#!/bin/bash
################################################################################
# usage: emc [options] [<ini-file>]
#
# options:
#     -v = verbose - prints info as it works
#     -d = echos script commands to screen for debugging
#
# this version calls emc2/tcl/bin/pickconfig.tcl to pick an ini file if one
# is not specified on the command line
#
################################################################################
# Author:
# License: GPL Version 2
# System: Linux
#    
# Copyright (c) 2004-2009 All rights reserved.
################################################################################

################################################################################
# 0. Values that come from configure
################################################################################
prefix=/home/dave/emc2-dev
exec_prefix=${prefix}

LSMOD=/sbin/lsmod
PIDOF="/bin/pidof -x"
PS=/bin/ps
AWK=/usr/bin/awk
IPCS=/usr/bin/ipcs
KILL=/bin/kill

EMC2_HOME=/home/dave/emc2-dev; export EMC2_HOME

EMC2_BIN_DIR=/home/dave/emc2-dev/bin
EMC2_TCL_DIR=/home/dave/emc2-dev/tcl
EMC2_HELP_DIR=/home/dave/emc2-dev/docs/help
EMC2_RTLIB_DIR=/home/dave/emc2-dev/rtlib
EMC2_CONFIG_PATH="~/emc2/configs:/home/dave/emc2-dev/configs"
EMC2_NCFILES_DIR=/home/dave/emc2-dev/nc_files
EMC2_LANG_DIR=/home/dave/emc2-dev/src/objects
REALTIME=/home/dave/emc2-dev/scripts/realtime
EMC2_IMAGEDIR=/home/dave/emc2-dev

#put the EMC2_BIN_DIR in PATH
PATH=$EMC2_BIN_DIR:$PATH
#ditto scripts if not RIP
[ -d $EMC2_HOME/scripts ] && PATH=$EMC2_HOME/scripts:$PATH

if [ -z "$PYTHONPATH" ]; then
    PYTHONPATH=$EMC2_HOME/lib/python
else
    PYTHONPATH=$EMC2_HOME/lib/python:"$PYTHONPATH"
fi
export PYTHONPATH

XFILESEARCHPATH=%D:/home/dave/emc2-dev/%T/%N%C:/home/dave/emc2-dev/%T/%N
export XFILESEARCHPATH

MODULE_EXT=.ko # module extension, used when insmod'ing

DEBUG_FILE=$(mktemp /tmp/emc.debug.XXXXXX)
PRINT_FILE=$(mktemp /tmp/emc.print.XXXXXX)

program_available () {
    type -path "$1" > /dev/null 2>&1
}

usage () {
	P=${0##*/}
	cat <<EOF
$P: Run EMC2

Usage:
	$P [-d] [-v]
		Choose the configuration file graphically

	$P [-k] [-d] [-v] path/to/your.ini
		Name the configuration file using its path

	$P [-k] [-d] [-v] -l
		Use the previous configuration file

	-d: Turn on "debug" mode
	-v: Turn on "verbose" mode
        -k: Continue in the presence of errors in .hal files
EOF

}

################################################################################
# 1.1. strip and process command line options
################################################################################
while getopts "dvlhk" opt
do
	case "$opt" in
	d)
		# enable echoing of script and command output
		if tty -s; then
		    DEBUG_FILE=/dev/fd/2
		    echo "Debug mode on" >$DEBUG_FILE
		fi
		set -x;;
	v)
		# enable printing of verbose messages
		if tty -s; then
		    PRINT_FILE=/dev/fd/1
		    echo "Verbose mode on" >$PRINT_FILE
		fi;;
	l)
		USE_LAST_INIFILE=1;;
        k)      DASHK=-k;;
	h)
		usage
		exit 0;;
	*)
		usage
		exit 1
	esac
done
shift $(($OPTIND-1))

