/home/toby/moos-ivp/MOOS-2375-Oct0611/Essentials/pAntler/Antler.cpp

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#include "Antler.h"

using namespace std;
#include <sstream>
#include <iostream>
#include <sstream>
#include <string>
#include <iterator>
#include <algorithm>




#define DEBUG_LAUNCH 0
CAntler::CAntler()
{

        
        m_JobLock.UnLock();    
    m_bNewJob = false;
    m_sAntlerName = "Monarch";
    m_sDBHost = "localhost";
    m_nDBPort = 9000;
    m_bQuitCurrentJob = false;
        m_eVerbosity=CHATTY;
}

//this is the vanilla version of Run - called to run from a single mission file
bool CAntler::Run(const std::string &  sMissionFile,std::set<std::string> Filter )
{
    m_bHeadless = false;
    m_sMissionFile = sMissionFile;
    m_Filter = Filter;
    return Spawn(m_sMissionFile);
}

//this version will wait for a mission fiel to be sent via a DB
bool CAntler::Run(const std::string & sHost,  int nPort, const std::string & sAntlerName)
{
    //this is more interesting...
    m_sAntlerName = sAntlerName;
    m_sDBHost = sHost;
    m_nDBPort = nPort;
    m_bHeadless = true;
    
    
    if(!ConfigureMOOSComms())
        return true;
        
    
    MOOSTrace("   This is headless Antler called \"%s\"\n   Waiting for mission file from %s:%d\n",m_sAntlerName.c_str(),m_sDBHost.c_str(),m_nDBPort);
    
       
        const char * sSpin = "-\\|/";
    while(1)
    {
        //wait to be signalled that there is work to do...
        int i = 0;
        while(!m_bNewJob)
        {
            MOOSPause(500);
            MOOSTrace("   Speak to me Monarch....%c\r",sSpin[i++%3]);
        }
            
        //no more launching until this community is complete
        m_JobLock.Lock();
        Spawn(m_sReceivedMissionFile,true);
        m_bNewJob = false;
        m_JobLock.UnLock();
        
    }
}



bool CAntler::DoRemoteControl()
{
    
    
            
    while(1)
    {
        MOOSPause(100);
        if(!m_pMOOSComms->IsConnected())
            continue;
        
        //better check mail
        MOOSMSG_LIST NewMail;
        if(m_pMOOSComms->Fetch(NewMail))
        {
            CMOOSMsg Msg;
            if(m_bHeadless)
            {
                
                if(m_pMOOSComms->PeekMail(NewMail,"MISSION_FILE",Msg))
                {
                    MOOSTrace("\n|***** Dynamic Brief *****|\n\n");
                    
                    //make a new file name
                    m_sReceivedMissionFile = MOOSFormat("runtime_%s.moos",MOOSGetTimeStampString().c_str());   
                    
                    MOOSTrace("   %s received [%d bytes]\n",m_sReceivedMissionFile.c_str(),Msg.GetString().size());
                    MOOSTrace("   shutting down all current spawned processes:\n");
                    
                    //tell the current job to quit
                    m_bQuitCurrentJob = true;
                    
                    //wait for that to happen
                    m_JobLock.Lock();        
                    
                    //here we copy the mission file contained in the message to 
                    std::stringstream ss(Msg.GetString());
                    
                    //suck out the Antler filter line
                    std::string sFilter;
                    std::getline(ss, sFilter);
                                        MOOSTrace("%s\n", sFilter.c_str());
                    MOOSChomp(sFilter,"ANTLERFILTER:", true);
                    std::stringstream ssF(sFilter);
                    
                    //fill in the filter set
                    std::copy(istream_iterator<std::string>(ssF), 
                              istream_iterator<string>(),
                              std::inserter(m_Filter,m_Filter.begin()));
                    
                    
                    //write out the whole file
                    std::ofstream Out(m_sReceivedMissionFile.c_str());
                    if(!Out.is_open())
                    {
                        m_JobLock.UnLock();
                        return MOOSFail("failed to open mission file for writing");
                    }
                    
                    //you've gotta lurve C++ ...
                    Out<<ss.rdbuf();
                    
