move PID directory and fix package permissions of /var/lib/robotcontrol

Author: Demo User

debian/librobotcontrol.lintian-overrides

@@ -8,3 +8,4 @@ librobotcontrol: maintainer-script-calls-systemctl *
 librobotcontrol: maintainer-script-ignores-errors *
 librobotcontrol: binary-without-manpage *
 librobotcontrol: package-name-doesnt-match-sonames *
+librobotcontrol: non-standard-dir-perm var/lib/robotcontrol/ *

debian/rules

@@ -1,3 +1,9 @@
 #!/usr/bin/make -f
 %:
 	dh $@
+
+override_dh_fixperms:
+	dh_fixperms \
+	--exclude var/lib/robotcontrol \
+	--exclude var/run/robotcontrol
+

library/Makefile

@@ -6,6 +6,7 @@ INCLUDEDIR	:= include
 SONAME		:= librobotcontrol.so.1
 FULLNAME	:= librobotcontrol.so.1.0.0
 TARGET		:= $(LIBDIR)/$(FULLNAME)
+RC_VAR_DIR	:= var/lib/robotcontrol
 
 # file definitions for rules
 SOURCES		:= $(shell find $(SRCDIR) -type f -name *.c)
@@ -79,12 +80,12 @@ native:
 
 install:
 	$(MAKE)
-	@$(INSTALLDIRWRITE) $(DESTDIR)/var/lib/robotcontrol
 	@$(INSTALLDIR) $(DESTDIR)$(prefix)/include
 	@cp -r include/* $(DESTDIR)$(prefix)/include
 	@$(INSTALLDIR) $(DESTDIR)$(prefix)/lib
 	@$(INSTALL) $(TARGET) $(DESTDIR)$(prefix)/lib
 	@ln -sf $(FULLNAME) $(DESTDIR)$(prefix)/lib/$(SONAME)
+	@$(INSTALLDIRWRITE) $(DESTDIR)/$(RC_VAR_DIR)
 	@echo "Library Install Complete"
 
 # cleanup local binaries

library/include/rc/start_stop.h

@@ -1,42 +1,48 @@
 /**
  * <rc/start_stop.h>
  *
- * @brief cleanly start and stop a process, signal handling, program flow
- *
- * It can be tricky to manage the starting and stopping of mutiple threads and
- * loops. Since the robotics cape library has several background threads in
- * addition to any user-created threads, we encourage the use of the
- * consolidated high-level process control method described here. These
- * functions allow easy implementation of good-practice process handling
- * including a global shutdown flag, a signal handler, making & deleting a PID
- * file, stopping previously running copies of a program, and stopping a program
- * when it's in the background.
- *
- * The rc_state_t struct tries to cover the majority of use cases in the context
- * of a robotics application. The user should start their program main()
- * function by setting the state to UNINITIALIZED and enabling the signal
- * handler before doing hardware initialization and starting threads. When the
- * user's own initialization sequence is complete they should set the flow state
- * to PAUSED or RUNNING to indicate to the newly created threads that the
- * program should now behave in normal ongoing operational mode.
- *
- * During normal operation, the user may elect to implement a PAUSED state where
- * the user's threads may keep running to read sensors but do not actuate
- * motors, leaving their robot in a safe state. For example, pressing the pause
- * button could be assigned to change this state back and forth between RUNNING
- * and PAUSED. This is entirely optional.
- *
- * The most important state here is EXITING. The signal handler described here intercepts the SIGINT signal when the user presses
- * Ctrl-C and sets the state to EXITING. It is then up to the user's
- * threads to watch for this condition and exit cleanly. The user
- * may also set the state to EXITING at any time to trigger the closing of
- * their own threads and Robotics Cape library's own background threads.
- *
- * The flow state variable is kept in the robotics cape library's memory
- * space and should be read and modified by the rc_get_state() and
- * rc_set_state() functions above. The user may optionally use the
- * rc_print_state() function to print a human readable version of the state enum
- * to the screen.
+ * @brief      cleanly start and stop a process, signal handling, program flow
+ *
+ *             It can be tricky to manage the starting and stopping of mutiple
+ *             threads and loops. Since the robot control library has several
+ *             background threads in addition to any user-created threads, we
+ *             encourage the use of the consolidated high-level process control
+ *             method described here. These functions allow easy implementation
+ *             of good-practice process handling including a global shutdown
+ *             flag, a signal handler, making & deleting a PID file, stopping
+ *             previously running copies of a program, and stopping a program
+ *             when it's in the background.
+ *
+ *             The rc_state_t struct tries to cover the majority of use cases in
+ *             the context of a robotics application. The user should start
+ *             their program main() function by setting the state to
+ *             UNINITIALIZED and enabling the signal handler before doing
+ *             hardware initialization and starting threads. When the user's own
+ *             initialization sequence is complete they should set the flow
+ *             state to PAUSED or RUNNING to indicate to the newly created
+ *             threads that the program should now behave in normal ongoing
+ *             operational mode.
+ *
+ *             During normal operation, the user may elect to implement a PAUSED
+ *             state where the user's threads may keep running to read sensors
+ *             but do not actuate motors, leaving their robot in a safe state.
+ *             For example, pressing the pause button could be assigned to
+ *             change this state back and forth between RUNNING and PAUSED. This
+ *             is entirely optional.
+ *
+ *             The most important state here is EXITING. The signal handler
+ *             described here intercepts the SIGINT signal when the user presses
+ *             Ctrl-C and sets the state to EXITING. It is then up to the user's
+ *             threads to watch for this condition and exit cleanly. The user
+ *             may also set the state to EXITING at any time to trigger the
+ *             closing of their own threads and robot control library's own
+ *             background threads.
+ *
+ *             The flow state variable is kept in the robot control library's
+ *             memory space and should be read and modified by the
+ *             rc_get_state() and rc_set_state() functions above. The user may
+ *             optionally use the rc_print_state() function to print a human
+ *             readable version of the state enum to the screen.
  *
  *
  * @addtogroup start_stop
@@ -50,8 +56,8 @@
 extern "C" {
 #endif
 
