board.c

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/*
 * Copyright (C) 2015 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "mcu.h"
#include "boards/bebop.h"
#include "subsystems/gps.h"

static int kill_gracefull(char *process_name)
{
  /* "pidof" always in /bin on Bebop firmware tested 1.98, 2.0.57, no need for "which" */
  char pidof_commandline[200] = "/bin/pidof ";
  strcat(pidof_commandline, process_name);
  /* Bebop Busybox a
     $ cat /proc/sys/kernel/pid_max
     Gives max 32768, makes sure it never kills existing other process
  */
  char pid[7] = "";
  int ret = 0; /* Return code of kill system call */
  FILE *fp;

  while (ret == 0) {
    fp = popen(pidof_commandline, "r");
    if (fp != NULL) { /* Could open the pidof with line */
      if (fgets(pid, sizeof(pid) - 1, fp) != NULL) {
        //printf("Process ID deducted: \"%s\"\n", pid);
        if (atoi(pid) > 0) { /* To make sure we end 0 > There is a real process id found */
          char kill_command_and_process[200] = "kill -9 "; /* BTW there is no pkill on this Busybox */
          strcat(kill_command_and_process, pid);
          ret = system(kill_command_and_process);
          /* No need to wait, since if it is not closed the next pidof scan still will still find it and try to kill it */
        }
      } else {
        ret = 256; /* Could not get handle */
        pclose(fp);
      }
    } else {
      ret = 256; /* fp NULL, so no process, just return */
      return 0;
    }
  } /* end while */
  return 0;
}

void board_init(void)
{
  /*
   *  Process running by default for firmware >= v1.98
   *
   * -  /bin/sh - /usr/bin/DragonStarter.sh -out2null
   * -  //usr/bin/dragon-prog
   *
   * Thus two process to kill, the DragonStarter first
   * This to make sure OEM program does not get re-started
   *
  */
  int ret __attribute__((unused)) = system("killall -q -15 DragonStarter.sh");
  usleep(50000); /* Give DragonStarter 50ms time to end on a busy system */
  kill_gracefull("dragon-prog");
#if GpsId(PRIMARY_GPS) == GPS_DATALINK_ID
  kill_gracefull("ephemerisd");
#endif
}

void board_init2(void)
{
}