                    Out.close();
                    
                    //we no longer want the current job to quit (it already has)
                    m_bQuitCurrentJob = false;
                    
                    //signal that we have more work to do
                    m_bNewJob =true;
                    
                    //let thread 0 continue
                    m_JobLock.UnLock();
                    
                    
                }
            }
            else
            {
                if(m_pMOOSComms->PeekAndCheckMail(NewMail, "ANTLER_STATUS", Msg))
                {
                    std::string sWhat;
                    MOOSValFromString(sWhat, Msg.GetString(),"Action");
                    std::string sProc;
                    MOOSValFromString(sProc, Msg.GetString(),"Process");
                    std::string sID;
                    MOOSValFromString(sID, Msg.GetString(), "AntlerID");
                    
                    MOOSTrace("   [rmt] Process %-15s has %s (by %s)\n",sProc.c_str(),sWhat.c_str(),sID.c_str());
                }    
            }
            
        }
    }        
}

bool CAntler::SetVerbosity(VERBOSITY_LEVEL eLevel)
{
        m_eVerbosity = eLevel;
        switch(eLevel)
        {
                case CHATTY:
                        break;
                case TERSE:
                        InhibitMOOSTraceInThisThread(true);
                        break;
                case QUIET:
                        InhibitMOOSTraceInThisThread(true);
                        if(m_pMOOSComms!=NULL)
                                m_pMOOSComms->SetQuiet(true);
                        
        }
        return true;
}

bool CAntler::ConfigureMOOSComms()
{
    
        
    
    //start a monitoring thread
    m_RemoteControlThread.Initialise(_RemoteControlCB, this);
    m_RemoteControlThread.Start();
    
    
    m_pMOOSComms = new CMOOSCommClient;
    m_pMOOSComms->SetOnConnectCallBack(_MOOSConnectCB,this);
        m_pMOOSComms->SetOnDisconnectCallBack(_MOOSDisconnectCB,this);
    m_pMOOSComms->SetQuiet(true);
    
    std::string sMe =MOOSFormat("Antler{%s}",m_sAntlerName.c_str());
    
    //try and connect to a DB
    if(!m_pMOOSComms->Run(m_sDBHost.c_str(), (long int)m_nDBPort, sMe.c_str(), 1))
        return MOOSFail("could not set up MOOSComms\n");
    
      
    return true;
}



bool CAntler::SendMissionFile( )
{
    MOOSTrace("\n\n|***** Propagate *****|\n\n");
    CMOOSFileReader FR;
    FR.SetFile(m_sMissionFile);
    std::stringstream ss;

    //copy the filters in
    ss<<"ANTLERFILTER:";
    std::copy (m_Filter.begin(), m_Filter.end(), ostream_iterator <std::string> (ss, " "));
    ss<<std::endl;
    
    while(!FR.eof())
    {
        std::string sL = FR.GetNextValidLine()+"\n";
        ss<<sL;
    }
    m_pMOOSComms->Notify("MISSION_FILE",ss.str());
    
    
    MOOSTrace("   Monarch published thinned mission file [%d bytes]\n\n",ss.str().size());
    return true;
    
}
bool CAntler::OnMOOSConnect()
{
    if(m_bHeadless)
    {
        MOOSTrace("  Connecting to a DB\n");    
        m_pMOOSComms->Register("MISSION_FILE",0);
      
    }
    else
    {
        m_pMOOSComms->Register("ANTLER_STATUS",0);
        SendMissionFile();
    }
    return true;
}
bool CAntler::OnMOOSDisconnect()
{
    if(m_bHeadless)
    {
        
        MOOSTrace("   DB Connection Lost\n");    
        
        if(m_bKillOnDBDisconnect)
        {
            //look likes the monarch is dead.....
            MOOSTrace("   shutting down all current spawned processes:\n");
            
            //tell the current job to quit
            m_bQuitCurrentJob = true;
            
            //wait for that to happen
            m_JobLock.Lock();        
            m_JobLock.UnLock();        
        }
       
