#!/usr/bin/perl

# zaza-control
# Startup and shutdown Zaza's applications and servers
#
# 0.24 9/20/2002
# Quick update for mod_perl support
#
# 0.23 7/19/2002
# Updated reaction startup in Test mode
#
# 0.22 6/19/2002
# Added explicit host-based access control.
#
# 0.21 5/9/2002
# Added obstacleServer startup to test mode.
# 
# 0.20 1/25/2002 
# Removed Phase I as an option. Added support for CGI::Request. Modified for top-level 
# control from zazaconsole. Sends CGI requests to zaza1 via LWP::Simple.
# 

use CGI::Request;
use LWP::Simple;
use Apache::Constants ':common';

# Simple interface: (combines SendHeaders, new and import_names)
#my $req = GetRequest($pkg);

# Full Interface:
my $req = new CGI::Request;       # fetch and parse request

# List of IPs we allow to use the control interface
my @allowedips = ('10.1.5.71',
                  '10.1.5.72',
                  '10.1.5.73',
                  '10.1.5.74',
                  '64.81.244.139',
                  '192.168.69.3',
                  '127.0.0.1'
                 );

my $clientip = $req->cgi->var("REMOTE_ADDR");
my $verified = 0;
                
for $i (0 .. $#allowedips) {
  if ($allowedips[$i] eq $clientip) {
    $verified = 1;
  }
}

if (!$verified) {
  print "<pre>Sorry, $clientip is not allowed to use the control interface.</pre>\n";  exit;
}


if ($req->param('op_mode') eq "ShutDown") {
   # Send startup request to Zaza1, wait for reply.
    if (is_error(getprint("http://zaza1.exhibits.thetech.org/cgi-bin/zaza-control-simple?op_mode=ShutDown"))) {
      print "<pre>";
      print "Error, could not reach zaza1!\n";
      print "</pre>";
    }
}


#if ($req->param('op_mode') eq "Phase1") {
#  # print "<pre>";
#  # print "Starting Phase1 demo mode...\n";
#   # Send startup request to Zaza1
#   # Send startup request to Zaza1, wait for reply.
#    if (is_success(getprint("http://zaza1.exhibits.thetech.org/cgi-bin/zaza-control-simple?op_mode=Phase1"))) {
#      # Everything is kosher
#    }
#    else {
#      print "<pre>";
#      print "Error, could not reach zaza1!\n";
#      print "</pre>";
#    }
#  
#  # print "</pre>\n";
#
#} 

if ($req->param('op_mode') eq "Phase2") {
   # Send startup request to Zaza1, wait for reply.
    if (is_error(getprint("http://zaza1.exhibits.thetech.org/cgi-bin/zaza-control-simple?op_mode=Phase2"))) {
      print "<pre>";
      print "Error, could not reach zaza1!\n";
      print "</pre>";
    }
}


if ($req->param('op_mode') eq "Test") {

   if (is_error(getprint("http://zaza1.exhibits.thetech.org/cgi-bin/zaza-control-simple?op_mode=Test"))) {
     print "<pre>";
     print "Error, could not reach zaza1!\n";
     print "</pre>";
   }
   else {   
     print "<pre>";
     print "Starting zazaconsole processes...\n";

     system("/home/brudy/posServer/speakit2.pl Starting localizer! >/dev/null 2>&1 &") == 0
         or print "speakit2.pl execution failed: $?";   

     # plan -nodisplay
     # SET_ROBOT -pos 2235 3885 153 -sim
     # LOCALIZE tech-ex.ini
     # poslibtcx -gmap /home/brudy/bee/data/localize/tech-ex/map-ex.map
     # obstacleServer /home/brudy/bee/data/localize/tech-ex/map-ex.planmap

     system("/home/brudy/posServer/reaction-up.pl 2>&1 &") == 0
         or print "reaction startup failed: $?";

     system("export TCXHOST=zaza1; cd /home/brudy/bee/bin; ./plan -nodisplay >/var/www/html/logs/plan.log 2>&1 &") == 0
         or print "plan startup failed: $?";

     system("export TCXHOST=zaza1; cd /home/brudy/bee/bin; ./SET_ROBOT -pos 2235 3885 153 -sim >/var/www/html/logs/SET_ROBOT.log 2>&1 &") == 0
         or print "SET_ROBOT startup failed: $?";
     sleep 1;
     system("export TCXHOST=zaza1; cd /home/brudy/bee/data/localize/tech-ex; /home/brudy/bee/bin/LOCALIZE tech-ex.ini >/var/www/html/logs/LOCALIZE.log 2>&1 &") == 0
         or print "LOCALIZE startup failed: $?";

     system("export TCXHOST=zaza1; cd /home/brudy/bee/bin; ./poslibtcx -gmap /home/brudy/bee/data/localize/tech-ex/map-ex.map >/var/www/html/logs/poslibtcx.log 2>&1 &") == 0
         or print "poslibtcx startup failed: $?";

     system("export TCXHOST=zaza1; cd /home/brudy/bee/bin; ./obstacleServer /home/brudy/bee/data/localize/tech-ex/map-ex.planmap >/var/www/html/logs/obstacleServer.log 2>&1 &") == 0
         or print "obstacleServer startup failed: $?";

     system("/home/brudy/posServer/speakit2.pl Startup Complete! >/dev/null 2>&1 &") == 0
         or print "speakit2.pl execution failed: $?";   

     print "</pre>\n";
   }
 }


print<<eof;

<a href="http://zaza1.exhibits.thetech.org/cgi-bin/e-stop">
<img src="/~brudy/Button3.png" BORDER=0 align=left valign=center width="140" height="140"></a>
<p>


<form METHOD="GET" ACTION="http://zazaconsole.exhibits.thetech.org/cgi-bin/zaza-control">
<H4>Mode</H4>
<select NAME="op_mode"><option SELECTED>Phase2<option>Test<option>ShutDown</select>
<p>
<input TYPE="submit" Value="Send to Zaza">
</form>
</html>

eof