// ------------------------------------------------------------------------------------------------
// Terminator
static void terminate(const int signal_) {
// ------------------------------------------------------------------------------------------------
printf("PICC: Terminating with signal %d\n", signal_);
close_serial(&serial_parms_usb);
close_serial(&serial_parms_ax25);
delete_args(&arguments);
exit(1);
}
int main(int argc,char *argv[])
{
int i;
for(i=1;i<argc;i++)
{
if (!strcmp(argv[i], "-f"))
{
strcpy(input_file, argv[i+1]);
printf("Input file: %s\n", input_file);
i++;
}
else if (!strcmp(argv[i], "-o"))
{
strcpy(output_device, argv[i+1]);
printf("Output device: %s\n", output_device);
i++;
}
else if (!strcmp(argv[i], "-p"))
{
pause_between_block = atoi(argv[i+1]);
printf("Pause between blocks: %u\n", pause_between_block);
i++;
}
else if (!strcmp(argv[i], "-b"))
{
baud_rate = atoi(argv[i+1]);
printf("Baud rate: %u\n", baud_rate);
i++;
}
else if (!strcmp(argv[i], "-v"))
{
verbose = 1;
printf("Verbose mode on\n");
}
else
{
printf("-f: Absolute path file input\n-o: Serial output device\n-p: Pause between sysex blocks(100ms)\n-b: Baud rate(115200)\n-v: Verbose mode\n");
exit(EXIT_FAILURE);
}
}
file_descriptor = open_serial(output_device, baud_rate);
if (file_descriptor > -1)
{
upload_file(input_file, output_device, pause_between_block);
if (close_serial(file_descriptor) > -1)
exit(EXIT_SUCCESS);
else
{
printf("Error while closing the serial line...\n");
exit(EXIT_FAILURE);
}
}
else
{
printf("Aborting...\n");
exit(EXIT_FAILURE);
}
}
int main(int argc, char argv[])
{
//Serial Configs
initialize_defaults();
open_serial();
//Write some message
/*sleep(1);*/
/*set_servo(2000);*/
/*sleep(1);*/
/*set_servo(1000);*/
/*sleep(1);*/
/*set_servo(1500);*/
/*sleep(1);*/
/*release_channel();*/
/*sleep(1);*/
//Reading messages
/*while (!current_messages.sysid){*/
/*read_messages(¤t_messages);*/
/*}*/
Mavlink_Messages current_messages;
Mavlink_Messages output;
int i ;
for(i = 0; i < 1000; i++)
{
read_messages(&output, &output);
}
mavlink_servo_output_raw_t servo = output.servo_output_raw;
printf("Printing Servo output raw\n");
printf("Printing Servo 1: %u \n", (unsigned int)servo.servo1_raw);
printf("Printing Servo 2: %u \n", (unsigned int)servo.servo2_raw);
printf("Printing Servo 3: %u \n", (unsigned int)servo.servo3_raw);
printf("Printing Servo 4: %u \n", (unsigned int)servo.servo4_raw);
printf("Printing Servo 5: %u \n", (unsigned int)servo.servo5_raw);
printf("Printing Servo 6: %u \n", (unsigned int)servo.servo6_raw);
printf("Printing Servo 7: %u \n", (unsigned int)servo.servo7_raw);
printf("Printing Servo 8: %u \n", (unsigned int)servo.servo8_raw);
mavlink_global_position_int_t global_position_int = output.global_position_int;
printf("LAT: %u \n", (unsigned int)global_position_int.lat);
/*mavlink_global_position_int_t gposint = messages.global_position_int;*/
/*printf("Lat: %u \n", (unsigned int)gposint.lat);*/
/*printf("Lat: %u \n", (unsigned int)gposint.lon);*/
/*mavlink_local_position_ned_t locpos = messages.local_position_ned;*/
/*printf("x: %u \n", (unsigned int)locpos.x);*/
/*printf("y: %u \n", (unsigned int)locpos.y);*/
/*printf("z: %u \n", (unsigned int)locpos.z);*/
//Serial Port stuff
close_serial();
sleep(1);
return 0;
}
/**
* Set up termination handlers when receiving signals.
*
* @param signum The number of the signal received by the daemon.
*
*/
static void termination_handler(int signum)
{
switch (signum) {
case SIGTERM:
close_serial();
exit(EXIT_SUCCESS);
default:
break;
}
}
int main(int argc, char argv[])
{
//Serial Configs
initialize_defaults();
open_serial();
message_interval(100000, 33);
//Serial Port stuff
close_serial();
sleep(1);
return 0;
}
/**
* This function properly closes all subsystems and communication
* channels before terminating the BaseStation program.