    }
    return true;
}

bool CAntler::PublishProcessQuit(const std::string & sProc)
{
        if(!m_bHeadless)
        return false;
    
    if(!m_pMOOSComms->IsConnected())
        return false;

    m_pMOOSComms->Notify("ANTLER_STATUS",MOOSFormat("Action=Quit,Process=%s,AntlerID=%s",sProc.c_str(),m_sAntlerName.c_str()));
    
    
    return true;
}

bool CAntler::PublishProcessLaunch(const std::string & sProc)
{
        if(!m_bHeadless)
        return false;
    
    if(!m_pMOOSComms->IsConnected())
        return false;
    
    m_pMOOSComms->Notify("ANTLER_STATUS",MOOSFormat("Action=Launched,Process=%s,AntlerID=%s",sProc.c_str(),m_sAntlerName.c_str()));
    
    return true;
}


bool CAntler::KillNicely(MOOSProc* pProc)
{
#ifndef _WIN32
                
        if(m_bSupportGentleKill)
        {
                if(pProc->m_bNewConsole)
                {
                        //we need to be crafty....
                        std::string sCmd = "ps -e -o ppid= -o pid=";
                        
                        FILE* In = popen(sCmd.c_str(),"r");
                        
                        if(In!=NULL)
                        {
                                bool bFound = false;
                                char Line[256];
                                while(fgets(Line,sizeof(Line),In))
                                {
                                        std::stringstream L(Line);
                                        int ppid,pid;
                                        L>>ppid;
                                        L>>pid;
                                        
                                        if(pProc->m_ChildPID==ppid)
                                        {
                                                kill(pid,SIGTERM);
                                                bFound = true;
                                        }
                                }       
                                pclose(In);
                                return bFound;
                        }
                        else
                        {
                                return false;
                        }
                }
                else
                {
                        //the proc ID we have is of the actuall MOOSProcess and not its parent
                        //we can just kill it...
                        kill(pProc->m_ChildPID,SIGTERM);
                }
        }
        else
        {
                kill(pProc->m_ChildPID,SIGTERM);
        }
#else
        //MOOSTrace("Warning - gentle killing of win32 processes is not implemented\n");
        pProc->pWin32Proc->vTerminate();   
    return true;

#endif
        return true;
}


bool CAntler::Spawn(const std::string &  sMissionFile, bool bHeadless)
{
    
    MOOSTrace("\n\n|****** Launch ******|\n\n");
    m_nCurrentLaunch = 0;
    
    
    //set up the mission file reader
    if(!m_MissionReader.SetFile(sMissionFile))
        return MOOSFail("error reading mission file\n");
    
    
    m_MissionReader.SetAppName("ANTLER"); //NB no point in running under another name...(I guess Anter1 could launch Antler2 though...)
    
    STRING_LIST      sParams;
    
    if(!m_MissionReader.GetConfiguration(  m_MissionReader.GetAppName(),sParams))
        return MOOSFail("error reading antler config block from mission file\n");
    
    
    //fetch all the lines in teg Antler configuration block
    STRING_LIST::iterator p;
    sParams.reverse();
    
    int nTimeMSBetweenSpawn=DEFAULTTIMEBETWEENSPAWN;
    m_MissionReader.GetConfigurationParam("MSBetweenLaunches",nTimeMSBetweenSpawn);
    
    //here we'll figure out a what paths to use when looking for  executables
    m_sDefaultExecutablePath = "SYSTEMPATH";
    m_MissionReader.GetConfigurationParam("ExecutablePath",m_sDefaultExecutablePath);
    
    if(!MOOSStrCmp("SYSTEMPATH",m_sDefaultExecutablePath))
    {
        //MOOSTrace("\"ExecutablePath\" is %s\n",m_sDefaultExecutablePath.c_str());
        if(*m_sDefaultExecutablePath.rbegin()!='/')
        {
            //look to add extra / if needed
            m_sDefaultExecutablePath+='/';
        }
        
    }
    else
    {
        MOOSTrace("Unless directed otherwise using system path to locate binaries \n");
        m_sDefaultExecutablePath="";
    }
    
        
        //are we being ask to support gentle process killing?
#ifdef _WIN32
        m_bSupportGentleKill= false;
#else
        m_bSupportGentleKill = true;
        m_MissionReader.GetConfigurationParam("GentleKill",m_bSupportGentleKill);
#endif
        
