emc/schedrmt: Separated free from quit, return EXIT_FAILURE upon failure

Author: smoe

src/emc/usr_intf/schedrmt.cc

@@ -1,9 +1,9 @@
 /********************************************************************
 * Description: schedrmt.cc
-*   Extended telnet based scheduler interface
+*   Extended Telnet-based scheduler interface.
 *
-*   Derived from a work by Fred Proctor & Will Shackleford
-*   Further derived from work by jmkasunich
+*   Derived from a work by Fred Proctor & Will Shackleford.
+*   Further derived from work by jmkasunich.
 *
 * Author: Eric H. Johnson
 * License: GPL Version 2
@@ -20,6 +20,8 @@
 #include <string.h>
 #include <stdlib.h>
 #include <signal.h>
+#include <errno.h>
+#include <getopt.h>
 #include <unistd.h>
 #include <ctype.h>
 #include <math.h>
@@ -28,9 +30,7 @@
 #include <sys/uio.h>
 #include <netinet/in.h>
 #include <pthread.h>
-#include <errno.h>
-
-#include <getopt.h>
+#include <atomic>		// for sessions counter
 
 #include "rcs.hh"
 #include "posemath.h"		// PM_POSE, TO_RAD
@@ -45,8 +45,6 @@
 #include "emcsched.hh"
 #include <rtapi_string.h>
 
-#include <atomic>		// for sessions counter
-
 /*
   Using schedrmt:
 
@@ -273,8 +271,10 @@ const char *setCommands[] = {
    "QMODE", "QSTATUS", "AUTOTAGID", "PGMADD", "PGMBYID", "PGMBYINDEX", "PGMALL", "PRIORITYBYID", 
    "PRIORITYBYINDEX", "DELETEBYID", "DELETEBYINDEX", "POLLRATE",
    ""};
+const unsigned char setCommands_max_length = 16;
 
 const char *commands[] = {"HELLO", "SET", "GET", "QUIT", "SHUTDOWN", "HELP", ""};
+const unsigned char command_max_length = 8;
 
 struct option longopts[] = {
   {"port", 1, NULL, 'p'},
@@ -287,7 +287,7 @@ struct option longopts[] = {
   };
 
 
-static void thisQuit()
+static void freeAllBuffers()
 {
     EMC_NULL emc_null_msg;
 
@@ -313,7 +313,11 @@ static void thisQuit()
 	delete emcCommandBuffer;
 	emcCommandBuffer = 0;
     }
+}
 
+static void thisQuit()
+{
+    freeAllBuffers();
     exit(0);
 }
 
@@ -330,6 +334,7 @@ static int initSockets()
   return 0;
 }
 
+// attached to signal SIGINT in main()
 static void sigQuit(int /*sig*/)
 {
     thisQuit();
@@ -347,7 +352,7 @@ static setCommandType lookupSetCommand(char *s)
   int temp;
 
   while (i < scUnknown) {
-    if (strcmp(setCommands[i], s) == 0) return i;
+    if (strncmp(setCommands[i], s, setCommand_max_length) == 0) return i;
 //    (int)i += 1;
       temp = i;
       temp++;
@@ -400,10 +405,10 @@ static int checkBinaryASCII(char *s)
 
 static queueStatusType checkMode(char *s)
 {
-  static const char *runStr = "RUN";
-  static const char *stopStr = "STOP";
-  static const char *pauseStr = "PAUSE";
-  static const char *resumeStr = "RESUME";
+  static const char * const runStr = "RUN";
+  static const char * const stopStr = "STOP";
+  static const char * const pauseStr = "PAUSE";
+  static const char * const resumeStr = "RESUME";
 
   if (s == NULL) return qsError;
   strupr(s);
@@ -942,7 +947,7 @@ int commandShutdown(connectionRecType *context)
 {
   if (context->cliSock == enabledConn) {
     printf("Shutting down\n");
-    thisQuit();
+    freeAllBuffers();
     return -1;
     }
   else
@@ -1034,7 +1039,7 @@ static int helpQuit(connectionRecType *context)
   snprintf(context->outBuf, sizeof(context->outBuf), "Usage:\n\r");
   rtapi_strxcat(context->outBuf, "  The quit command has the server initiate a disconnect from the client,\n\r");
   rtapi_strxcat(context->outBuf, "  the command has no parameters and no requirements to have negotiated\n\r");
-  rtapi_strxcat(context->outBuf, "  a hello, or be in control.");
+  rtapi_strxcat(context->outBuf, "  a hello, or to be in control.");
   sockWrite(context);
   return 0;
 }
@@ -1080,7 +1085,9 @@ commandTokenType lookupToken(char *s)
   int temp;
 
