Move servo state and safety blocks to the command protocol

Various small fixes
Add command protocol to websocket
Add cross compiling with 'TARGET='
Fix some issues with ARM

.gitignore

@@ -13,6 +13,7 @@
 *.la
 *.dot
 *.pdf
+*.svg
 .libs
 bin
 include

build.mk

@@ -15,6 +15,11 @@ else
 FLEX=/usr/local/bin/flex
 endif
 
+ifdef TARGET
+CC=${TARGET}-gcc
+LIBTOOL=${TARGET}-libtool
+endif
+
 
 %.o : %.c
 	@echo "     CC $<"
@@ -41,9 +46,10 @@ endif
 
 define LIB_LINK
 	@echo "LT   LD $@"
-	@${LIBTOOL} --quiet --mode=link gcc $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs -rpath $(abspath $(@D))
+	@${LIBTOOL} --quiet --mode=link --tag=CC $(CC) $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs -rpath $(abspath $(@D))
 	@echo "LT INST $@"
 	@${LIBTOOL} --quiet --mode=install install $@ $(abspath $(@D))
+	@sed s\|=$(CURDIR)\|$(CURDIR)\|g -i -i $@
 endef
 
 %.so:

common/build.mk

 
 LIBDIR:=$(DIR)/lib
 
+CLEAN += $(DIR)/lib/.libs
+
 $(eval $(call SUBDIR,log))
 $(eval $(call SUBDIR,utils))
 $(eval $(call SUBDIR,command))

common/command/build.mk

@@ -8,7 +8,7 @@ ARCHSRCS := $(DIR)/command.c $(DIR)/command_tcp.c
 ARCHOBJS := $(ARCHSRCS:.c=.lo)
 
 
-$(ARCHOBJS) += -Wall -O3 -fPIC
+$(ARCHOBJS): CFLAGS += -Wall -O3 -fPIC
 $(LIBDIR)/libcommand.la: libutils.la liblog.la
 $(LIBDIR)/libcommand.la_LDFLAGS += -lutils -lm -llog
 $(LIBDIR)/libcommand.la: $(ARCHOBJS)

common/command/command.c

@@ -21,7 +21,6 @@
 #include <command/command.h>
 #include <command/command_def.h>
 
-#include <utils/tcp_connect.h>
 #include <log/log.h>
 
 #include <stdio.h>
@@ -253,11 +252,9 @@ bool command_fd_set(struct command *command, fd_set *set, int *high)
 
 		log_send(LOG_T_DEBUG, "Attempt to recover command %s", 
 		    command->name);
-		command->fd = tcp_connect(command->host, command->port);
+		command_connect(command);
 		if (command->fd >= 0) {
 			struct command_pkt *pkt;
-		
-			ioctl(command->fd, FIONBIO, &(int){1});
 
 			if (command->name) {
 				pkt = command_packet_new();

common/command/command.h

@@ -122,6 +122,7 @@ void command_free(struct command *command);
 struct command *command_open(char *host, int port);
 void command_initialize(struct command *command, size_t buffer);
 void command_initialize_fd(struct command *command, int fd);
+int command_connect(struct command *command);
 void command_close(struct command *command);
 
 struct command *command_open_simple(char *host, int port, char *name, char *id,

common/command/command_list.c

@@ -19,6 +19,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <string.h>
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <netinet/in.h>

common/command/command_tcp.c

@@ -2,7 +2,7 @@
 	command tcp connection handling
 
 	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2014
-trac
+
 	This program is free software: you can redistribute it and/or modify
 	it under the terms of the GNU General Public License as published by
 	the Free Software Foundation, either version 3 of the License, or
@@ -27,7 +27,10 @@ trac
 #include <stdlib.h>
 #include <errno.h>
 #include <string.h>
+#include <fcntl.h>
 #include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/socket.h>
 #include <stdio.h>
 
 #define COMMAND_BUF_BLOCK	4096
@@ -47,11 +50,9 @@ struct command *command_open(char *host, int port)
 
 	command->host = strdup(host);
 	command->port = port;
+	command->fd = -1;
 	
-	command->fd = tcp_connect(host, port);
-	if (command->fd >= 0) {
-		ioctl(command->fd, FIONBIO, &(int){1});
-	}
+	command_connect(command);
 	
 	return command;
 }
@@ -62,15 +63,37 @@ void command_initialize_fd(struct command *command, int fd)
 	command->rx_len = 0;
 	
 	if (command->fd >= 0) {
-		ioctl(command->fd, FIONBIO, &(int){1});
+		int flags = fcntl(command->fd, F_GETFL, 0);
+		fcntl(command->fd, F_SETFL, flags | O_NONBLOCK);
+	}
+}
+
+int command_connect(struct command *command)
+{
+	int fd = tcp_connect(command->host, command->port);
+	if (fd >= 0) {
+		command_initialize_fd(command, fd);
+		return 0;
 	}
+	return -1;
 }
 