        
        
        //no cycle through each line in the configuration block. If it begins with run then it means launch
    for(p = sParams.begin();p!=sParams.end();p++)
    {
        std::string sLine = *p;
        
        std::string sWhat = MOOSChomp(sLine,"=");
        
        if(MOOSStrCmp(sWhat,"RUN"))
        {
            //OK we are being asked to run a process
            
            //try to create a process
            MOOSProc* pNew  = CreateMOOSProcess(sLine);
            
            if(pNew!=NULL)
            {
                                //this a really important bit of text most folk will want to see it...
                                InhibitMOOSTraceInThisThread(m_eVerbosity==QUIET);
                                {
                                        MOOSTrace("   [%.3d] Process: %-15s ~ %-15s launched successfully\n",
                                                          m_nCurrentLaunch,
                                                          pNew->m_sApp.c_str(),
                                                          pNew->m_sMOOSName.c_str());
                                }
                                InhibitMOOSTraceInThisThread(m_eVerbosity!=CHATTY);
                                
                m_ProcList.push_front(pNew);
                                m_nCurrentLaunch++;
                PublishProcessLaunch(pNew->m_sApp);
            }
            
                //wait a while
            MOOSPause(nTimeMSBetweenSpawn);
            
        }
    }
    
    
    
    if(bHeadless==false)
    {
        bool bMaster=false;
        m_MissionReader.GetConfigurationParam("EnableDistributed",bMaster);
        if(bMaster)
        {
            
            m_MissionReader.GetValue("ServerHost",m_sDBHost);
            m_MissionReader.GetValue("ServerPort",m_nDBPort);
            
            
            if(!ConfigureMOOSComms())
                return MOOSFail("failed to start MOOS comms");
            
        }
    }
    else
    {
        m_bKillOnDBDisconnect = true;
        m_MissionReader.GetConfigurationParam("KillOnDBDisconnect",m_bKillOnDBDisconnect);
    }
    

    
    //now wait on all our processes to close....
    while(m_ProcList.size()!=0)
    {
        MOOSPROC_LIST::iterator q;
        
        for(q = m_ProcList.begin();q!=m_ProcList.end();q++)
        {
            MOOSProc * pMOOSProc = *q;
            
#ifdef _WIN32
            if(m_bQuitCurrentJob)
            {
                                KillNicely(pMOOSProc);
            }
            
            
            pMOOSProc->pWin32Proc->vWaitForTerminate(100);
            if(    pMOOSProc->pWin32Proc->dwGetExitCode()!=STILL_ACTIVE)
            {

                                //this a really important bit of text most folk will want to see it...
                                InhibitMOOSTraceInThisThread(m_eVerbosity==QUIET);
                                {
                                        MOOSTrace("   [%.3d] Process: %-15s has quit\n",
                                                          --m_nCurrentLaunch,
                                                          pMOOSProc->m_sApp.c_str());
                                }
                                InhibitMOOSTraceInThisThread(m_eVerbosity!=CHATTY);

                
                PublishProcessQuit(pMOOSProc->m_sApp);
                delete pMOOSProc->pWin32Attrib;
                delete pMOOSProc->pWin32Proc;
                delete pMOOSProc;
                
                m_ProcList.erase(q);
                break;
            }
#else
            if(m_bQuitCurrentJob)
            {
                MOOSTrace("   actively killing running child %s\n",pMOOSProc->m_sApp.c_str());
                                KillNicely(pMOOSProc);
                //just give it a little time - for pities sake - no need for this pause
                MOOSPause(300);
            }
            
            
            int nStatus = 0;
            if(waitpid(pMOOSProc->m_ChildPID,&nStatus,WNOHANG)>0)
            {
                                
                                InhibitMOOSTraceInThisThread(m_eVerbosity==QUIET);
                                {
                                        MOOSTrace("   [%.3d] Process: %-15s has quit\n",
                                                          --m_nCurrentLaunch,
                                                          pMOOSProc->m_sApp.c_str());
                                }
                                InhibitMOOSTraceInThisThread(m_eVerbosity!=CHATTY);
                                