   while (i < cmdUnknown) {
-    if (strcmp(commands[i], s) == 0) return i;
+    if (strncmp(commands[i], s, command_max_length+1) == 0) {
+      return i;
+    }
 //    (int)i += 1;
     temp = i;
     temp++;
@@ -1094,10 +1101,10 @@ int parseCommand(connectionRecType *context)
   int ret = 0;
   char *pch;
   char s[64];
-  static const char *helloNakStr = "HELLO NAK\r\n";
-  static const char *shutdownNakStr = "SHUTDOWN NAK\r\n";
-  static const char *helloAckStr = "HELLO ACK %s 1.1\r\n";
-  static const char *setNakStr = "SET NAK\r\n";
+  static const char * const helloNakStr = "HELLO NAK\r\n";
+  static const char * const shutdownNakStr = "SHUTDOWN NAK\r\n";
+  static const char * const helloAckStr = "HELLO ACK %s 1.1\r\n";
+  static const char * const setNakStr = "SET NAK\r\n";
 
   pch = strtok(context->inBuf, delims);
   snprintf(s, sizeof(s), helloAckStr, serverName);
@@ -1192,16 +1199,14 @@ void *readClient(void *arg)
 
 void sockMain()
 {
-    pthread_t thrd;
-    
     while (1) {
         int res = -1;
         struct sockaddr_in client_address;
         socklen_t client_len = sizeof(client_address);
         int client_sockfd = accept(server_sockfd, (struct sockaddr *)&client_address, &client_len);
         if (client_sockfd < 0) {
             perror("sockMain: accept failed\n");
-            exit(0);
+            exit(EXIT_FAILURE);
         }
         ++sessions;
         if ((maxSessions == -1) || (sessions <= maxSessions)) {
@@ -1212,10 +1217,11 @@ void sockMain()
                 rtapi_strxcpy(context->hostName, "Default");
                 rtapi_strxcpy(context->version, "1.0");
                 context->echo = true;
+                pthread_t thrd;
                 res = pthread_create(&thrd, NULL, readClient, context);
                 if (pthread_detach(thrd)) {
                    // no errno set by pthread_detach
-                   fprintf(stderr, "sockMain: error by pthread_detach - ignored\n");
+	           rcs_print_error("sockMain: error by pthread_detach - ignored\n");
                 }
                 if (res != 0) {
                     free(context);
@@ -1251,12 +1257,9 @@ static void initMain()
 
 int main(int argc, char *argv[])
 {
-    int opt;
-    pthread_t updateThread;
-    int res;
-
     initMain();
     // process local command line args
+    int opt;
     while((opt = getopt_long(argc, argv, "e:n:p:s:w:", longopts, NULL)) != -1) {
       switch(opt) {
         case 'e': snprintf(enablePWD, sizeof(enablePWD), "%s", optarg); break;
@@ -1270,17 +1273,17 @@ int main(int argc, char *argv[])
 
     // process emc command line args
     if (emcGetArgs(argc, argv) != 0) {
-	rcs_print_error("error in argument list\n");
-	exit(1);
+	rcs_print_error("Error in argument list\n");
+	exit(EXIT_FAILURE);
     }
     // get configuration information
     iniLoad(emc_inifile);
     initSockets();
     // init NML
     if (tryNml() != 0) {
-	rcs_print_error("can't connect to emc\n");
-	thisQuit();
-	exit(1);
+	rcs_print_error("Cannot connect to EMC\n");
+	freeAllBuffers();
+	exit(EXIT_FAILURE);
     }
     // get current serial number, and save it for restoring when we quit
     // so as not to interfere with real operator interface
@@ -1291,10 +1294,16 @@ int main(int argc, char *argv[])
     signal(SIGINT, sigQuit);
 
     schedInit();
-    res = pthread_create(&updateThread, NULL, checkQueue, (void *)NULL);
+    pthread_t updateThread;
+    int res = pthread_create(&updateThread, NULL, checkQueue, (void *)NULL);
     pthread_detach(updateThread);
-    if(res != 0) { perror("pthread_create"); return 1; }
+    if(res != 0) {
+        perror("pthread_create");
+        freeAllBuffers();
+        return EXIT_FAILURE;
+    }
     if (useSockets) sockMain();
 
-    return 0;
+    freeAllBuffers();
+    return EXIT_SUCCESS;
 }