/****************************************************************************/ /* Copyright (c) 2001 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Author : Rich Henthorn */ /* Project : */ /* Version : 1.0 */ /* Created : 05 Jun 01 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #include #include #include #include #include #include #include #include "BuoyLauncherIF.h" #include "BuoyLauncherInput.h" #include "BuoyLauncherMsgs.h" #include "Syslog.h" #include "System.h" #include "SerialParameters.h" void printStat(BuoyLauncherIF::LC_status stat) { printf("\t**** Launcher Status Record from %s", asctime(localtime(&stat.timeSec))); printf("LC Error: %d\t\tLast Launch OK: %d\tBuoy Responsive: %d\n", stat.launcherError, stat.lastLaunchOK, stat.buoyResponsive); printf("Next Buoy Ready: %d\tCurrent Buoy#: %d\tTotal # Buoys: %d\n", stat.nextBuoyReady, stat.currentBuoyNumber, stat.numTotalBuoys); printf("Remain Buoys: %d\tBuoys Launched: %d\n", stat.numBuoysRemain, stat.numBuoysLaunched); printf("ARGOS Loaded: %ld\tARGOS Left: %ld\n", stat.argosBytes, stat.dataMemory); printf("Archive Loaded: %ld\tArchive Left: %ld\n", stat.archiveBytes, stat.picoBytes); } int main( int argc, char **argv ) { BuoyLauncherIF *buoyLauncherIF; pid_t _serverPid; pid_t workSiteServer; #if 0 if ((workSiteServer = System::spawn("workSite", "")) == -1) throw Exception("System::spawn(workSite Server) failed"); printf(" buoyLauncherTest: Started WorkSite Server.\n"); #endif if (argc < 4) { Syslog::write("Test::invalid argument list"); printf("Usage: buoyLauncherTest commands serial_spec_type serial_spec\n"); printf("\tcommands - single string of single letter commands\n"); printf("\tserial_spec_type - either \"-dev\" or \"-serial\"\n"); printf("\tserial_spec - serial line parameters based on the spec type\n"); } try { SerialParameters serialParams(&argc, argv); char argString[100]; sprintf(argString, "-serial %s", serialParams.string()); if ((_serverPid = System::spawn("buoyLauncherServer", argString)) == -1) { Syslog::write("System::spawn(buoyLauncherServer) failed\n"); exit( -1 ); } } catch ( ... ) { Syslog::write("buoyLauncherTest -- " "caught exception on spawning of BuoyLauncher Server\n"); exit( -1 ); } try { buoyLauncherIF = new BuoyLauncherIF( "BLS", 1000 ); } catch (...) { Syslog::write("_buoyLauncherTest -- Caught exception on IF creation\n"); exit( -1 ); } BuoyLauncherIF::LC_status lc_stat; BuoyLauncherIF::Filename datafile; //strcpy(datafile, "/usr/include/form.h"); strcpy(datafile, "/usr/bin/elvis"); //strcpy(datafile, "./test.src"); Boolean commandFinished = True; char *commands = argv[1]; char thisCmd = '\0'; int count = 0, clen = strlen(commands); Boolean testTimeout = False; time_t now, start = time((long*)0); int buoynum; int nminutes; delay(3500); // Let LC get up to speed for (int ii = 0; ii < clen /*&& !testTimeout*/; ) { delay(1500); // If I'm still waiting for a command to finish, check to see // if it is finished now. // if (!commandFinished) { printf("Test: checking for the completion of the %c cmd\r",thisCmd); switch (thisCmd) { case '\0': commandFinished = True; break; case LAUNCH_REAL_HOT: case LAUNCH_REAL_COLD: buoyLauncherIF->getLauncherStatus(&lc_stat); if (lc_stat.lastLaunchDone) { commandFinished = True; if (lc_stat.lastLaunchOK) Syslog::write("\t** Test:Launch Buoy: successful! **"); else { Syslog::write("\t** Test:Launch Buoy: UNsuccessful! **"); if (lc_stat.launcherError == NO_BUOY_AT_LAUNCH_POS) Syslog::write("Try inserting \"N%dR%c\"", buoynum, thisCmd); } if (lc_stat.armsRetracted) Syslog::write("\t** Test:Launch Buoy: arms retracted! **"); else Syslog::write("\t** Test:Launch Buoy: arms NOT retracted! **"); } break; case PUSH_OUT_RETRACT: case RETRACT_LARMS: if (buoyLauncherIF->ready()) { buoyLauncherIF->getLauncherStatus(&lc_stat); commandFinished = True; if (lc_stat.armsRetracted) { Syslog::write("\t** Test: arms retracted! **"); } else Syslog::write("\t** Test: arms NOT retracted! **"); } break; case LAUNCH_FAKE: if (buoyLauncherIF->ready()) { commandFinished = True; buoyLauncherIF->getLauncherStatus(&lc_stat); if (lc_stat.lastLaunchOK) Syslog::write("\t** Test:Launch Fake: successful! **"); else Syslog::write("\t** Test:Launch Fake: UNsuccessful! **"); } break; case UPLOAD_LC_LOG: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Upload Log: Launcher log file uploaded **"); commandFinished = True; } break; case REINITIALIZE: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test: Reinitialize process complete **"); commandFinished = True; } break; case ROTATE_BUOY: if (!buoyLauncherIF->ready()) break; buoyLauncherIF->getLauncherStatus(&lc_stat); if (lc_stat.buoyResponsive) { Syslog::write("\t** Test:Rotate Buoy:Mr. Good buoy in position **"); commandFinished = True; } else if (lc_stat.numBuoysRemain == 0) { Syslog::write("\t** Test:Rotate Buoy:No good buoys