                
                PublishProcessQuit(pMOOSProc->m_sApp);
                
                m_ProcList.erase(q);
                break;
            }
            MOOSPause(100);
#endif
            
        }
              
    }
    

    
    return 0;
    
}




bool CAntler::MakeExtraExecutableParameters(std::string sParam,STRING_LIST & ExtraCommandLineParameters,std::string sProcName,std::string sMOOSName)
{
    
    ExtraCommandLineParameters.clear();
    
    std::string sExtraParamsName;
    if(!MOOSValFromString(sExtraParamsName, sParam, "ExtraProcessParams", true))
        return true;//nothing to do
    
    std::string sExtraParams;
    
    //OK look for this configuration string
    if(!m_MissionReader.GetConfigurationParam(sExtraParamsName,sExtraParams))
        return MOOSFail("   warning cannot find extra parameters named \"%s\"\n",sExtraParamsName.c_str());
    
    while(!sExtraParams.empty())
        ExtraCommandLineParameters.push_back(MOOSChomp(sExtraParams,","));
    
    return true;
    
}

bool CAntler::MakeConsoleLaunchParams(std::string sParam,STRING_LIST & LaunchList,std::string sProcName,std::string sMOOSName)
{
    //sParam is a string in the Run=ProcName @ sParam ~ MOOSName
    std::string sLaunchConfigurationName;
    std::string sLaunchConfiguration;
#ifdef _WIN32
        bool bNIX = false;
        
#else
        bool bNIX= true; 
#endif
    
    
        std::string sLaunchKey = bNIX?"XConfig":"Win32Config"; 
    if(!MOOSValFromString(sLaunchConfigurationName, sParam, sLaunchKey))
    {
        //some applications are v.important in MOOS if not told otherwise they get special colours
                string sBgColor = bNIX? "#DDDDFF" : "";
                string sFgColor = bNIX? "#000000" : "";
        
        if(MOOSStrCmp(sProcName,"iRemote"))
        {
                        sBgColor = bNIX ? "#CC0000" : "RED";
                        sFgColor = bNIX ? "#FFFFFF" : "";
        }
        if(MOOSStrCmp(sProcName,"MOOSDB"))
        {
                        sBgColor = bNIX? "#003300" : "BLUE";
                        sFgColor = bNIX? "#FFFFFF" : "";
        }
        if(bNIX)
                {
                        sLaunchConfiguration = "-geometry,"+MOOSFormat("80x12+2+%d",(m_nCurrentLaunch++)*50)+
                        ",+sb,"+
                        ",-fg,"+sFgColor+
                        ",-bg,"+sBgColor+
                        ",-T,"+MOOSFormat("%s %s",sProcName.c_str(),sMOOSName.empty()?"":MOOSFormat("as MOOSName \"%s\"",sMOOSName.c_str()).c_str());
                }
                else
                {
                        sLaunchConfiguration = sBgColor;
                }
    }
    else
    {
        
        //OK look for this configuration string
        if(!m_MissionReader.GetConfigurationParam(sLaunchConfigurationName,sLaunchConfiguration))
                        return MOOSFail("   warning: could not find resource string called \"%s\"",sLaunchConfigurationName.c_str()) ;
    }
    
    //OK now simply chomp our way through a space delimited list...
    while(!sLaunchConfiguration.empty())
    {
        MOOSTrimWhiteSpace(sLaunchConfiguration);
        std::string sP = MOOSChomp(sLaunchConfiguration,",");
        MOOSTrimWhiteSpace(sP);
        if(!sP.empty())
                LaunchList.push_back(sP);
    }
    
    return !LaunchList.empty();
    
    
}



CAntler::MOOSProc* CAntler::CreateMOOSProcess(string sConfiguration)
{
    
    
    //what tis its name? (if no @ symbol we just get the name and no cmdline)
    string sProcName = MOOSChomp(sConfiguration,"@");
    
    //further parameters are to left left of @
    string sParam = sConfiguration;
    
    if(sProcName.empty())
    {
        MOOSTrace("no process specified - RUN=???\n");
        return NULL;
    }
    