 void command_close(struct command *command)
 {
 	log_send(LOG_T_DEBUG, "Close command on request");
-	if (command->fd >= 0)
+	if (command->fd >= 0) {
+		struct linger so_linger;
+		
+		so_linger.l_onoff = 1;
+		so_linger.l_linger = 10;
+		setsockopt(command->fd,
+		    SOL_SOCKET,
+		    SO_LINGER,
+		    &so_linger,
+		    sizeof(so_linger));
+		sleep(1);
 		close(command->fd);
+	}
 	command->fd = -1;	
 	command->recover = false;
 }

common/include/dynarg.h

@@ -125,7 +125,7 @@ do { \
 
 #define va_new(list) \
 do { \
-	char *ptr = malloc(sizeof(char *)) + sizeof(char *)*2; \
+	char *ptr = malloc(sizeof(char *)*2) + sizeof(char *)*2; \
 	(list).__ap = ptr; \
         ((char **)ptr)[-1] = ptr; \
 } while (0)
@@ -145,6 +145,7 @@ do { \
         clist = realloc(&clist[-2], \
 	    size + fill + sizeof(type) + sizeof(char *)*2) + sizeof(char *)*2; \
         (list).__ap = (void *)clist; \
+	clist[-1] = clist[0]; \
         ptr = ((char *)clist + size); \
 	ptr += fill; \
 	memcpy(ptr, &tmpval, sizeof(tmpval)); \

common/trace/trace.c

@@ -22,7 +22,6 @@
 #include <trace/trace.h>
 #include <trace/trace_def.h>
 
-#include <utils/tcp_connect.h>
 #include <log/log.h>
 
 #include <stdio.h>
@@ -351,12 +350,10 @@ bool trace_fd_set(struct trace *trace, fd_set *set, int *high)
 
 		log_send(LOG_T_DEBUG, "Attempt to recover trace %s", 
 		    trace->name);
-		trace->fd = tcp_connect(trace->host, trace->port);
+		trace_connect(trace);
 		if (trace->fd >= 0) {
 			struct trace_pkt *pkt;
 		
-			ioctl(trace->fd, FIONBIO, &(int){1});
-
 			if (trace->name) {
 				pkt = trace_packet_new();
 				trace_packet_name_set(pkt, trace->name);

common/trace/trace.h

-/*
+ /*
 	trace support
 
 	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2011
@@ -139,6 +139,7 @@ struct trace *trace_alloc(void);
 struct trace *trace_open(char *host, int port);
 void trace_initialize(struct trace *trace, size_t buffer);
 void trace_initialize_fd(struct trace *trace, int fd);
+int trace_connect(struct trace *trace);
 int trace_interval_set(struct trace *trace,
     struct timespec *interval, enum trace_interval_type type);
 int trace_name_set(struct trace *trace, char *name);

common/trace/trace_list.c

@@ -19,6 +19,7 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <string.h>
 #include <unistd.h>
 #include <sys/types.h>
 #include <sys/socket.h>

common/trace/trace_tcp.c

@@ -24,6 +24,7 @@
 #include <utils/tcp_connect.h>
 
 #include <unistd.h>
+#include <fcntl.h>
 #include <stdlib.h>
 #include <errno.h>
 #include <string.h>
@@ -47,12 +48,10 @@ struct trace *trace_open(char *host, int port)
 
 	trace->host = strdup(host);
 	trace->port = port;
+	trace->fd = -1;
 	
-	trace->fd = tcp_connect(host, port);
-	if (trace->fd >= 0) {
-		ioctl(trace->fd, FIONBIO, &(int){1});
-	}
-	
+	trace_connect(trace);
+
 	return trace;
 }
 
@@ -62,10 +61,21 @@ void trace_initialize_fd(struct trace *trace, int fd)
 	trace->rx_len = 0;
 	
 	if (trace->fd >= 0) {
-		ioctl(trace->fd, FIONBIO, &(int){1});
+		int flags = fcntl(trace->fd, F_GETFL, 0);
+		fcntl(trace->fd, F_SETFL, flags | O_NONBLOCK);
 	}
 }
 
+int trace_connect(struct trace *trace)
+{
+	int fd = tcp_connect(trace->host, trace->port);
+	if (fd >= 0) {
+		trace_initialize_fd(trace, fd);
+		return 0;
+	}
+	return -1;
+}
+
 void trace_close(struct trace *trace)
 {
 	log_send(LOG_T_DEBUG, "Close trace on request");

common/utils/build.mk

@@ -25,7 +25,8 @@ LU_CFLAGS := -Wall -g -fPIC
 LU_LDFLAGS := -lpthread -lrt -lm
 
 LU_CFLAGS += `pkg-config --cflags glib-2.0`
-LU_LDFLAGS += `pkg-config --libs glib-2.0`
+LU_LDFLAGS += -lglib-2.0
+#`pkg-config --libs glib-2.0`
 
 $(ARCHOBJS): CFLAGS += $(LU_CFLAGS)
 $(LIBDIR)/libutils.la_LDFLAGS += $(LU_LDFLAGS)

common/utils/command_server.c

@@ -38,6 +38,7 @@
 #include <unistd.h>
 #include <string.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <sys/ioctl.h>
 #include "tcp_listen.h"
  
