sockAddrBase::sockAddrBase(bool allowPort, const sockaddr *addr, socklen_t addrlen) : m_allowPort(allowPort)
{
if (!addr || (addrlen < sizeof(sockaddr_in) && addrlen < sizeof(sockaddr_in6)))
{
init(Addr::Invalid);
return;
}
int family = ((sockaddr_in *)addr)->sin_family;
if (family == AF_INET)
init(Addr::IPv4);
else if (family == AF_INET6)
init(Addr::IPv6);
else
{
init(Addr::Invalid);
return;
}
if (addrlen < GetSize())
return;
memcpy(&m_addr, addr, GetSize());
if (!m_allowPort)
clearPort();
}
void AuthScope::setPort(unsigned short port)
{
if (0 == port)
{
clearPort();
}
else
{
_port = port;
_hasPort = true;
}
}
sockAddrBase::sockAddrBase(bool allowPort, const sockaddr_in *addr) : m_allowPort(allowPort)
{
sockaddr_in *storage = getIPv4Storage();
if (!addr || addr->sin_family != AF_INET)
{
init(Addr::IPv4);
return;
}
memcpy(storage, addr, sizeof(sockaddr_in));
if (!m_allowPort)
clearPort();
}
void sockAddrBase::copy(const sockAddrBase &src)
{
if (!src.IsValid())
{
init(Addr::Invalid);
return;
}
// Note that GetSize will work, because
// we already made sure src was valid.
memcpy(&m_addr, &src.m_addr, src.GetSize());
if (!m_allowPort)
clearPort();
}
void txPacket1(int port_num)
{
int idx;
uint8_t checksum = 0;
uint8_t total_packet_length = packetData[port_num].tx_packet[PKT_LENGTH] + 4; // 4: HEADER0 HEADER1 ID LENGTH
uint8_t written_packet_length = 0;
if (g_is_using[port_num])
{
packetData[port_num].communication_result = COMM_PORT_BUSY;
return ;
}
g_is_using[port_num] = True;
// check max packet length
if (total_packet_length > TXPACKET_MAX_LEN)
{
g_is_using[port_num] = False;
packetData[port_num].communication_result = COMM_TX_ERROR;
return;
}
// make packet header
packetData[port_num].tx_packet[PKT_HEADER0] = 0xFF;
packetData[port_num].tx_packet[PKT_HEADER1] = 0xFF;
// add a checksum to the packet
for (idx = 2; idx < total_packet_length - 1; idx++) // except header, checksum
{
checksum += packetData[port_num].tx_packet[idx];
}
packetData[port_num].tx_packet[total_packet_length - 1] = ~checksum;
// tx packet
clearPort(port_num);
written_packet_length = writePort(port_num, packetData[port_num].tx_packet, total_packet_length);
if (total_packet_length != written_packet_length)
{
g_is_using[port_num] = False;
packetData[port_num].communication_result = COMM_TX_FAIL;
return;
}
packetData[port_num].communication_result = COMM_SUCCESS;
}
/* a little test program */
int main(int argc, char *argv[])
{
int joy_file, received, serial_file;
int done = 0;
char joy_address[32] = "/dev/input/\0";
int axis_values[8] = {0};
int button_values[11] = {0};
struct js_event jse;
if(argc > 2)
{
printf("Too many arguments, exiting.");
return 0;
}
if(argc == 2)
{
strcat(joy_address, argv[1]);
joy_file = open_joystick(joy_address);
}
else if(argc == 1)
{
joy_file = open_joystick("/dev/input/js0");
}
if (joy_file < 0)
{
printf("Joystick open failed.\n");
exit(1);
}
serial_file = serialport_init(ARDUINO_COMM_LOCATION, ROBOT_BAUDRATE);
if(serial_file < 0)
{
printf("Can't open serial port.");
exit(2);
}
clearPort(serial_file);
while (!done) {
received = read_joystick_event(&jse);
usleep(1000);
if (received == 1) {
switch(jse.type)
{
case TYPE_NOT_BUTTON:
if(axis_values[jse.number] != jse.value)
axis_values[jse.number] = jse.value;
break;
case TYPE_BUTTON:
if(button_values[jse.number] != jse.value)
{
button_values[jse.number] = jse.value;
send_button_update(&jse, serial_file);
}
break;
}
}
}
}