    //std::string sFullProcName = m_sDefaultExecutablePath+sProcName;
    
    //if things go well this will eventually point to a new Process
    MOOSProc * pNewProc    = NULL;
    
        //look for tilde demarking end of param=val block
    string sOption = MOOSChomp(sParam,"~");
    
    
    
    bool bDistributed=false;
    m_MissionReader.GetConfigurationParam("EnableDistributed",bDistributed);

    if(bDistributed)
    {
               
        
        if(m_bHeadless)
        {
            //we are a drone
            std::string sAntlerRequired;
            if(!MOOSValFromString(sAntlerRequired, sOption, "AntlerID", true))
                return NULL; //this is for primary Antler
            
                        
            if(!MOOSStrCmp(sAntlerRequired, m_sAntlerName))
                return NULL; //for some other Antler
            
            //OK it is for us...
            //MOOSTrace("Headless Antler found a RUN directive...\n");
        }
        else
        {
            //we are a TopMOOS
            std::string sAntlerRequired;
            if(MOOSValFromString(sAntlerRequired, sOption, "AntlerID", true))
                return NULL; //this is for a drone
            
        }
    }
    else
    {
        //we run everything
    }
    
    //do we want a new console?
    bool bNewConsole = false;
        MOOSValFromString(bNewConsole, sOption, "NEWCONSOLE",true);
    
    //do we want to inhibit the passing of MOOS parameters (mission file and MOOSName)
    bool bInhibitMOOSParams = false;
    MOOSValFromString(bInhibitMOOSParams, sOption, "InhibitMOOSParams", true);
    
    //by default process are assumed to be on the system path
    //users can specify an alternative path for all process by setting "ExectutablePath=<Path>" in the mission file
    //configuration block.
        //user has the option of specifying paths individually process by process.
    //alternativelt they can specify that a particular process shouod be located by  system wide and not
    //in the default executable path
    std::string sSpecifiedPath;
    std::string sFullProcName=sProcName;
    if(MOOSValFromString(sSpecifiedPath, sOption, "PATH",true))
    {
        if(MOOSStrCmp(sSpecifiedPath,"SYSTEM"))
        {
                //do nothing - the system should know where to look 
        }
        else
        {
            //ok we are being told to look in a special place
            sFullProcName=sSpecifiedPath+"/"+sProcName;
        }
    }
    else
    {
        //we just use the Anter-wide Exepath
        sFullProcName = m_sDefaultExecutablePath+sProcName;
    }
    
    //name of process as registered...is the first param after "~"
    string sMOOSName = MOOSChomp(sParam);
    
    //here we figure out what MOOS name is implied if none is given (thanks to N.P and F.A)
    if(sMOOSName.empty())
        {
        std::string sTmp = sProcName;
        if(sTmp.rfind('/') != string::npos) 
        {
            sTmp = sTmp.substr(sTmp.rfind('/')+1);
        }
        if(sTmp.empty()) 
        { 
            // ended with a / ?
            MOOSTrace("Error in configuration  -MOOS Name cannot end in \" / \" : %s\n",sProcName.c_str());
            return NULL;
        }
        sMOOSName = sTmp;
        }
    
    
    //here we bail according to our filters 
    if(!m_Filter.empty() && m_Filter.find(sMOOSName)==m_Filter.end())
    {
        return NULL;
    }
        
    //it is pssible to specifiy complicated parameters to the process being launched. (For example
    //xterm being passed a whole load of configurations and then the name of the MOOS process it should
    //itself launch. This next call fills in a string list of such parameters
    STRING_LIST sLaunchParams;
    if(bNewConsole)
        MakeConsoleLaunchParams(sOption, sLaunchParams,sProcName,sMOOSName);
    
    
    //here we figure what extra command line parameters should be given to the MOOS Process
    //being launched.
    STRING_LIST ExtraCommandLineParameters;
    MakeExtraExecutableParameters(sOption,ExtraCommandLineParameters,sProcName,sMOOSName);
    
    
    