case "2.6.24-16-rtai" in
"") ;;
*)
    if [ `uname -r` != "2.6.24-16-rtai" ]; then
        if tty -s; then
            echo "EMC2 requires the real-time kernel 2.6.24-16-rtai to run."
            echo "Before running EMC2, reboot and choose this kernel at the boot menu."
        else
            /usr/bin/wish8.4 <<EOF
                wm wi .
                tk_messageBox -type ok \
                    -title EMC2 -icon error -title "Realtime Kernel Required" \
                    -message {EMC2 requires the real-time kernel 2.6.24-16-rtai to run.  Before running EMC2, reboot and choose this kernel at the boot menu.}
                exit
EOF
        fi
        exit
    fi
esac

if ! tty -s; then
    exec 2>> $DEBUG_FILE
    exec >> $PRINT_FILE
fi

function ErrorCheck () {
    result=$?
    if [ ! -z "$DISPLAY" ]; then
        echo "catch {send -async popimage destroy .}; destroy ." | /usr/bin/wish8.4
    fi

    if [ $result -ne 0 ]; then
        if tty -s || [ -z "$DISPLAY" ] ; then
            if [ -f $DEBUG_FILE ]; then
                cp $DEBUG_FILE $HOME/emc_debug.txt
            else
                echo "(debug information was sent to stderr)" \
                    > $HOME/emc_debug.txt
            fi

            if [ -f $PRINT_FILE ]; then
                cp $PRINT_FILE $HOME/emc_print.txt
            else
                echo "(print information was sent to stdout)" \
                    > $HOME/emc_print.txt
            fi

            echo "\
EMC terminated with an error.  You can find more information in the log:
    $HOME/emc_debug.txt
and
    $HOME/emc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal"
        else
            /usr/bin/wish8.4 $EMC2_TCL_DIR/show_errors.tcl $DEBUG_FILE $PRINT_FILE
        fi
    fi
    rm -f $DEBUG_FILE $PRINT_FILE 2>/dev/null
    exit $result
}

trap ErrorCheck EXIT

################################################################################
# 1.3. INIFILE                           find inifile to use                   #
################################################################################

if [ ! -z "$1" ]; then
    case "$1" in
      -)  USE_LAST_INIFILE=1;;
      /*) INIFILE="$1" ;;
      *)  INIFILE="`pwd`/$1";;
    esac
    shift
fi
EXTRA_ARGS="$@"

# 1.3.1. Determine if we have run-in place or installed system
RUN_IN_PLACE=yes
echo RUN_IN_PLACE=$RUN_IN_PLACE >>$PRINT_FILE

EMC2VERSION="2.4.0~pre"; export EMC2VERSION

# common from here..
INIVAR=inivar
HALCMD="halcmd $DASHK"
PICKCONFIG="/usr/bin/wish8.4 $EMC2_TCL_DIR/bin/pickconfig.tcl"
EMC2_EMCSH=/usr/bin/wish8.4

echo EMC2_DIR=$EMC2_DIR >>$PRINT_FILE
echo EMC2_BIN_DIR=$EMC2_BIN_DIR >>$PRINT_FILE
echo EMC2_TCL_DIR=$EMC2_TCL_DIR >>$PRINT_FILE
echo EMC2_SCRIPT_DIR=$EMC2_SCRIPT_DIR >>$PRINT_FILE
echo EMC2_RTLIB_DIR=$EMC2_RTLIB_DIR >>$PRINT_FILE
echo EMC2_CONFIG_DIR=$EMC2_CONFIG_DIR >>$PRINT_FILE
echo EMC2_LANG_DIR=$EMC2_LANG_DIR >>$PRINT_FILE
echo INIVAR=$INIVAR >>$PRINT_FILE
echo HALCMD=$HALCMD >>$PRINT_FILE
echo EMC2_EMCSH=$EMC2_EMCSH >>$PRINT_FILE

echo "EMC2 - $EMC2VERSION" 

