",can_shm_key.name);
             else if(server_mode)
-                sprintf(msg,"CAN-I/O: Can't find shm segment for CAN buffer '%s'",can_shm_key.name);
+                ERR("CAN-I/O: Can't find shm segment for CAN buffer '%s'",can_shm_key.name);
             else
-                snprintf(msg, 256, "Can't find shm segment for CAN buffer '%s' (maybe no CAN-I/O process?)",can_shm_key.name);
+                ERR("Can't find shm segment for CAN buffer '%s' (maybe no CAN-I/O process?)",can_shm_key.name);
-            perror(msg);
-            exit(errno);
         }
         can_shm_addr = shmat(can_shm_id, NULL, 0);
         if(can_shm_addr == (void*)-1 && errno == EACCES)
             can_shm_addr = shmat(can_shm_id, NULL, SHM_RDONLY);
         if(can_shm_addr == (void*)-1){
-            sprintf(msg,"Can't attach shm CAN buffer '%s'",can_shm_key.name);
-            perror(msg);
             shmctl(can_shm_id, IPC_RMID, NULL);
-            exit(errno);
+            ERR("Can't attach shm CAN buffer '%s'",can_shm_key.name);
         }
     }
     can_ctrl_addr = (canmsg_t *)(can_shm_addr+sizeof(int)*4);
@@ -158,18 +154,15 @@ void *init_can_io() { /* returns shared area addr. for client control process*/
             can_fd = open(can_dev, flags);
             canout.id = msgget(canout.key.code, canout.mode);
             if(can_fd < 0 && canout.id < 0) {
-                snprintf(msg, 256, "Error opening CAN device(%s) or CAN output queue '%s'  (maybe no CANqueue server process?)",can_dev,canout.key.name);
+                WARNX("Error opening CAN device(%s) or CAN output queue '%s'  (maybe no CANqueue server process?)",can_dev,canout.key.name);
-                perror(msg);
             }
         }
     }
     if(can_lk > 0) close(can_lk);
     if(( can_lk = open(can_lck, O_RDWR|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH )) < 0 ){
-        sprintf(msg,"Error opening CAN device lock-file %s", can_lck);
-        perror(msg);
         shmctl(can_shm_id, IPC_RMID, NULL);
         close(can_fd);
-        exit(errno);
+        ERR("Error opening CAN device lock-file %s", can_lck);
     }
     fchmod(can_lk, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH);
     if(new_shm){
@@ -243,23 +236,11 @@ void *start_can_io(_U_ void *arg){
             if(n < 0){
                 perror("CAN Rx error");
             } else if(n > 0) {
-                /* work around the timestamp bug in old driver version
-                while((double)rx.timestamp.tv_sec+(double)rx.timestamp.tv_usec/1e6 < (double)tm.tv_sec+(double)tm.tv_usec/1e6) {
-                rx.timestamp.tv_usec += 10000;
-                if(rx.timestamp.tv_usec > 1000000) {
-                rx.timestamp.tv_sec++;
-                rx.timestamp.tv_usec -= 1000000;
-                }
-                }*/
                 if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
                 rx_buff[rx_buff_pntr] = rx;
                 rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
                 if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
-                //fprintf(stderr,"%d read(id=%02x,len=%d)\n",rx_buff_pntr,rx.id,rx.length);fflush(stderr);
+            }
-                /*fprintf(stderr,"reading CAN: 1 frame\n");*/
-            }/*else {
-            * fprintf(stderr,"reading CAN: nothing\n");fflush(stderr);
-            } */
         } while(n>0);
     }
 }
@@ -283,7 +264,6 @@ void can_put_buff_frame(double rtime, int id, int length, unsigned char data[])
     rx_buff[rx_buff_pntr] = rx;
     rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
     if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
-//fprintf(stderr,"put_buf(id=%02x,flag=%1x,len=%d)\n",rx.id,rx.flags,rx.length);fflush(stderr);
 }
 
 /* ÷ÓÅ ÎÏÒÍÁÌØÎÏ Ó SHM-ÂÕÆÅÒÏÍ CAN-I/O ÐÒÏÃÅÓÓÁ */
@@ -481,6 +461,7 @@ void can_exit(int sig) {
 
     struct shmid_ds buf;
     if(sig) signal(sig,SIG_IGN);
+    putlog("Received signal %d\n", sig);
     if(server_mode) can_abort(sig);
     switch (sig) {
     case 0      : strcpy(ss,"Exiting - ");  break;
@@ -517,6 +498,7 @@ void can_exit(int sig) {
         shmctl(can_shm_id, IPC_STAT, &buf);
         if(buf.shm_nattch == 0)
             shmctl(can_shm_id, IPC_RMID, NULL);
+        unlink_pidfile();
         exit(sig);
     }
 }

