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epics-base/modules/libcom/RTEMS/rtems_init.c
Michael Davidsaver 3e7ad9a86f rtems_init cleanup 
Remove unnecessary (as of RTEMS 4.9) prototypes
Remove unused *Fatal
constify string contant
2019-11-12 19:07:30 -08:00

719 lines
21 KiB
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/*************************************************************************\
* Copyright (c) 2002 The University of Saskatchewan
* EPICS BASE Versions 3.13.7
* and higher are distributed subject to a Software License Agreement found
* in file LICENSE that is included with this distribution.
\*************************************************************************/
/*
* RTEMS startup task for EPICS
* Author: W. Eric Norum
* eric.norum@usask.ca
* (306) 966-5394
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <time.h>
#include <errno.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <rtems.h>
#include <rtems/malloc.h>
#include <rtems/error.h>
#include <rtems/stackchk.h>
#include <rtems/rtems_bsdnet.h>
#include <rtems/imfs.h>
#include <librtemsNfs.h>
#include <bsp.h>
#include "epicsVersion.h"
#include "epicsThread.h"
#include "epicsTime.h"
#include "epicsExit.h"
#include "envDefs.h"
#include "errlog.h"
#include "logClient.h"
#include "osiUnistd.h"
#include "iocsh.h"
#include "osdTime.h"
#include "epicsMemFs.h"
#include "epicsRtemsInitHooks.h"
#define RTEMS_VERSION_INT VERSION_INT(__RTEMS_MAJOR__, __RTEMS_MINOR__, 0, 0)
/*
* Prototypes for some functions not in header files
*/
int main(int argc, char **argv);
static void
logReset (void)
{
void rtems_bsp_reset_cause(char *buf, size_t capacity) __attribute__((weak));
void (*fp)(char *buf, size_t capacity) = rtems_bsp_reset_cause;
if (fp) {
char buf[80];
fp(buf, sizeof buf);
errlogPrintf ("Startup after %s.\n", buf);
}
else {
errlogPrintf ("Startup.\n");
}
}
/*
***********************************************************************
* FATAL ERROR REPORTING *
***********************************************************************
*/
/*
* Delay for a while, then terminate
*/
static void
delayedPanic (const char *msg)
{
extern rtems_interval rtemsTicksPerSecond;
rtems_task_wake_after (rtemsTicksPerSecond);
rtems_panic (msg);
}
/*
* Log error and terminate
*/
void
LogFatal (const char *msg, ...)
{
va_list ap;
va_start (ap, msg);
errlogVprintf (msg, ap);
va_end (ap);
delayedPanic (msg);
}
void *
mustMalloc(int size, const char *msg)
{
void *p;
if ((p = malloc (size)) == NULL)
LogFatal ("Can't allocate space for %s.\n", msg);
return p;
}
/*
***********************************************************************
* REMOTE FILE ACCESS *
***********************************************************************
*/
#ifdef OMIT_NFS_SUPPORT
# include <rtems/tftp.h>
#endif
const epicsMemFS *epicsRtemsFSImage __attribute__((weak));
const epicsMemFS *epicsRtemsFSImage = (void*)&epicsRtemsFSImage;
/* hook to allow app specific FS setup */
int
epicsRtemsMountLocalFilesystem(char **argv) __attribute__((weak));
int
epicsRtemsMountLocalFilesystem(char **argv)
{
if(epicsRtemsFSImage==(void*)&epicsRtemsFSImage)
return -1; /* no FS image provided. */
else if(epicsRtemsFSImage==NULL)
return 0; /* no FS image provided, but none is needed. */
else {
printf("***** Using compiled in file data *****\n");
if (epicsMemFsLoad(epicsRtemsFSImage) != 0) {
printf("Can't unpack tar filesystem\n");
return -1;
} else {
argv[1] = "/";
return 0;
}
}
}
static int
initialize_local_filesystem(char **argv)
