[Personalrobots-commit] SF.net SVN: personalrobots:[12599] pkg/trunk

[<rob...@us...>]

Revision: 12599
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12599&view=rev
Author:   rob_wheeler
Date:     2009-03-17 22:16:00 +0000 (Tue, 17 Mar 2009)

Log Message:
-----------
You must be root to run.

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/src/motorconf.cpp
    pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/motorconf.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/motorconf.cpp	2009-03-17 21:47:33 UTC (rev 12598)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/motorconf.cpp	2009-03-17 22:16:00 UTC (rev 12599)
@@ -64,7 +64,7 @@
   // Initialize network interface
   if ((ni = init_ec(interface)) == NULL)
   {
-    fprintf(stderr, "Unable to initialize interface: %s", interface);
+    fprintf(stderr, "Unable to initialize interface: %s\n", interface);
     exit(-1);
   }
 
@@ -73,14 +73,14 @@
   EtherCAT_AL *al;
   if ((al = EtherCAT_AL::instance()) == NULL)
   {
-    fprintf(stderr, "Unable to initialize Application Layer (AL): %p", al);
+    fprintf(stderr, "Unable to initialize Application Layer (AL): %p\n", al);
     exit(-1);
   }
 
   uint32_t num_slaves = al->get_num_slaves();
   if (num_slaves == 0)
   {
-    fprintf(stderr, "Unable to locate any slaves");
+    fprintf(stderr, "Unable to locate any slaves\n");
     exit(-1);
   }
 
@@ -238,10 +238,16 @@
 
 int main(int argc, char *argv[])
 {
+  // Must run as root
+  if (geteuid() != 0)
+  {
+    fprintf(stderr, "You must run as root!\n");
+    exit(-1);
+  }
+
   // Keep the kernel from swapping us out
   mlockall(MCL_CURRENT | MCL_FUTURE);
 
-  //
   // Parse options
   g_options.program_name_ = argv[0];
   g_options.device_ = -1;
@@ -297,7 +303,6 @@
   string filename = "actuators.conf";
   if (g_options.actuators_ != "")
     filename = g_options.actuators_;
-  printf("Filename: %s\nWith:%s\n",filename.c_str(), g_options.actuators_.c_str());
   TiXmlDocument xml(filename);
 
   if (xml.LoadFile())

Modified: pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2009-03-17 21:47:33 UTC (rev 12598)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2009-03-17 22:16:00 UTC (rev 12599)
@@ -440,6 +440,13 @@
 static pthread_attr_t controlThreadAttr;
 int main(int argc, char *argv[])
 {
+  // Must run as root
+  if (geteuid() != 0)
+  {
+    fprintf(stderr, "You must run as root!\n");
+    exit(-1);
+  }
+
   // Keep the kernel from swapping us out
   mlockall(MCL_CURRENT | MCL_FUTURE);
 


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