Revision: 6964
http://playerstage.svn.sourceforge.net/playerstage/?rev=6964&view=rev
Author: natepak
Date: 2008-08-20 21:28:24 +0000 (Wed, 20 Aug 2008)
Log Message:
-----------
Added patch 2003324 from John Hsu
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Server.cc
Modified: code/gazebo/trunk/libgazebo/Server.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Server.cc 2008-08-20 21:22:19 UTC (rev
6963)
+++ code/gazebo/trunk/libgazebo/Server.cc 2008-08-20 21:28:24 UTC (rev
6964)
@@ -38,6 +38,7 @@
#include <sys/sem.h>
#include <sstream>
#include <iostream>
+#include <signal.h>
#include "gazebo.h"
@@ -92,6 +93,42 @@
std::cout << "creating " << this->filename << "\n";
+ // check to see if there is already a directory created.
+ struct stat astat;
+ if (stat(this->filename.c_str(), &astat) == 0) {
+ // directory already exists, check gazebo.pid to see if
+ // another gazebo is already running.
+
+ std::string pidfn = this->filename + "/gazebo.pid";
+
+ FILE *fp = fopen(pidfn.c_str(), "r");
+ if(fp) {
+ int pid;
+ fscanf(fp, "%d", &pid);
+ fclose(fp);
+ std::cout << "found a pid file: pid=" << pid << "\n";
+
+ if(kill(pid, 0) == 0) {
+ // a gazebo process is still alive.
+ errStream << "directory [" << this->filename
+ << "] already exists (previous crash?)\n"
+ << "gazebo (pid=" << pid << ") is still running.";
+ throw(errStream.str());
+ } else {
+ // the gazebo process is not alive.
+ // remove directory.
+ std::cout << "The gazebo process is not alive.\n";
+
+ // remove the existing directory.
+ std::string cmd = "rm -rf '" + this->filename + "'";
+ if(system(cmd.c_str()) != 0) {
+ errStream << "couldn't remove directory [" << this->filename << "]";
+ throw(errStream.str());
+ }
+ }
+ }
+ }
+
// Create the directory
if (mkdir(this->filename.c_str(), S_IRUSR | S_IWUSR | S_IXUSR) != 0)
{
@@ -108,7 +145,17 @@
<< strerror(errno) << "]";
throw(errStream.str());
}
+
}
+
+ // write the PID to a file
+ std::string pidfn = this->filename + "/gazebo.pid";
+
+ FILE *fp = fopen(pidfn.c_str(), "w");
+ if(fp) {
+ fprintf(fp, "%d\n", getpid());
+ fclose(fp);
+ }
}
@@ -120,6 +167,15 @@
std::cout << "deleting " << this->filename << "\n";
+ // unlink the pid file
+ std::string pidfn = this->filename + "/gazebo.pid";
+ if (unlink(pidfn.c_str()) < 0)
+ {
+ std::ostringstream stream;
+ stream << "error deleting pid file: " << strerror(errno);
+ throw(stream.str());
+ }
+
// Delete the server dir
if (rmdir(this->filename.c_str()) != 0)
{
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