*/
void
quit_basestation ()
{
print_log ("Exiting...", Log_Level_High);
close_ctrl ();
if (m_comm_mode == Comm_Mode_Offline)
{
close_serial ();
}
exit (0);
}
int main (int argc, char const * argv [])
{
static char const * optv [] =
{
"cl:qv",
"",
"Atheros UART Device Detector",
"c\tassume device is in command mode",
"l f\tserial port is (f) [" SERIAL_PORT "]",
"q\tquiet mode",
"v\tverbose mode",
(char const *) (0)
};
signed c;
char const *line = SERIAL_PORT;
struct serial serial;
struct serial_mode serial_mode;
flag_t flags = 0;
optind = 1;
while ((c = getoptv (argc, argv, optv)) != -1)
{
switch ((char) (c))
{
case 'c':
_setbits (flags, INT6KDETECT_CMD_MODE);
break;
case 'l':
line = optarg;
break;
case 'q':
_setbits (flags, INT6KDETECT_QUIET);
break;
default:
break;
}
}
argc -= optind;
argv += optind;
if (open_serial (line, &serial) == -1) error (1, errno, "could not open %s", line);
if (detect (&serial, &serial_mode, flags) == -1) error (1, 0, "could not detect device");
printf ("Detected the following serial mode:\n");
dump_serial_mode (&serial_mode);
close_serial (&serial);
return (0);
}
int main(int argc, char* argv[])
{
initialize_defaults();
open_serial();
uart_name = "/dev/ttyAMA0";
baudrate = 57600;
uint16_t u = 0xFFFF;
sleep(1);
mavlink_rc_channels_override_t rco;
rco.chan1_raw = 1500;
rco.chan2_raw = 1500;
rco.chan3_raw = 1500;
rco.chan4_raw = 2000;
rco.chan5_raw = 1500;
rco.chan6_raw = 1500;
rco.chan7_raw = 1500;
rco.chan8_raw = 1500;
rco.target_system =0;
rco.target_component = 0;
mavlink_message_t message;
/*int i;*/
/*for(i = 0; i<1; i++){*/
mavlink_msg_rc_channels_override_encode(0xff,0,&message, &rco);
int len = write_message(message);
/*}*/
sleep(1);
mavlink_msg_rc_channels_override_pack(0xff,0, &message,0,0,u,u,u,1000,u,u,u,u );
len = write_message(message);
sleep(1);
mavlink_msg_rc_channels_override_pack(0xff,0, &message,0,0,u,u,u,1500,u,u,u,u );
len = write_message(message);
sleep(1);
mavlink_msg_rc_channels_override_pack(0xff,0, &message,0,0,0,0,0,0,0,0,0,0 );
len = write_message(message);
sleep(1);
close_serial();
sleep(1);
pthread_mutex_destroy(&lock);
return 0;
}
// ------------------------------------------------------------------------------------------------
int main (int argc, char **argv)
// ------------------------------------------------------------------------------------------------
{
int i, nbytes;
// unsolicited termination handling
struct sigaction sa;
// Catch all signals possible on process exit!
for (i = 1; i < 64; i++)
{
// skip SIGUSR2 for Wiring Pi
if (i == 17)
continue;
// These are uncatchable or harmless or we want a core dump (SEGV)
if (i != SIGKILL
&& i != SIGSEGV
&& i != SIGSTOP
&& i != SIGVTALRM
&& i != SIGWINCH
&& i != SIGPROF)
{
memset(&sa, 0, sizeof(sa));
sa.sa_handler = terminate;
sigaction(i, &sa, NULL);
}
}
// Set argument defaults
init_args(&arguments);
// Parse arguments
argp_parse (&argp, argc, argv, 0, 0, &arguments);
if (arguments.print_long_help)
{
print_long_help();
return 0;
}
if (!arguments.usbacm_device)
{
arguments.usbacm_device = strdup("/dev/ttyACM2");
}
if (!arguments.serial_device)
{
arguments.serial_device = strdup("/var/ax25/axp2");
}
if (!arguments.bulk_filename)
{
arguments.bulk_filename = strdup("-");
}
set_serial_parameters(&serial_parms_ax25, arguments.serial_device, get_serial_speed(arguments.serial_speed, &arguments.serial_speed_n));
set_serial_parameters(&serial_parms_usb, arguments.usbacm_device, get_serial_speed(115200, &arguments.usb_speed_n));
init_radio_parms(&radio_parms, &arguments);
if (arguments.verbose_level > 0)
{
print_args(&arguments);
print_radio_parms(&radio_parms);
fprintf(stderr, "\n");
}
if (arguments.tnc_mode == TNC_KISS)
{
kiss_init(&arguments);
kiss_run(&serial_parms_ax25, &serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_SLIP)
{
arguments.slip = 1;
kiss_init(&arguments);