# was an inifile specified on the command line?
if [ ! -z "$USE_LAST_INIFILE" ]; then
    INIFILE=$($INIVAR -ini ~/.emcrc -var LAST_CONFIG -sec PICKCONFIG 2>>$DEBUG_FILE)
    echo "Using previous inifile: $INIFILE" >> $PRINT_FILE
fi

if [ ! -n "$INIFILE" ] ; then
    # nothing specified, get from the user
    INIFILE=$($PICKCONFIG "$EMC2_CONFIG_PATH")
    # it returns either a path, or nothing at all
fi

if [ ! -n "$INIFILE" ] ; then
    # still nothing specified, exit
    exit 0
fi

# delete directories from path, save name only
INI_NAME="${INIFILE##*/}"
INI_DIR="${INIFILE%/*}"

echo "Machine configuration directory is '$INI_DIR'"
echo "Machine configuration file is '$INI_NAME'"

# make sure ini file exists (the tcl script just did this, so we could 
# eliminate this test, but it does no harm)

if [ ! -f "$INIFILE" ] ; then
    echo "Could not find ini file '$INIFILE'"
    trap '' EXIT
    exit -1
fi
echo INIFILE=$INIFILE >>$PRINT_FILE

################################################################################
# 2.  extract info from the ini file that we will need later
################################################################################
retval=

# 2.1. define helper function
function GetFromIniQuiet {
    #$1 var name   $2 - section name
    name=$1
    retval=`$INIVAR -ini "$INIFILE" -var $1 -sec $2 2> /dev/null`
    if [ ! -n "$1" ] ; then
	exit -1
    fi
    echo "$name=$retval" >>$PRINT_FILE
}

function GetFromIni {
    #$1 var name   $2 - section name
    name=$1
    retval=`$INIVAR -ini "$INIFILE" -var $1 -sec $2 2>>$DEBUG_FILE`
    if [ ! -n "$1" ] ; then
	echo "Can't find variable $1 in section [$2] of file $INIFILE."
	exit -1
    fi
    echo "$name=$retval" >>$PRINT_FILE
}
# 2.2. get param file
GetFromIni PARAMETER_FILE RS274NGC 
RS274NGC_PARAMFILE=$retval

# 2.3. get emcmot information
GetFromIni EMCMOT EMCMOT 
EMCMOT=$retval$MODULE_EXT # add module extension

# 2.4. get emcio information
GetFromIni EMCIO EMCIO 
EMCIO=$retval

# 2.5. get emctask information
GetFromIni TASK TASK 
EMCTASK=$retval

# 2.6. we know the emc server name, change if needed
# emcsvr now holds/creates all the NML channels,
# so it needs to start by default, as the first process
EMCSERVER=emcsvr

# 2.7. get halui information
GetFromIniQuiet HALUI HAL
HALUI=$retval

# 2.9. get display information
GetFromIni DISPLAY DISPLAY
EMCDISPLAY=`(set -- $retval ; echo $1 )`
EMCDISPLAYARGS=`(set -- $retval ; shift ; echo $* )`

# 2.10. get NML config information
GetFromIni NML_FILE EMC
NMLFILE=$retval
if [ -z "$NMLFILE" ]; then NMLFILE=/home/dave/emc2-dev/configs/common/emc.nml; fi

################################################################################
# 3. Done gathering information, define a few functions
# Execution resumes after function definitions...
################################################################################