Z1000_focus/can_io.h

@@ -5,6 +5,8 @@
 #ifndef CAN_IO_H__
 #define CAN_IO_H__
 
+#include <stdio.h>
+
 #define _U_    __attribute__((__unused__))
 
 

Z1000_focus/main.c

@@ -20,6 +20,7 @@
 #include <sys/wait.h>
 #include <sys/prctl.h>
 #include <signal.h>
+#include "can_io.h"
 #include "can_encoder.h"
 #include "canopen.h"
 #include "checkfile.h"
@@ -45,14 +46,8 @@ int verbose(const char *fmt, ...){
 }
 
 static pid_t childpid;
-/**
- * @brief signals - signal handler (also called by functions ERR/ERRX)
- * @param signo   - signal number
- */
 void signals(int signo){
-    WARNX("Received signal %d", signo);
+    can_exit(signo);
-    if(childpid) unlink_pidfile(); // parent process died
-    exit(signo);
 }
 
 static void cmdparser(){
@@ -91,22 +86,21 @@ int main (int argc, char *argv[]){
         }
     }
 
-    signal(SIGTERM, signals);
-    signal(SIGKILL, signals);
     signal(SIGTSTP, SIG_IGN);
     signal(SIGHUP, SIG_IGN);
     can_dev[8] = '1';
-
+/*
     if(G->server || G->standalone){ // init hardware
         check4running(G->pidfilename);
     }
-
+*/
     if(G->server){ // daemonize & run server
 #if !defined EBUG
         if(daemon(1, 0)){
             ERR("daemon()");
         };
 #endif
+        check4running(G->pidfilename);
         while(1){ // guard for dead processes
             childpid = fork();
             if(childpid){
@@ -132,6 +126,8 @@ int main (int argc, char *argv[]){
         return 0;
     }
 
+    check4running(G->pidfilename);
+
     if(!G->noencoder && init_encoder(G->nodenum, G->reset)){
         WARNX("Encoder not found");
 #ifndef EBUG

Z1000_focus/socket.c

@@ -293,7 +293,7 @@ static void *handle_socket(void *asock){
                     msg = S_STATUS_FORBIDDEN;
                 break;
                 default:
-                    "Unknown status";
+                    msg = "Unknown status";
             }
             sprintf(buff, "%s", msg);
         }else sprintf(buff, S_ANS_ERR);
@@ -312,7 +312,7 @@ static void *handle_socket(void *asock){
 static void *server(void *asock){
     int sock = *((int*)asock);
     if(listen(sock, BACKLOG) == -1){
-        WARN("listen() failed");
+        //WARN("listen() failed");
         return NULL;
     }
     while(1){
@@ -349,6 +349,7 @@ static void subst_file(char *name){
     snprintf(aname, l, "%sXXXXXX", name);
     int fd = mkstemp(aname);
     if(fd < 0) goto ret;
+    fchmod(fd, 0644);
     FILE *f = fdopen(fd, "w");
     if(!f) goto ret;
     fprintf(f, "FOCUS   = %.2f\n", curPos());
@@ -370,7 +371,7 @@ static void daemon_(int sock){
     }
     do{
         if(pthread_kill(sock_thread, 0) == ESRCH){ // died
-            WARNX("sockets thread died");
+            //WARNX("sockets thread died");
             pthread_join(sock_thread, NULL);
             if(pthread_create(&sock_thread, NULL, server, (void*) &sock)){
                 ERR("new pthread_create() failed");

Z1000_focus/usefull_macros.c

@@ -20,6 +20,7 @@
  */
 
 #include "usefull_macros.h"
+#include <pthread.h>
 #include <time.h>
 #include <linux/limits.h> // PATH_MAX
 
@@ -387,86 +388,53 @@ int str2double(double *num, const char *str){
     return TRUE;
 }
 