kiss_run(&serial_parms_ax25, &serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_USB_ECHO) // This one does not need any access to the radio
{
usb_test_echo(&serial_parms_usb, &arguments);
}
else if (arguments.tnc_mode == TNC_RADIO_STATUS)
{
print_radio_status(&serial_parms_usb, &arguments);
}
else if (arguments.tnc_mode == TNC_RADIO_INIT)
{
init_radio(&serial_parms_usb, &radio_parms, &arguments);
if (nbytes < 0)
{
fprintf(stderr, "Error\n");
}
}
else if (arguments.tnc_mode == TNC_TEST_TX)
{
radio_transmit_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX)
{
radio_receive_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_ECHO_TX)
{
radio_echo_test(&serial_parms_usb, &radio_parms, &arguments, 1);
}
else if (arguments.tnc_mode == TNC_TEST_ECHO_RX)
{
radio_echo_test(&serial_parms_usb, &radio_parms, &arguments, 0);
}
else if (arguments.tnc_mode == TNC_TEST_TX_PACKET)
{
radio_packet_transmit_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX_PACKET)
{
radio_packet_receive_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_TEST_RX_PACKET_NON_BLOCKING)
{
radio_packet_receive_nb_test(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_BULK_TX)
{
file_bulk_transmit(&serial_parms_usb, &radio_parms, &arguments);
}
else if (arguments.tnc_mode == TNC_BULK_RX)
{
file_bulk_receive(&serial_parms_usb, &radio_parms, &arguments);
}
close_serial(&serial_parms_usb);
close_serial(&serial_parms_ax25);
delete_args(&arguments);
return 0;
}
int main(int argc, char* argv[]){
int x, y, result;
int ch;
while ((ch = getopt(argc, argv, "bpthro:123T?")) != -1) {
switch (ch) {
case 'b': show_board_status = FALSE; break;
case 'p': show_placed_tile = TRUE; break;
case 't': show_available_tiles = FALSE; break;
case 'h': show_hint = TRUE; break;
case 'r': first_player = 2; break; // player 2 moves first
case '1': on_serial = 1; break; // player 1 on serial
case '2': on_serial = 2; break; // player 2 on serial
case '3': on_serial = 3; break; // both player on serial
case 'T': use_tcp = TRUE; break; // use TCP
case 'o': move_timeout = atoi(optarg); break; // set timeout
case '?':
default:
usage();
return 0;
}
}
init_serial();
printf(">> %s %s vs %s %s \n",
team_ids[0], ((first_player==1) ? "*" : ""),
team_ids[1], ((first_player==2) ? "*" : ""));
// ------------------------------
// clear board & available pieces
for(y=0; y<16; y++)
for(x=0; x<16; x++)
board[y][x] = 0;
for(y=0; y<2; y++)
for(x=0; x<21; x++)
available[y][x] = 1;
// setup board: border is already filled
for(x=0; x<16; x++){
board[ 0][ x] = BORDER;
board[15][ x] = BORDER;
board[ x][ 0] = BORDER;
board[ x][15] = BORDER;
}
#ifdef DEBUG_FILL
// for test (some grids already occupied on start)
for(y=7; y<=14; y++)
for(x=12; x<=14; x++)
board[y][x] = 2;
for(y=12; y<=14; y++)
for(x=7; x<=14; x++)
board[y][x] = 2;
#endif
#ifdef DEBUG_LESS_TILES
for(x=5; x<21; x++){
available[0][x] = 0;
available[1][x] = 0;
}
#endif
switch(result = do_game()){
int a1, a2;
case TERMINATE_NORMAL:
a1 = remaining_size(1);
a2 = remaining_size(2);
printf("** Total remaining size: %d / %d. ", a1, a2);
if(a1 != a2)
printf("Player %d won the game!\n", ( (a1<a2) ? 1 : 2 ) );
else
printf("Draw game.\n");
break;
case 1:
case 2:
printf("** Player %d lost the game by violation.\n", result);
break;
default:
case TERMINATE_WRONG:
printf("** Game terminated unexpectedly.\n");
break;
}
close_serial();
return 0;
}
int main(int argc, char argv[]){
//Serial Configs
initialize_defaults();
open_serial();
//Frequency of linux/raspi to check at the port for new messages
int f_linux = 10;
int wert;
int check=0;
int unique_counter =0;
int counter = 0;
int unique_list[100];
int liste[100];
int time_start;
int time_stop;
int error_counter = 0;
float t_sample_linux = 1.0/(float)f_linux;
int sleep_time = t_sample_linux*1e6;
float t_diff_max = 0;
float sum_t_diff = 0;
/*int fails = 0;*/
mavlink_message_t message;
//..........