KILL_TASK=
KILL_TIMEOUT=20

################################################################################
# 3.1. Kills a list of tasks with timeout
# if it doesn't work, kill -9 is used
################################################################################
function KillTaskWithTimeout() {
    if [ ! -n "$KILL_PIDS" ] ; then
	KILL_PIDS=`$PIDOF $KILL_TASK`
    fi
    if [ ! -n "$KILL_PIDS" ] ; then
	echo "Could not find pid(s) for task $KILL_TASK"
	return -1
    fi
    for KILL_PID in $KILL_PIDS ; do
	echo "Killing task $KILL_TASK, PID=$KILL_PID" >>$PRINT_FILE
	# first a "gentle" kill with signal TERM
	$KILL $KILL_PID
	WAIT=$KILL_TIMEOUT
	# wait and see if it dissappears
	while [ $WAIT -gt 1 ] ; do
	    # see if it's still alive
	    if $PS $KILL_PID >>$DEBUG_FILE ; then
		WAIT=$(($WAIT-1))
		sleep .1
	    else
		WAIT=0
	    fi
	done
	if [ $WAIT -gt 0 ] ; then
	    # gentle didn't work, get serious
	    echo "Timeout, trying kill -9" >>$PRINT_FILE
	    $KILL -9 $KILL_PID
	    WAIT=$KILL_TIMEOUT
	    # wait and see if it dissappears
	    while [ $WAIT -gt 1 ] ; do
		# see if it's still alive
		if $PS $KILL_PID >>$DEBUG_FILE ; then
		    WAIT=$(($WAIT-1))
		    sleep .1
		else
		    WAIT=0
		fi
	    done
	fi
	if [ $WAIT -gt 0 ] ; then
	    echo "Could not kill task $KILL_TASK, PID=$KILL_PID"
	fi
	KILL_PIDS=
	KILL_TASK=
    done
}


################################################################################
# 3.2. define the cleanup function
#
# this cleanup function doesn't know or care what was actually
# loaded - it simply kills _any_ processes in it's list of emc
# components
################################################################################
function Cleanup() {

    echo "Shutting down and cleaning up EMC2..."
    # Kill displays first - that should cause an orderly
    #   shutdown of the rest of emc2
    for KILL_TASK in xemc yemc emcpanel keystick iosh emcsh emcrsh emctop mdi debuglevel; do
	if $PIDOF $KILL_TASK >>$DEBUG_FILE ; then
	    KillTaskWithTimeout
	fi
    done

    if program_available axis-remote ; then
	if [ ! -z "$DISPLAY" ]; then
	    axis-remote --ping && axis-remote --quit
	fi
    fi

    if [ "$1" = "other" ]; then
        echo -n "Waiting for other session to finish exiting..."
	WAIT=$KILL_TIMEOUT
	while [ $WAIT -gt 1 ]; do
            if ! [ -f $LOCKFILE ]; then
                echo " Ok"
                return 0
            fi
            WAIT=$(($WAIT-1))
            sleep .1
        done
        echo "lockfile still not removed"
    fi

    SHUTDOWN=`$INIVAR -ini "$INIFILE" -var SHUTDOWN -sec HAL 2> /dev/null`
    if [ -n "$SHUTDOWN" ]; then
	echo "Running HAL shutdown script"
	$HALCMD -f $SHUTDOWN
    fi

    # now kill all the other user space components of emc
    for KILL_TASK in emcsvr milltask; do
	if $PIDOF $KILL_TASK >>$DEBUG_FILE ; then
	    KillTaskWithTimeout
	fi
    done

    echo "Stopping realtime threads" >> $DEBUG_FILE
    $HALCMD stop
    echo "Unloading hal components" >> $DEBUG_FILE
    $HALCMD unload all

    for i in `seq 10`; do
        # (the one component is the halcmd itself)
        if [ `$HALCMD list comp | wc -w` = 1 ]; then break; fi
        sleep .2
    done

    echo "Removing HAL_LIB, RTAPI, and Real Time OS modules" >>$PRINT_FILE
    $REALTIME stop

    echo "Removing NML shared memory segments" >> $PRINT_FILE
    while read b x t x x x x x x m x; do
        case $b$t in
            BSHMEM) ipcrm -M $m 2>/dev/null;;
        esac
    done < $NMLFILE


    # remove lock file
    if [ -f $LOCKFILE ] ; then
	rm $LOCKFILE
    fi

    echo "Cleanup done"
}



################################################################################
# 4. done with function definitions, execution resumes here
################################################################################

# Name of lock file to check for that signifies that EMC is up,
# to prevent multiple copies of controller
LOCKFILE=/tmp/emc.lock