@@ -69,6 +70,7 @@ static int default_func(char *name, char *value)
 struct command_server *command_server_create(int port, int local, int backlog)
 {
 	struct command_server *srv;
+	int flags;
 	
 	srv = calloc(1, sizeof(struct command_server));
 	if (!srv)
@@ -78,7 +80,8 @@ struct command_server *command_server_create(int port, int local, int backlog)
 	if (srv->fd < 0)
 		goto err_listen;
 	
-	ioctl(srv->fd, FIONBIO, &(int){ 1 });
+	flags = fcntl(srv->fd, F_GETFL, 0);
+	fcntl(srv->fd, F_SETFL, flags | O_NONBLOCK);
 	
 	srv->handle_func = default_func;
 	
@@ -221,11 +224,13 @@ int command_server_fdset_handle(struct command_server *srv, fd_set *set)
 	if (FD_ISSET(srv->fd, set)) {
 		/* New client */
 		int client_fd;
+		int flags;
 		
 		client_fd = tcp_accept(srv->fd);
 		if (client_fd < 0)
 			return -1;
-		ioctl(client_fd, FIONBIO, &(int){ 1 });
+		flags = fcntl(client_fd, F_GETFL, 0);
+		fcntl(client_fd, F_SETFL, flags | O_NONBLOCK);
 		
 		client = calloc(1, sizeof(struct command_client));
 		if (!client) {

common/utils/status_server.c

@@ -24,6 +24,7 @@
 #include <unistd.h>
 #include <string.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <sys/ioctl.h>
 #include "tcp_listen.h"
  
@@ -44,6 +45,7 @@ struct status_server {
 struct status_server *status_server_create(int port, int local, int backlog)
 {
 	struct status_server *srv;
+	int flags;
 	
 	srv = calloc(1, sizeof(struct status_server));
 	if (!srv)
@@ -53,7 +55,8 @@ struct status_server *status_server_create(int port, int local, int backlog)
 	if (srv->fd < 0)
 		goto err_listen;
 	
-	ioctl(srv->fd, FIONBIO, &(int){ 1 });
+	flags = fcntl(srv->fd, F_GETFL, 0);
+	fcntl(srv->fd, F_SETFL, flags | O_NONBLOCK);
 	
 	return srv;
 
@@ -100,11 +103,13 @@ int status_server_fdset_handle(struct status_server *srv, fd_set *set)
 	if (FD_ISSET(srv->fd, set)) {
 		/* New client */
 		int client_fd;
+		int flags;
 		
 		client_fd = tcp_accept(srv->fd);
 		if (client_fd < 0)
 			return -1;
-		ioctl(client_fd, FIONBIO, &(int){ 1 });
+		flags = fcntl(srv->fd, F_GETFL, 0);
+		fcntl(srv->fd, F_SETFL, flags | O_NONBLOCK);
 		
 		client = calloc(1, sizeof(struct status_client));
 		if (!client) {

common/utils/tcp_connect.c

@@ -21,7 +21,9 @@
 
 #include <unistd.h>
 #include <stdio.h>
+#include <string.h>
 #include <stdlib.h>
+#include <fcntl.h>
 #include <netinet/in.h>
 #include <netinet/tcp.h>
 #include <netdb.h>
@@ -58,9 +60,12 @@ int tcp_connect(char *host, int port)
 	}
 	
 	for (entry = result; entry; entry = entry->ai_next) {
+		int flags;
+		
 		sock = socket(entry->ai_family, entry->ai_socktype,
 		    entry->ai_protocol);
-		ioctl(sock, FIONBIO, &(int){1});
+		flags = fcntl(sock, F_GETFL, 0);
+		fcntl(sock, F_SETFL, flags | O_NONBLOCK);
 		if (sock >= 0) {
 			fd_set fdset_tx, fdset_err;
 			struct timeval tv;
@@ -87,7 +92,8 @@ int tcp_connect(char *host, int port)
 			}
 
 			if (sock >= 0) {
-				ioctl(sock, FIONBIO, &(int){0});
+				flags = fcntl(sock, F_GETFL, 0);
+				fcntl(sock, F_SETFL, flags & ~O_NONBLOCK);
 				
 				setsockopt(sock, SOL_SOCKET, SO_KEEPALIVE,
 				    &(int){1}, sizeof(int));
@@ -128,17 +134,18 @@ int tcp_flushwrite(int sock)
 
 		usleep(100000);
 	}
-
-	return 0;
 #endif
+	return 0;
 }
 
 int tcp_flushread(int sock)
 {
 	char buffer[1024];
 	int retries = 20;
+	int flags;
 	
-	ioctl(sock, FIONBIO, &(int){1});
+	flags = fcntl(sock, F_GETFL, 0);
+	fcntl(sock, F_SETFL, flags | O_NONBLOCK);
 	
 	while(retries--) {
 		ssize_t r = read(sock, buffer, 1024);