{
extern char _DownloadLocation[] __attribute__((weak));
extern char _FlashBase[] __attribute__((weak));
extern char _FlashSize[] __attribute__((weak));
argv[0] = rtems_bsdnet_bootp_boot_file_name;
if (epicsRtemsMountLocalFilesystem(argv)==0) {
return 1; /* FS setup successful */
} else if (_FlashSize && (_DownloadLocation || _FlashBase)) {
extern char _edata[];
size_t flashIndex = _edata - _DownloadLocation;
char *header = _FlashBase + flashIndex;
if (memcmp(header + 257, "ustar ", 8) == 0) {
int fd;
printf ("***** Unpack in-memory file system (IMFS) *****\n");
if (rtems_tarfs_load("/", (unsigned char *)header, (size_t)_FlashSize - flashIndex) != 0) {
printf("Can't unpack tar filesystem\n");
return 0;
}
if ((fd = open(rtems_bsdnet_bootp_cmdline, 0)) >= 0) {
close(fd);
printf ("***** Found startup script (%s) in IMFS *****\n", rtems_bsdnet_bootp_cmdline);
argv[1] = rtems_bsdnet_bootp_cmdline;
return 1;
}
printf ("***** Startup script (%s) not in IMFS *****\n", rtems_bsdnet_bootp_cmdline);
}
}
return 0;
}
#ifndef OMIT_NFS_SUPPORT
#if __RTEMS_MAJOR__>4 || \
(__RTEMS_MAJOR__==4 && __RTEMS_MINOR__>9) || \
(__RTEMS_MAJOR__==4 && __RTEMS_MINOR__==9 && __RTEMS_REVISION__==99)
int
nfsMount(char *uidhost, char *path, char *mntpoint)
{
int devl = strlen(uidhost) + strlen(path) + 2;
char *dev;
int rval = -1;
if ((dev = malloc(devl)) == NULL) {
fprintf(stderr,"nfsMount: out of memory\n");
return -1;
}
sprintf(dev, "%s:%s", uidhost, path);
printf("Mount %s on %s\n", dev, mntpoint);
if (rtems_mkdir(mntpoint, S_IRWXU | S_IRWXG | S_IRWXO))
printf("Warning -- unable to make directory \"%s\"\n", mntpoint);
if (mount(dev, mntpoint, RTEMS_FILESYSTEM_TYPE_NFS,
RTEMS_FILESYSTEM_READ_WRITE, NULL)) {
perror("mount failed");
}
else {
rval = 0;
}
free(dev);
return rval;
}
#define NFS_INIT
#else
#define NFS_INIT rpcUdpInit(); nfsInit(0,0);
#endif
#endif
static void
initialize_remote_filesystem(char **argv, int hasLocalFilesystem)
{
#ifdef OMIT_NFS_SUPPORT
printf ("***** Initializing TFTP *****\n");
#if __RTEMS_MAJOR__>4 || \
(__RTEMS_MAJOR__==4 && __RTEMS_MINOR__>9) || \
(__RTEMS_MAJOR__==4 && __RTEMS_MINOR__==9 && __RTEMS_REVISION__==99)
mount_and_make_target_path(NULL,
"/TFTP",
RTEMS_FILESYSTEM_TYPE_TFTPFS,
RTEMS_FILESYSTEM_READ_WRITE,
NULL);
#else
rtems_bsdnet_initialize_tftp_filesystem ();
#endif
if (!hasLocalFilesystem) {
char *path;
int pathsize = 200;
int l;
path = mustMalloc(pathsize, "Command path name ");
strcpy (path, "/TFTP/BOOTP_HOST/epics/");
l = strlen (path);
if (gethostname (&path[l], pathsize - l - 10) || (path[l] == '\0'))
{
LogFatal ("Can't get host name");
}
strcat (path, "/st.cmd");
argv[1] = path;
}
#else
char *server_name;
char *server_path;
char *mount_point;
char *cp;
int l = 0;
printf ("***** Initializing NFS *****\n");
NFS_INIT
if (env_nfsServer && env_nfsPath && env_nfsMountPoint) {
server_name = env_nfsServer;
server_path = env_nfsPath;
mount_point = env_nfsMountPoint;
cp = mount_point;
while ((cp = strchr(cp+1, '/')) != NULL) {
*cp = '\0';
if ((mkdir (mount_point, 0755) != 0)
&& (errno != EEXIST))
LogFatal("Can't create directory \"%s\": %s.\n",
mount_point, strerror(errno));
*cp = '/';
}
argv[1] = rtems_bsdnet_bootp_cmdline;
}
else if (hasLocalFilesystem) {
return;
}
else {
/*
* Use first component of nvram/bootp command line pathname
* to set up initial NFS mount. A "/tftpboot/" is prepended
* if the pathname does not begin with a '/'. This allows
* NFS and TFTP to have a similar view of the remote system.