# Check for lock file
if [ -f $LOCKFILE ]; then
  if tty -s; then
    echo -n "EMC2 is still running.  Restart it? [Y/n] "
    read input; [ -z $input ] && input=y
  else
    input=$(/usr/bin/wish8.4 <<EOF
wm wi .
puts [tk_messageBox -title EMC2 -message "EMC2 is still running.  Restart it?" -type yesno]
exit
EOF
)
  fi
  case $input in
    y|Y|yes)
      echo Cleaning up old EMC2...
      Cleanup other
    ;;
    *)
      echo Not starting new EMC2
      exit 0
    ;;
  esac
fi
echo Starting EMC2...

# trap ^C so that it's called if user interrupts script
trap 'Cleanup ; exit 0' SIGINT SIGTERM

# go to the dir where the ini file is
# either configs/<specific-config> when run-in-place, or
# /usr/local/share/emc/configs/<specific-config> (wherever it was installed)
cd "$INI_DIR"

# Create the lock file
touch $LOCKFILE

################################################################################
# 4.1. pop up intro graphic
################################################################################
img=`$INIVAR -ini "$INIFILE" -var INTRO_GRAPHIC -sec DISPLAY 2>>$DEBUG_FILE`
imgtime=`$INIVAR -ini "$INIFILE" -var INTRO_TIME -sec DISPLAY 2>>$DEBUG_FILE`
if [ "$imgtime" = "" ] ; then
  imgtime=5
fi
if [ "$img" != "" ] ; then
  if [ -e "$img" ]; then
    true
  elif [ -e "$INI_DIR/$img" ]; then
    img="$INI_DIR/$img"
  elif [ -e "$EMC2_IMAGEDIR/$img" ]; then
    img="$EMC2_IMAGEDIR/$img"
  else
    img=
  fi
fi
if [ "$img" != "" ] ; then
    if [ -x $EMC2_TCL_DIR/bin/popimage ] ; then
        $EMC2_TCL_DIR/bin/popimage $img $imgtime &
    fi
fi
 
################################################################################
# 4.2. Now we can finally start loading EMC
################################################################################

# 4.3.1. Run emcserver in background, always (it owns/creates the NML buffers)
echo "Starting EMC2 server program: $EMCSERVER" >>$PRINT_FILE
if ! program_available $EMCSERVER; then
    echo "Can't execute server program $EMCSERVER"
    Cleanup
    exit 1
fi
export INI_FILE_NAME="$INIFILE"
$EMCSERVER -ini "$INIFILE" &
sleep 1

# 4.3.2. Start REALTIME
echo "Loading Real Time OS, RTAPI, and HAL_LIB modules" >>$PRINT_FILE
if ! $REALTIME start ; then
    echo "Realtime system did not load"
    Cleanup
    exit -1
fi

# 4.3.3. export the location of the HAL realtime modules so that
# "halcmd loadrt" can find them
export HAL_RTMOD_DIR=$EMC2_RTLIB_DIR

# 4.3.4. Run emcio in background
echo "Starting EMC2 IO program: $EMCIO" >>$PRINT_FILE
if ! program_available $EMCIO ; then
    echo "Can't execute IO program $EMCIO"
    Cleanup
    exit 1
fi
$HALCMD loadusr -Wn iocontrol $EMCIO -ini "$INIFILE"

# 4.3.5. Run halui in background, if necessary
if [ -n "$HALUI" ] ; then
    echo "Starting HAL User Interface program: $HALUI" >>$PRINT_FILE
    if ! program_available $HALUI ; then
	echo "Can't execute halui program $HALUI"
	Cleanup
	exit 1
    fi
    $HALCMD loadusr -Wn halui $HALUI -ini "$INIFILE"
fi