    //All good up to here, now make a new process info holder stucture...
    pNewProc = new MOOSProc;
    pNewProc->m_sApp = sFullProcName;
    pNewProc->m_ExtraCommandLineParameters =ExtraCommandLineParameters;
    pNewProc->m_ConsoleLaunchParameters = sLaunchParams;
    pNewProc->m_bInhibitMOOSParams = bInhibitMOOSParams;
        pNewProc->m_sMOOSName = sMOOSName;
    pNewProc->m_bNewConsole = bNewConsole;
    pNewProc->m_sMissionFile = m_MissionReader.GetFileName();
    
    //finally spawn each according to his own
#ifndef _WIN32
    if(DoNixOSLaunch(pNewProc))
#else
        if(DoWin32Launch(pNewProc))
#endif
        {
            return pNewProc;
        }
        else
        {        
            delete pNewProc;
            return NULL;
        }
}


bool CAntler::ShutDown()
{
        
        MOOSPROC_LIST::iterator q;

        MOOSTrace("\n\n|***** Shutdown *****|\n\n");

        for(q = m_ProcList.begin();q!=m_ProcList.end();q++)
        {
                MOOSProc * pMOOSProc = *q;

                if(KillNicely(pMOOSProc))
                {
         
                        int nStatus = 0;
#ifndef _WIN32
                        
                        MOOSTrace("\n   Signalling %-15s ",pMOOSProc->m_sApp.c_str());
                        if(waitpid(pMOOSProc->m_ChildPID,&nStatus,0)>0)
                        {
                                MOOSTrace("[OK]");
                        }               
#endif
                }

         }
        
        MOOSTrace("\n\n   All spawned processes shutdown.\n\n   That was the MOOS \n\n");
         
         
        return true;
}



#ifdef _WIN32
bool CAntler::DoWin32Launch(CAntler::MOOSProc * pNewProc)
{
    
    
    try
    {
        
        // make the command line ProcessBinaryName MissionFile ProcessMOOSName
        string sCmd = pNewProc->m_sApp+" ";
        if(pNewProc->m_bInhibitMOOSParams==false)
            sCmd+=pNewProc->m_sMissionFile+" "+pNewProc->m_sMOOSName+" ";
        
        //continuing this task, here we pass extra parameters to the MOOS process if required
                for(STRING_LIST::iterator p = pNewProc->m_ExtraCommandLineParameters.begin();p!=pNewProc->m_ExtraCommandLineParameters.end();p++)
        {
            sCmd+=*p+" ";
        }
        
        
        //make a new process attributes class
        pNewProc->pWin32Attrib = NULL;
        pNewProc->pWin32Attrib = new XPCProcessAttrib(NULL,(char *)sCmd.c_str());
        
        if(pNewProc->m_bNewConsole)
        {
            pNewProc->pWin32Attrib->vSetCreationFlag(CREATE_NEW_CONSOLE | CREATE_SUSPENDED);        
        }
        else
        {
            pNewProc->pWin32Attrib->vSetCreationFlag(CREATE_SUSPENDED);
        }
        
        
        //we shall use our own start up image as a starting point
        STARTUPINFO StartUp;
        GetStartupInfo (&StartUp);
        
        //set up the title
        StartUp.lpTitle = (char*)pNewProc->m_sApp.c_str();
        
        //set up white text
        StartUp.dwFillAttribute = 
        FOREGROUND_INTENSITY| 
        FOREGROUND_BLUE |
        FOREGROUND_RED |
        FOREGROUND_GREEN|
        BACKGROUND_INTENSITY ;
        
        
                //give users basic control over backgroun as an RGB combination
        for(STRING_LIST::iterator q=pNewProc->m_ConsoleLaunchParameters.begin();q!=pNewProc->m_ConsoleLaunchParameters.end();q++)
        {
            if(MOOSStrCmp(*q, "BACKGROUND_BLUE"))
            {
                StartUp.dwFillAttribute|=BACKGROUND_BLUE;
                StartUp.dwFlags|=STARTF_USEFILLATTRIBUTE;
            }
            if(MOOSStrCmp(*q, "BACKGROUND_GREEN"))
            {
                StartUp.dwFillAttribute|=BACKGROUND_GREEN;
                StartUp.dwFlags|=STARTF_USEFILLATTRIBUTE;
            }
            if(MOOSStrCmp(*q, "BACKGROUND_RED"))
            {
                StartUp.dwFillAttribute|=BACKGROUND_RED;
                StartUp.dwFlags|=STARTF_USEFILLATTRIBUTE;
            }
            