*/
if (rtems_bsdnet_bootp_cmdline[0] == '/')
cp = rtems_bsdnet_bootp_cmdline + 1;
else
cp = rtems_bsdnet_bootp_cmdline;
cp = strchr(cp, '/');
if ((cp == NULL)
|| ((l = cp - rtems_bsdnet_bootp_cmdline) == 0))
LogFatal("\"%s\" is not a valid command pathname.\n", rtems_bsdnet_bootp_cmdline);
cp = mustMalloc(l + 20, "NFS mount paths");
server_path = cp;
server_name = rtems_bsdnet_bootp_server_name;
if (rtems_bsdnet_bootp_cmdline[0] == '/') {
mount_point = server_path;
strncpy(mount_point, rtems_bsdnet_bootp_cmdline, l);
mount_point[l] = '\0';
argv[1] = rtems_bsdnet_bootp_cmdline;
/*
* Its probably common to embed the mount point in the server
* name so, when this is occurring, dont clobber the mount point
* by appending the first node from the command path. This allows
* the mount point to be a different path then the server's mount
* path.
*
* This allows for example a line similar to as follows the DHCP
* configuration file.
*
* server-name "159.233@192.168.0.123:/vol/vol0/bootRTEMS";
*/
if ( server_name ) {
const size_t allocSize = strlen ( server_name ) + 2;
char * const pServerName = mustMalloc( allocSize,
"NFS mount paths");
char * const pServerPath = mustMalloc ( allocSize,
"NFS mount paths");
const int scanfStatus = sscanf (
server_name,
"%[^:] : / %s",
pServerName,
pServerPath + 1u );
if ( scanfStatus == 2 ) {
pServerPath[0u]= '/';
server_name = pServerName;
server_path = pServerPath;
}
else {
free ( pServerName );
free ( pServerPath );
}
}
}
else {
char *abspath = mustMalloc(strlen(rtems_bsdnet_bootp_cmdline)+2,"Absolute command path");
strcpy(server_path, "/tftpboot/");
mount_point = server_path + strlen(server_path);
strncpy(mount_point, rtems_bsdnet_bootp_cmdline, l);
mount_point[l] = '\0';
mount_point--;
strcpy(abspath, "/");
strcat(abspath, rtems_bsdnet_bootp_cmdline);
argv[1] = abspath;
}
}
errlogPrintf("nfsMount(\"%s\", \"%s\", \"%s\")\n",
server_name, server_path, mount_point);
nfsMount(server_name, server_path, mount_point);
#endif
}
static
const char rtems_etc_hosts[] = "127.0.0.1 localhost\n";
/* If it doesn't already exist, create /etc/hosts with an entry for 'localhost' */
static
void fixup_hosts(void)
{
FILE *fp;
int ret;
struct stat STAT;
ret=stat("/etc/hosts", &STAT);
if(ret==0)
{
return; /* already exists, assume file */
} else if(errno!=ENOENT) {
perror("error: fixup_hosts stat /etc/hosts");
return;
}
ret = mkdir("/etc", 0775);
if(ret!=0 && errno!=EEXIST)
{
perror("error: fixup_hosts create /etc");
return;
}
if((fp=fopen("/etc/hosts", "w"))==NULL)
{
perror("error: fixup_hosts create /etc/hosts");
}
if(fwrite(rtems_etc_hosts, 1, sizeof(rtems_etc_hosts)-1, fp)!=sizeof(rtems_etc_hosts)-1)
{
perror("error: failed to write /etc/hosts");
}
fclose(fp);
}
/*
* Get to the startup script directory
* The TFTP filesystem requires a trailing '/' on chdir arguments.