# 4.3.6. execute HALCMD config files (if any)
# get first config file name from ini file
NUM=1
CFGFILE=`$INIVAR -ini "$INIFILE" -var HALFILE -sec HAL -num $NUM 2> /dev/null`
while [ -n "$CFGFILE" ] ; do
    case $CFGFILE in
    *.tcl)
        if ! haltcl -ini "$INIFILE" $CFGFILE && [ "$DASHK" = "" ]; then
            Cleanup
            exit -1
        fi
    ;;
    *)
        if ! $HALCMD -i "$INIFILE" -f $CFGFILE && [ "$DASHK" = "" ]; then
            Cleanup
            exit -1
        fi
    esac
    # get next config file name from ini file
    NUM=$(($NUM+1))
    CFGFILE=`$INIVAR -ini "$INIFILE" -var HALFILE -sec HAL -num $NUM 2> /dev/null`
done

# 4.3.7. execute discrete HAL commands from ini file (if any)
# get first command from ini file
NUM=1
HALCOMMAND=`$INIVAR -ini "$INIFILE" -var HALCMD -sec HAL -num $NUM 2> /dev/null`
while [ -n "$HALCOMMAND" ] ; do
    if [ -n "$HALCOMMAND" ] ; then
	echo "Running HAL command: $HALCOMMAND" >>$PRINT_FILE
	if ! $HALCMD $HALCOMMAND && [ "$DASHK" = "" ]; then
	    echo "ini file HAL command $HALCOMMAND failed."
	    Cleanup
	    exit -1
	fi
    fi
    # get next command from ini file
    NUM=$(($NUM+1))
    HALCOMMAND=`$INIVAR -ini "$INIFILE" -var HALCMD -sec HAL -num $NUM 2> /dev/null`
done

# 4.3.8. start the realtime stuff ticking
$HALCMD start

# 4.3.9. Run emctask in background
echo "Starting EMC2 TASK program: $EMCTASK" >>$PRINT_FILE
if ! program_available $EMCTASK ; then
    echo "Can't execute TASK program $EMCTASK"
    Cleanup
    exit 1
fi
$EMCTASK -ini "$INIFILE" &

#export some common directories, used by some of the GUI's
export EMC2_TCL_DIR
export EMC2_EMCSH
export EMC2_HELP_DIR
export EMC2_LANG_DIR
export REALTIME
export HALCMD
export NMLFILE

# 4.3.10. Run display in foreground
echo "Starting EMC2 DISPLAY program: $EMCDISPLAY" >>$PRINT_FILE
result=0
case $EMCDISPLAY in
  tkemc|mini)
    # tkemc and mini are in the tcl directory, not the bin directory
    if [ ! -x $EMC2_TCL_DIR/$EMCDISPLAY.tcl ] ; then
	echo "Can't execute DISPLAY program $EMC2_TCL_DIR/$EMCDISPLAY.tcl $EMCDISPLAYARGS"
	Cleanup
	exit 1
    fi
    $EMC2_TCL_DIR/$EMCDISPLAY.tcl -ini "$INIFILE" $EMCDISPLAYARGS
    result=$?
  ;;
  dummy)
    # dummy display just waits for <ENTER>
    echo "DUMMY DISPLAY MODULE, press <ENTER> to continue."
    read foo;
  ;;
  keystick)
    if ! program_available keystick ; then
	echo "Can't execute DISPLAY program $EMCDISPLAY $EMCDISPLAYARGS $EXTRA_ARGS"
	Cleanup
	exit 1
    fi
    if [ ! -z "$DISPLAY" ]; then
        xterm -xrm 'XTerm*metaSendsEscape:false' -ls -e keystick -ini "$INIFILE"
    else
        keystick -ini "$INIFILE"
    fi
    result=$?
  ;;
  *)
    # all other displays are assumed to be commands on the PATH
    if ! program_available $EMCDISPLAY; then
        echo "Can't execute DISPLAY program $EMCDISPLAY $EMCDISPLAYARGS $EXTRA_ARGS"
        Cleanup
        exit 1
    fi
    $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
    result=$?
  ;;
esac

# the display won't return until you shut it down,
# so when you get here it's time to clean up
Cleanup

exit $result