        }
        
        pNewProc->pWin32Attrib->vSetStartupInfo(&StartUp);
        
        //no create an object capable of laucnhing win32 processes
        pNewProc->pWin32Proc = NULL;
        pNewProc->pWin32Proc =new XPCProcess(* pNewProc->pWin32Attrib);
        
        //go!
        pNewProc->pWin32Proc->vResume();
        
    }
    catch (XPCException & e)
    {
        if(pNewProc->pWin32Attrib!=NULL)
        {
            delete pNewProc->pWin32Attrib;
        }
        if(pNewProc->pWin32Proc!=NULL)
        {
            delete pNewProc->pWin32Proc;
        }
        MOOSTrace("*** %s Launch Failed:***\n\a\a",pNewProc->m_sApp.c_str());
        MOOSTrace("%s\n",e.sGetException());
        return false;
    }
    
    return true;
    
}
#else

bool CAntler::DoNixOSLaunch(CAntler::MOOSProc * pNewProc)
{
    
    //make a child process
    if((pNewProc->m_ChildPID = fork())<0)
    {
        //hell!
        MOOSTrace("fork failed, not good\n");
        return false;
    }
    else if(pNewProc->m_ChildPID ==0)
    {
        //I'm the child now..
        
        STRING_LIST::iterator p = pNewProc->m_ConsoleLaunchParameters.begin();
        unsigned int nExecParams = pNewProc->m_ConsoleLaunchParameters.size()+pNewProc->m_ExtraCommandLineParameters.size()+ 6;
        const char ** pExecVParams = new const char* [nExecParams];
        int i = 0;
        
        //do we need to configure an xterm?
        if(pNewProc->m_bNewConsole)
        {
            pExecVParams[i++] = DEFAULT_NIX_TERMINAL; 
            if(!pNewProc->m_ConsoleLaunchParameters.empty())
            {
                while(p!=pNewProc->m_ConsoleLaunchParameters.end())
                {
                    pExecVParams[i++] = (p++->c_str());
                }
            }
            
            pExecVParams[i++] = "-e";
            
        }
        
        //here we fill in the process name we really care about
        pExecVParams[i++] = (pNewProc->m_sApp.c_str()) ;
        if(!pNewProc->m_bInhibitMOOSParams)
        {
            //we do the usual thing of supplying Mission file and MOOSName
            pExecVParams[i++] = pNewProc->m_sMissionFile.c_str(); 
            pExecVParams[i++] = pNewProc->m_sMOOSName.c_str(); 
        }
        
        
        //here we pass extra parameters to the MOOS process if required
        for(p = pNewProc->m_ExtraCommandLineParameters.begin();p!=pNewProc->m_ExtraCommandLineParameters.end();p++)
        {
            pExecVParams[i++] = (p->c_str());
        }
        
        //terminate list
        pExecVParams[i++] = NULL;
#if(DEBUG_LAUNCH)
        for(int j = 0;j<i;j++)
            MOOSTrace("argv[%d]:\"%s\"\n",j,pExecVParams[j]);
#endif
        
        //and finally replace ourselves with a new xterm process image
        char * const * pParamList = const_cast<char * const *> (pExecVParams);
        if(execvp(pExecVParams[0], pParamList)==-1)
        {
            MOOSTrace("Failed exec - not good. Called exec as follows:\n");
            exit(EXIT_FAILURE);
            
        }
        
    }
    
    //Parent execution stream continues here...
        //we need to change the process group of the spawned process so that ctrl-C
        //does get sent to all the launched xterms. Instead we will catch ctrl-C ourself
        //and find the MOOS process running within the sub process, signal it to die
        //so subprocesses can clean up nicely
        if(m_bSupportGentleKill)
                setpgid(pNewProc->m_ChildPID,0);
    
    return true;
}

#endif