*/
static void
set_directory (const char *commandline)
{
const char *cp;
char *directoryPath;
int l;
cp = strrchr(commandline, '/');
if (cp == NULL) {
l = 0;
cp = "/";
}
else {
l = cp - commandline;
cp = commandline;
}
directoryPath = mustMalloc(l + 2, "Command path directory ");
strncpy(directoryPath, cp, l);
directoryPath[l] = '/';
directoryPath[l+1] = '\0';
if (chdir (directoryPath) < 0)
LogFatal ("Can't set initial directory(%s): %s\n", directoryPath, strerror(errno));
else
errlogPrintf("chdir(\"%s\")\n", directoryPath);
free(directoryPath);
}
/*
***********************************************************************
* RTEMS/EPICS COMMANDS *
***********************************************************************
*/
/*
* RTEMS status
*/
static void
rtems_netstat (unsigned int level)
{
rtems_bsdnet_show_if_stats ();
rtems_bsdnet_show_mbuf_stats ();
if (level >= 1) {
rtems_bsdnet_show_inet_routes ();
}
if (level >= 2) {
rtems_bsdnet_show_ip_stats ();
rtems_bsdnet_show_icmp_stats ();
rtems_bsdnet_show_udp_stats ();
rtems_bsdnet_show_tcp_stats ();
}
}
static const iocshArg netStatArg0 = { "level",iocshArgInt};
static const iocshArg * const netStatArgs[1] = {&netStatArg0};
static const iocshFuncDef netStatFuncDef = {"netstat",1,netStatArgs};
static void netStatCallFunc(const iocshArgBuf *args)
{
rtems_netstat(args[0].ival);
}
static const iocshFuncDef heapSpaceFuncDef = {"heapSpace",0,NULL};
static void heapSpaceCallFunc(const iocshArgBuf *args)
{
rtems_malloc_statistics_t s;
double x;
malloc_get_statistics(&s);
x = s.space_available - (unsigned long)(s.lifetime_allocated - s.lifetime_freed);
if (x >= 1024*1024)
printf("Heap space: %.1f MB\n", x / (1024 * 1024));
else
printf("Heap space: %.1f kB\n", x / 1024);
}
#ifndef OMIT_NFS_SUPPORT
static const iocshArg nfsMountArg0 = { "[uid.gid@]host",iocshArgString};
static const iocshArg nfsMountArg1 = { "server path",iocshArgString};
static const iocshArg nfsMountArg2 = { "mount point",iocshArgString};
static const iocshArg * const nfsMountArgs[3] = {&nfsMountArg0,&nfsMountArg1,
&nfsMountArg2};
static const iocshFuncDef nfsMountFuncDef = {"nfsMount",3,nfsMountArgs};
static void nfsMountCallFunc(const iocshArgBuf *args)
{
char *cp = args[2].sval;
while ((cp = strchr(cp+1, '/')) != NULL) {
*cp = '\0';
if ((mkdir (args[2].sval, 0755) != 0) && (errno != EEXIST)) {
printf("Can't create directory \"%s\": %s.\n",
args[2].sval, strerror(errno));
return;
}
*cp = '/';
}
nfsMount(args[0].sval, args[1].sval, args[2].sval);
}
#endif
void zoneset(const char *zone)
{
if(zone)
setenv("TZ", zone, 1);
else
unsetenv("TZ");
tzset();
}
static const iocshArg zonesetArg0 = {"zone string", iocshArgString};
static const iocshArg * const zonesetArgs[1] = {&zonesetArg0};
static const iocshFuncDef zonesetFuncDef = {"zoneset",1,zonesetArgs};
static void zonesetCallFunc(const iocshArgBuf *args)
{
zoneset(args[0].sval);
}
/*
* Register RTEMS-specific commands
*/
static void iocshRegisterRTEMS (void)
{
iocshRegister(&netStatFuncDef, netStatCallFunc);
iocshRegister(&heapSpaceFuncDef, heapSpaceCallFunc);
#ifndef OMIT_NFS_SUPPORT
iocshRegister(&nfsMountFuncDef, nfsMountCallFunc);
#endif
iocshRegister(&zonesetFuncDef, &zonesetCallFunc);
}
/*
* Set up the console serial line (no handshaking)
*/
static void
initConsole (void)
{
struct termios t;
if (tcgetattr (fileno (stdin), &t) < 0) {
printf ("tcgetattr failed: %s\n", strerror (errno));
return;
}
t.c_iflag &= ~(IXOFF | IXON | IXANY);
if (tcsetattr (fileno (stdin), TCSANOW, &t) < 0) {
printf ("tcsetattr failed: %s\n", strerror (errno));
return;
}
}
/*
* Ensure that the configuration object files
* get pulled in from the library
*/
extern rtems_configuration_table Configuration;
extern struct rtems_bsdnet_config rtems_bsdnet_config;
const void *rtemsConfigArray[] = {
&Configuration,
&rtems_bsdnet_config
};
/*