-static FILE *Flog = NULL; // log file descriptor
+static pthread_mutex_t logmutex = PTHREAD_MUTEX_INITIALIZER;
-static char *logname = NULL; // full logfile name (with PID prefix)
+static char *logname = NULL;
-static time_t log_open_time = 0; // time when log file was opened
 /**
  * Try to open log file
  * if failed show warning message
  */
 void openlogfile(char *name){
-    //char buf[PATH_MAX];
+    FILE *logfd = fopen(name, "a");
-    if(Flog){
+    if(!logfd){
-        fclose(Flog);
+        WARN("Can't open log file");
-        Flog = NULL;
-    }
-    if(!name) return;
-    /*
-    if(!name){ // filename is omit -> try to open log with old name
-        if(!fullogname){
-            WARNX(_("openlogfile(): need filename"));
-            return;
-        }
-        name = fullogname;
-    }else{
-        if(fullogname) FREE(fullogname);
-        // append PID to name
-        snprintf(buf, PATH_MAX, "%d_%s", getpid(), name);
-        name = buf;
-        green(_("Try to open log file %s in append mode"), name);
-        printf("\n");
-    }*/
-    if(!(Flog = fopen(name, "a"))){
-        WARN(_("Can't open log file"));
         return;
     }
-    log_open_time = time(NULL);
+    fclose(logfd);
-    logname = name;
+    /*if(pthread_mutex_init(&logmutex, NULL)){
-    //fullogname = strdup(buf);
+        WARN("Can't init log mutes");
+        return;
+    }*/
+    FREE(logname);
+    logname = strdup(name);
 }
 
 /**
  * Save message to log file, rotate logs every 24 hours
  */
-int putlog(const char *fmt, ...){
+int putlogst(int timest, const char *fmt, ...){
-    if(!Flog) return 0;
+    if(pthread_mutex_lock(&logmutex)){
-    char strtm[128];
+        WARN("Can't lock log mutex");
-    time_t t = time(NULL);
+        return 0;
-    struct tm *curtm = localtime(&t);
-    int i = strftime(strtm, 128, "%Y/%m/%d-%H:%M", curtm);
-    if(t - log_open_time > 86400){ // rotate log
-        fprintf(Flog, "\n\n%s\tRotate log\n", strtm);
-        fclose(Flog);
-        Flog = NULL;
-        char newname[PATH_MAX];
-        snprintf(newname, PATH_MAX, "%s.old", logname);
-        if(rename(logname, newname)) WARN("rename()");
-        openlogfile(NULL);
-        if(!Flog) return 0;
     }
+    int i = 0;
+    FILE *logfd = fopen(logname, "a");
+    if(!logfd) goto rtn;
+    if(timest){
+        char strtm[128];
+        time_t t = time(NULL);
+        struct tm *curtm = localtime(&t);
+        strftime(strtm, 128, "%Y/%m/%d-%H:%M:%S", curtm);
+        i = fprintf(logfd, "%s\t", strtm);
+    }else i += fprintf(logfd, "\t\t\t");
     va_list ar;
-    fprintf(Flog, "%s\t", strtm);
     va_start(ar, fmt);
-    i += vfprintf(Flog, fmt, ar);
+    i += vfprintf(logfd, fmt, ar);
     va_end(ar);
-    fprintf(Flog, "\n");
+    i += fprintf(logfd, "\n");
-    ++i;
+    fclose(logfd);
-    fflush(Flog);
+rtn:
-    return i;
+    pthread_mutex_unlock(&logmutex);
-}
-
-// add message to log file without printing time
-int addtolog(const char *fmt, ...){
-    if(!Flog) return 0;
-    va_list ar;
-    int i = 1;
-    fprintf(Flog, "\t\t\t");
-    va_start(ar, fmt);
-    i += vfprintf(Flog, fmt, ar);
-    va_end(ar);
-    fprintf(Flog, "\n");
-    ++i;
-    fflush(Flog);
     return i;
 }
 

Z1000_focus/usefull_macros.h

@@ -154,8 +154,9 @@ int write_tty(char *buff, size_t length);
 int str2double(double *num, const char *str);
 
 void openlogfile(char *name);
-int putlog(const char *fmt, ...);
+int putlogst(int timest, const char *fmt, ...);
-int addtolog(const char *fmt, ...);
+#define putlog(...)     putlogst(1, __VA_ARGS__)
+#define addtolog(...)    putlogst(0, __VA_ARGS__)
 void warnsingle(const char *msg, locwarn errnum);
 void clrwarnsingle(locwarn errnum);
 #endif // __USEFULL_MACROS_H__