/********************** Function implementations *************************/
void menu_task(void *pvParameters)
{
menu_t *menu;
INT8U i;
//setup menus
init_menus();
menu = menu_handler(SYSTEM_START_MENU);
red_led( FALSE );
yellow_led( FALSE );
green_led( FALSE );
//setup initial system parameters
parameter(PUSH,PAN_SETPOINT_P,0);
parameter(PUSH,TILT_SETPOINT_P,0);
parameter(PUSH,PAN_PWM_P,0);
parameter(PUSH,TILT_PWM_P,0);
parameter(PUSH,NEXT_POS_P,0);
parameter(PUSH,SAVE_POS_P,0);
//
position(NEW,0);
parameter(PUSH,PAN_CURRENT_P,-150);
parameter(PUSH,TILT_CURRENT_P,860);
position(SAVE,1);
parameter(PUSH,PAN_CURRENT_P,150);
parameter(PUSH,TILT_CURRENT_P,-2600);
position(SAVE,2);
exit_freemode();
deactivate_regulator();
deactivate_automode();
while(TRUE)
{
//handle inputs
menu = parse_dreh_event(menu);
if(menu->type.is_input)
{
for(i = 0 ; i < NUMBER_OF_FIELDS ; i++)
{
if(menu->field[i].dreh_input)
parameter(ADD, menu->field[i].parameter, DREH_TO_DEG(counter(RESET,DREH_C)) );
if(menu->field[i].adc_input)
parameter(PUSH, menu->field[i].parameter, ADC_TO_DEG(get_adc()) );
if(menu->field[i].numpad_input)
if(event(PEEK,NUMPAD_E))
parameter(PUSH, menu->field[i].parameter, CHAR_TO_NUMBER(event(POP,NUMPAD_E) ));
}
}
//update display buffer
display_buffer_write_string(0,0,menu->text.topline);
display_buffer_write_string(0,1,menu->text.bottomline);
for(i=0 ; i < NUMBER_OF_FIELDS ; i++)
{
if(menu->field[i].show)
display_buffer_write_decimal(
menu->field[i].begin.x,
menu->field[i].begin.y,
menu->field[i].size,
NUMBER_OF_DECIMALS,
parameter(POP,menu->field[i].parameter));
}
//handle task states
if(state(POP,AUTO_WAIT_S))
{
//check if wait time has lapsed
if(counter(POP,TIME_C) > TIME_TO_WAIT_ON_HIT)
{
//change to next position and resume regulation
if(parameter(ADD,NEXT_POS_P,1) > NUMBER_OF_POSITIONS)
parameter(PUSH,NEXT_POS_P,1);
position(GOTO,parameter(POP,NEXT_POS_P));
state(PUSH,AUTO_WAIT_S,FALSE);
red_led( FALSE );
activate_automode();
activate_regulator();
}
else
red_led( TRUE );
}
YIELD(YIELD_TIME_MENU_T)
}
}
int add_ipv4_to_acl(char *ipv4) {
int state = 0;
int octet = 0;
int index = 0; /* position in data array */
int data[5]; /* array to store ip octets and mask */
int len = strlen(ipv4);
int i, c;
unsigned long ip, mask;
struct ip_acl *ip_acl_curr;
/* Check for min and max IPv4 valid length */
if (len < 7 || len > 18)
return 0;
/* default mask for ipv4 */
data[4] = 32;
/* Basic IPv4 format check */
for (i = 0; i < len; i++) {
/* Return 0 on error state */
if (state == -1)
return 0;
c = ipv4[i];
switch (c) {
case '0': case '1': case '2': case '3': case '4':
case '5': case '6': case '7': case '8': case '9':
octet = octet * 10 + CHAR_TO_NUMBER(c);
switch (state) {
case 0: case 2: case 4: case 6: case 8:
state++;
break;
}
break;
case '.':
switch (state) {
case 1: case 3: case 5:
data[index++] = octet;
octet = 0;
state++;
break;
default:
state = -1;
}
break;
case '/':
switch (state) {
case 7:
data[index++] = octet;
octet = 0;
state++;
break;
default:
state = -1;
}
break;
default:
state = -1;
}
}
/* Exit state handling */
switch (state) {
case 7: case 9:
data[index] = octet;
break;
default:
/* Bad states */
return 0;
}
/*
* Final IPv4 format check.
*/
for (i=0; i < 4; i++) {
if (data[i] < 0 || data[i] > 255) {
syslog(LOG_ERR,"Invalid IPv4 address/network format(%s) in allowed_hosts option\n",ipv4);
return 0;
}
}
if (data[4] < 0 || data[4] > 32) {
syslog(LOG_ERR,"Invalid IPv4 network mask format(%s) in allowed_hosts option\n",ipv4);
return 0;
}
/* Conver ip and mask to unsigned long */
ip = htonl((data[0] << 24) + (data[1] << 16) + (data[2] << 8) + data[3]);
mask = htonl(-1 << (32 - data[4]));
/* Wrong network address */
if ( (ip & mask) != ip) {
syslog(LOG_ERR,"IP address and mask do not match in %s\n",ipv4);
return 0;
}
/* Add addr to ip_acl list */
if ( (ip_acl_curr = malloc(sizeof(*ip_acl_curr))) == NULL) {
syslog(LOG_ERR,"Can't allocate memory for ACL, malloc error\n");
return 0;
}
/* Save result in ACL ip list */
ip_acl_curr->family = AF_INET;
ip_acl_curr->addr.s_addr = ip;
ip_acl_curr->mask.s_addr = mask;
ip_acl_curr->next = NULL;
if (ip_acl_head == NULL) {
ip_acl_head = ip_acl_curr;
} else {
ip_acl_prev->next = ip_acl_curr;
}
ip_acl_prev = ip_acl_curr;
return 1;
}