* Hook to ensure that BSP cleanup code gets run on exit
*/
static void
exitHandler(void)
{
rtems_shutdown_executive(0);
}
/*
* RTEMS Startup task
*/
rtems_task
Init (rtems_task_argument ignored)
{
int result;
char *argv[3] = { NULL, NULL, NULL };
char *cp;
rtems_task_priority newpri;
rtems_status_code sc;
rtems_time_of_day now;
/*
* Explain why we're here
*/
logReset();
/*
* Architecture-specific hooks
*/
if (epicsRtemsInitPreSetBootConfigFromNVRAM(&rtems_bsdnet_config) != 0)
delayedPanic("epicsRtemsInitPreSetBootConfigFromNVRAM");
if (rtems_bsdnet_config.bootp == NULL) {
extern void setBootConfigFromNVRAM(void);
setBootConfigFromNVRAM();
}
if (epicsRtemsInitPostSetBootConfigFromNVRAM(&rtems_bsdnet_config) != 0)
delayedPanic("epicsRtemsInitPostSetBootConfigFromNVRAM");
/*
* Override RTEMS configuration
*/
rtems_task_set_priority (
RTEMS_SELF,
epicsThreadGetOssPriorityValue(epicsThreadPriorityIocsh),
&newpri);
/*
* Create a reasonable environment
*/
initConsole ();
putenv ("TERM=xterm");
putenv ("IOCSH_HISTSIZE=20");
/*
* Display some OS information
*/
printf("\n***** RTEMS Version: %s *****\n",
rtems_get_version_string());
/*
* Start network
*/
if ((cp = getenv("EPICS_TS_NTP_INET")) != NULL)
rtems_bsdnet_config.ntp_server[0] = cp;
if (rtems_bsdnet_config.network_task_priority == 0)
{
unsigned int p;
if (epicsThreadHighestPriorityLevelBelow(epicsThreadPriorityScanLow, &p)
== epicsThreadBooleanStatusSuccess)
{
rtems_bsdnet_config.network_task_priority = epicsThreadGetOssPriorityValue(p);
}
}
printf("\n***** Initializing network *****\n");
rtems_bsdnet_initialize_network();
printf("\n***** Setting up file system *****\n");
initialize_remote_filesystem(argv, initialize_local_filesystem(argv));
fixup_hosts();
/*
* More environment: iocsh prompt and hostname
*/
{
char hostname[1024];
gethostname(hostname, 1023);
char *cp = mustMalloc(strlen(hostname)+3, "iocsh prompt");
sprintf(cp, "%s> ", hostname);
epicsEnvSet ("IOCSH_PS1", cp);
epicsEnvSet("IOC_NAME", hostname);
}
/*
* Use BSP-supplied time of day if available otherwise supply default time.
* It is very likely that other time synchronization facilities in EPICS
* will soon override this value.
*/
if (rtems_clock_get(RTEMS_CLOCK_GET_TOD,&now) != RTEMS_SUCCESSFUL) {
now.year = 2001;
now.month = 1;
now.day = 1;
now.hour = 0;
now.minute = 0;
now.second = 0;
now.ticks = 0;
if ((sc = rtems_clock_set (&now)) != RTEMS_SUCCESSFUL)
printf ("***** Can't set time: %s\n", rtems_status_text (sc));
}
if (getenv("TZ") == NULL) {
const char *tzp = envGetConfigParamPtr(&EPICS_TZ);
if (!tzp || *tzp)
printf("Warning: No timezone information, times will be displayed in UTC.\n");
else
epicsEnvSet("TZ", tzp);
}
tzset();
osdTimeRegister();
/*
* Run the EPICS startup script
*/
printf ("***** Preparing EPICS application *****\n");
iocshRegisterRTEMS ();
set_directory (argv[1]);
epicsEnvSet ("IOC_STARTUP_SCRIPT", argv[1]);
atexit(exitHandler);
errlogFlush();
printf ("***** Starting EPICS application *****\n");
result = main ((sizeof argv / sizeof argv[0]) - 1, argv);
printf ("***** IOC application terminating *****\n");
epicsThreadSleep(1.0);
epicsExit(result);
}
#if defined(QEMU_FIXUPS)
/* Override some hooks (weak symbols)
* if BSP defaults aren't configured for running tests.
*/
/* Ensure that stdio goes to serial (so it can be captured) */
#if defined(__i386__) && !USE_COM1_AS_CONSOLE
#include <uart.h>
extern int BSPPrintkPort;
void bsp_predriver_hook(void)
{
BSPConsolePort = BSP_CONSOLE_PORT_COM1;
BSPPrintkPort = BSP_CONSOLE_PORT_COM1;
}
#endif
/* reboot immediately when done. */
#if defined(__i386__) && BSP_PRESS_KEY_FOR_RESET
void bsp_cleanup(void)
{
#if RTEMS_VERSION_INT>=VERSION_INT(4,10,0,0)
void bsp_reset();
bsp_reset();
#else
rtemsReboot();
#endif
}
#endif
#endif /* QEMU_FIXUPS */
int cexpdebug __attribute__((weak));
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