chromeos/servod.conf

# Copyright 2012 The Chromium OS Authors. All rights reserved.
# Use of this source code is governed by a BSD-style license that can be
# found in the LICENSE file.

description     "Start servod"
author          "chromium-os-dev@chromium.org"

respawn

# If you change the respawn limit, change the log rotation, below.
respawn limit 3 10

# This upstart job takes in 4 args, PORT, BOARD, SERIAL and CONFIG.
#  * Default PORT is 9999.
#  * The config file is determined by the port, and contains settings for
#    BOARD (mandatory) and SERIAL (optional, unless there's more than one
#    servo) and CONFIG (optional) used for passing an extra overlay file
#    to load.
#  * Parameters are taken from the config file.
#  * Parameters on the `start` command will initialize/replace settings in the
#    config file.

env PORT=9999
env BOARD=
env MODEL=
env SERIAL=
env CONFIG=
env CONFIG_FILE_DIR="/var/lib/servod"

import PORT
import BOARD
import MODEL
import SERIAL
import CONFIG

instance $PORT

pre-start script
  mkdir -p /var/lib/servod
  logger -t "${UPSTART_JOB}" \
      "Pre-start PORT=$PORT BOARD=$BOARD MODEL=$MODEL SERIAL=$SERIAL."

  for CMD in iptables ip6tables ; do
    $CMD -A INPUT -p tcp --dport $PORT -j ACCEPT ||
      logger -t "${UPSTART_JOB}" "Failed to configure $CMD."
  done

  CONFIG_FILE=$CONFIG_FILE_DIR/config_$PORT

  . /usr/share/cros/servod_utils.sh

  log_output \
      "Update config. PORT=$PORT BOARD=$BOARD MODEL=$MODEL SERIAL=$SERIAL."

  # We'll want to update the config file with all the args passed in.
  update_config $CONFIG_FILE BOARD $BOARD
  update_config $CONFIG_FILE MODEL $MODEL
  update_config $CONFIG_FILE SERIAL $SERIAL
  update_config $CONFIG_FILE CONFIG $CONFIG

  log_output "Store servo hub location. $CONFIG_FILE $SERIAL"
  cache_servov4_hub $CONFIG_FILE $SERIAL

  log_output "Pre-start complete."
end script

script
  LOG=/var/log/servod_$PORT.log
  SERVO_V4_VIDPID=18d1:501b

  logger -t "${UPSTART_JOB}" "servod.conf start."
  . /usr/share/cros/servod_utils.sh
  logger -t "${UPSTART_JOB}" "Loaded servod_utils.sh."

  logger -t "${UPSTART_JOB}" "Rotating logs."
  # We set OLD to ".4" to correspond to the respawn limit of 3
  # above.  That way, if we die from the respawn limit, we'll have
  # logs from all failed respawns, plus the original log that
  # presumably contains the first failure.
  OLD=.4
  for NEW in .3 .2 .1 ''; do
    if [ -f $LOG$NEW ]; then
      mv -f $LOG$NEW $LOG$OLD
    fi
    OLD=$NEW
  done
  exec >$LOG 2>&1

  log_output "Load config file."
  CONFIG_FILE=$CONFIG_FILE_DIR/config_$PORT
  if [ ! -f $CONFIG_FILE ]; then
    log_output "No configuration file ($CONFIG_FILE); terminating"
    stop
    exit 0
  fi

  # Config file must have the board and serial (in multi-servo environment)
  # declared like so:
  # BOARD=veyron_minnie
  # SERIAL=1234
  . $CONFIG_FILE
  if [ -z "$BOARD" ]; then
    log_output "No board specified; terminating"
    stop
    exit 0
  fi

  MODEL_MSG=""
  MODEL_FLAG=""
  if [ -n "$MODEL" ]; then
    MODEL_FLAG="--model ${MODEL}"
    MODEL_MSG=" model ${MODEL}"
  fi

  SERIAL_FLAG=""
  SERIAL_MSG=""
  if [ -z "$SERIAL" ]; then
    log_output "No serial specified"
  else
    SERIAL_FLAG="--serialname ${SERIAL}"
    SERIAL_MSG="using servo serial $SERIAL"
  fi

  log_output \
    "Launching servod for $BOARD $MODEL_MSG on port $PORT $SERIAL_MSG"
  BOARD_FLAG="--board ${BOARD}"
  PORT_FLAG="--port ${PORT}"

  if [ "$DEBUG" = "1" ]; then
    DEBUG_FLAG="--debug"
  else
    DEBUG_FLAG=""
  fi

  CONFIG_FLAG=""
  if [ ! -z "$CONFIG" ]; then
    CONFIG_FLAG="--config ${CONFIG}"
  fi

  if [ -n "$SERIAL" ]; then
    log_output "Restart servo v4 and hub"
    # Slam this device just in case.
    # If the serial number is non-responsve, no problem, we cached the
    # path on startup.
    slam_servov4_hub "${HUB}"

    # Check for the presence of a servo_v4 with this serialno.
    if lsusb -d "${SERVO_V4_VIDPID}" -v | grep -q "${SERIAL}"; then
      log_output "Check for Servo V4 update"
      servo_updater -b servo_v4 -s "${SERIAL}" --reboot
      log_output "Completed Servo V4 update without reported errors."

      # We need to wait for the servo to finish booting and
      # export its usb endpoints before calling servod.
      sleep 5
    fi
  fi

  exec servod --host 0.0.0.0 $BOARD_FLAG $MODEL_FLAG $SERIAL_FLAG $PORT_FLAG $DEBUG_FLAG $CONFIG_FLAG
end script

post-stop script
  for CMD in iptables ip6tables ; do
    $CMD -D INPUT -p tcp --dport $PORT -j ACCEPT || true
  done
end script