found **"); commandFinished = True; } else { Syslog::write("\t** Test:Rotate Buoy: cmd timed-out **"); commandFinished = True; } break; case ROTATE_LAUNCH_POS: case ROTATE_DATA_POS: case ROTATE_CARO: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Rotate Carousel: done **"); commandFinished = True; } break; case XFER_ARCHIVE: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Data transfer: complete **"); commandFinished = True; } break; case XFER_ARGOS: if (buoyLauncherIF->ready()) { buoyLauncherIF->getLauncherStatus(&lc_stat); if (lc_stat.nextBuoyReady) { Syslog::write("\t** Test:Data transfer: complete **"); commandFinished = True; } } break; case CURRENT_BUOY: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Current Buoy: complete **"); commandFinished = True; } break; case LC_STATUS: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Get Status: complete **"); commandFinished = True; } break; case LCBC_STATUS: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Get Status: complete **"); commandFinished = True; } break; case STATUS_ON: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Status calls on: complete **"); commandFinished = True; } break; case STATUS_OFF: if (buoyLauncherIF->ready()) { Syslog::write("\t** Test:Status calls off: complete **"); commandFinished = True; } break; default: Syslog::write("Unknown command: %c", thisCmd); commandFinished = True; break; } if (!commandFinished) continue; // Continue checking thisCmd else { sleep(2); ii++; // Go on to the next one } } // Must be finished with the last command, so do the next one // if (!buoyLauncherIF->ready()) continue; thisCmd = commands[ii]; Syslog::write("Test: executing %c command", thisCmd); switch (thisCmd) { case WAKEUP: Syslog::write("Command %c cannot be executed through %s", thisCmd, "the Buoy Launcher Server"); ii++; // Just go to the next command break; case SET_TIME: Syslog::write("Command %c cannot be executed through %s", thisCmd, "the Buoy Launcher Server"); ii++; // Just go to the next command break; case LAUNCH_REAL_HOT: case LAUNCH_REAL_COLD: buoyLauncherIF->getLauncherStatus(&lc_stat); if (lc_stat.buoyResponsive && lc_stat.nextBuoyReady) { buoynum = lc_stat.currentBuoyNumber; if (DeviceIF::Ok == buoyLauncherIF->launch(thisCmd)) commandFinished = False; } else { Syslog::write("Test::Launch Buoy: Buoy not responsive"); if (++count > 50) { count = 0; ii++; //skip } } break; case LAUNCH_FAKE: if (DeviceIF::Ok == buoyLauncherIF->launchDummyBuoy()) commandFinished = False; break; case UPLOAD_LC_LOG: if (commands[ii+1] < '0' || commands[ii+1] > '9') { Syslog::write("Character following a 'U' in the command string %s", "must be between 1-9 inclusive"); break; } for (nminutes = 0; commands[ii+1] >= '0' && commands[ii+1] <= '9'; ii++) nminutes = nminutes*10 + (commands[ii+1] - '0'); if (DeviceIF::Ok == buoyLauncherIF->uploadLog(nminutes)) commandFinished = False; break; case ROTATE_BUOY: if (DeviceIF::Ok == buoyLauncherIF->rotateBuoy()) commandFinished = False; break; case ROTATE_CARO: if (DeviceIF::Ok == buoyLauncherIF->rotateCarousel()) commandFinished = False; break; case PUSH_OUT_RETRACT: if (DeviceIF::Ok == buoyLauncherIF->pushAndRetract()) commandFinished = False; break; case RETRACT_LARMS: if (DeviceIF::Ok == buoyLauncherIF->retractArms()) commandFinished = False; break; case REINITIALIZE: if (DeviceIF::Ok == buoyLauncherIF->reinitLauncher()) commandFinished = False; break; case ROTATE_LAUNCH_POS: case ROTATE_DATA_POS: if (DeviceIF::Ok == buoyLauncherIF->rotateAPosition(thisCmd)) commandFinished = False; break; case XFER_ARGOS: buoyLauncherIF->statusOn(False); if (DeviceIF::Ok == buoyLauncherIF->loadData(datafile, 'X')) commandFinished = False; buoyLauncherIF->statusOn(True); break; case XFER_ARCHIVE: buoyLauncherIF->statusOn(False); if (DeviceIF::Ok == buoyLauncherIF->loadData(datafile, 'D')) commandFinished = False; buoyLauncherIF->statusOn(True); break; case CURRENT_BUOY: if (commands[ii+1] < '1' || commands[ii+1] > '9') { Syslog::write("Character following a 'N' in the command string %s", "must be between 1-9 inclusive"); break; } for (buoynum = 0; commands[ii+1] >= '0' && commands[ii+1] <= '9'; ii++) buoynum = buoynum*10 + (commands[ii+1] - '0'); if (DeviceIF::Ok == buoyLauncherIF->currentBuoy(buoynum)) commandFinished = False; break; case LC_STATUS: ii++; // Just go to the next command break; case LCBC_STATUS: ii++; // Just go to the next command break; case STATUS_ON: if (DeviceIF::Ok == buoyLauncherIF->statusOn(True)) commandFinished = False; break; case STATUS_OFF: if (DeviceIF::Ok == buoyLauncherIF->statusOn(False)) commandFinished = False; break; default: Syslog::write("Unknown command: %c", thisCmd); ii++; // Just go to the next command break; } now = time((long*)0); testTimeout = (now > (start+1200)); } sleep(90); delete buoyLauncherIF; kill(0, SIGTERM); return 0; }