-#define RC_PID_DIR	"/var/run/roboticscape"
-#define RC_PID_FILE	"/var/run/roboticscape/roboticscape.pid"
+#define RC_PID_DIR	"/run/shm/"
+#define RC_PID_FILE	"/run/shm/robotcontrol.pid"
 
 /**
  * @brief      process state variable, read and modify by rc_get_state,
@@ -91,7 +97,7 @@ void rc_set_state(rc_state_t new_state);
 int rc_print_state();
 
 /**
- * @brief      Makes a PID file RC_PID_FILE (/var/run/robotics_cape.pid)
+ * @brief      Makes a PID file RC_PID_FILE (/run/shm/robotcontrol.pid)
  *             containing the current PID of your process
  *
  * @return     Returns 0 if successful. If that file already exists then it is

library/src/start_stop.c

@@ -65,7 +65,6 @@ int rc_make_pid_file()
 {
 	FILE *fd;
 	DIR* dir;
-	int ret;
 	pid_t current_pid;
 
 	// start by checking if a pid file exists
@@ -79,30 +78,9 @@ int rc_make_pid_file()
 	errno=0;
 	dir = opendir(RC_PID_DIR);
 	if(dir) closedir(dir); // exists, yay!
-	else if(errno==ENOENT){
-		// make missing directory
-		// try giving 777 permissions but umask will overwrite it
-		ret = mkdir(RC_PID_DIR, S_IRWXU | S_IRWXG | S_IRWXO);
-		if(ret==-1 && errno==EACCES){
-			fprintf(stderr,"ERROR in rc_make_pid_file, need to be root to create %s\n",RC_PID_DIR);
-			fprintf(stderr,"This should have been done by the roboticscape systemd service\n");
-			fprintf(stderr,"Make sure the service is running by executing:\n");
-			fprintf(stderr,"sudo systemctl enable roboticscape && sudo systemctl restart roboticscape\n");
-			return -1;
-		}
-		if(ret==-1){
-			perror("ERROR in rc_make_pid_file trying to make directory /var/run/roboticscape");
-			return -1;
-		}
-		// now give proper permissions
-		if(chmod(RC_PID_DIR, S_IRWXU | S_IRWXG | S_IRWXO)==-1){
-			perror("ERROR in rc_make_pid_file setting permissions for /var/run/roboticscape");
-			return -1;
-		}
-	}
 	else{
 		//opendir() failed for some other reason.
-		perror("ERROR in rc_make_pid_file trying to open /var/run/roboticscape");
+		perror("ERROR in rc_make_pid_file trying to open /run/shm/");
 		return -1;
 	}