time_start = get_time_usec();
// Read out all the messages in a for loop that has 1000 iterations (about 0.25s) and storing them into a list (unsorted and not filtered)
while((get_time_usec()-time_start)/1000000.0 < 2)
{
/*int success = read_messages(&all_counter, &wert);*/
int success = read_message(&message, &all_counter, &wert);
float t_px = messages.global_position_int.time_boot_ms/1000.0 - t_px_start;
float t_linux= (get_time_usec() -time_start)/1e6;
float t_diff_now = t_linux - t_px;
printf("Pixhawk Time: %0.3f , Linux Time: %0.3f, Time difference: %0.4f \n", t_px, t_linux, t_diff_now);
sum_t_diff += t_diff_now;
if (t_diff_now > t_diff_max)
{
t_diff_max = t_diff_now;
}
liste[counter] = wert;
if(success == 1)
{
counter++;
}
else
{
error_counter++;
}
time_stop = get_time_usec();
usleep(sleep_time);
}
float t_diff = (time_stop - time_start)/1000000.0;
int int_t_diff = t_diff*1e6;
//..........
float scale = 1/t_diff;
float frequency = scale*all_counter;
float t_sample = 1/frequency;
printf("\n -----------------------------\n");
printf("Received %i messages in %f secs (Real time)\n", all_counter, t_diff);
printf("Time past according to Pixhawk: %f \n -----------------\n", t_px_stop - t_px_start);
printf("Sample time of Linux: %0.3f , Frequency of Linux: %i \n", t_sample_linux, f_linux);
printf("Sample time of Pixhawk: %0.3f and Frequency: %0.1f \n -------------\n", t_sample, frequency);
int times_called = error_counter + all_counter;
printf("Error counter: %i, Times called: %i \n", error_counter, times_called);
/*printf("Time for a while loop: %i us \n", (int_t_diff - times_called*sleep_time)/times_called);*/
/*printf("int_t_diff %i, times_called %i, sleep_time %i \n", int_t_diff, times_called, sleep_time);*/
printf("Maximum time difference between linux and pixhawk clock: %f and mean time difference: %f \n", t_diff_max, sum_t_diff/times_called);
printf("---------------------\n");
printf("Packets dropped: %i \n", packets_dropped);
/*// Generating a list with unique values*/
/*for(i=0; i<all_counter; i++){*/
/*wert = liste[i];*/
/*check = 0;*/
/*int a;*/
/*for(a=0;a<unique_counter;a++){*/
/*if(wert ==unique_list[a]){check =1;}*/
/*}*/
/*if (check == 0){*/
/*unique_list[unique_counter] = wert;*/
/*unique_counter++;*/
/*}*/
/*}*/
/*qsort(unique_list, unique_counter, sizeof(int), cmpfcn);*/
/*int unique_count_list[100] = {0}; //variable size cannot be initialized*/
/*[>for (i=0; i < unique_counter; i++){<]*/
/*[>printf("value of ucl %i \n", unique_count_list[i]);<]*/
/*[>}<]*/
/*for(i=0; i < unique_counter; i++){*/
/*int unique_value = unique_list[i];*/
/*[>printf("\n ----------\n unique_value %i \n", unique_value);<]*/
/*int a;*/
/*for(a=0; a < all_counter; a++){*/
/*[>printf("liste[a] %i \n", liste[a]);<]*/
/*if(unique_value == liste[a]){*/
/*unique_count_list[i] += 1;*/
/*[>printf("unique_coutn_value %i \n",unique_count_list[i]);<]*/
/*}*/
/*}*/
/*}*/
/*//Printing the results*/
/*printf("Got %i unique values: \n", unique_counter);*/
/*for (i = 0; i < unique_counter; i++){*/
/*printf("%i: %i times\n", unique_list[i], unique_count_list[i]);*/
/*}*/
/*printf("..............................\n");*/
//Serial Port stuff
close_serial();
sleep(1);
return 0;
}
int main(int argc, char argv[]) {
//Serial Configs
initialize_defaults();
open_serial();
//Reading messages
//FREQUENCY OF READ MSG
int f_linux = 10;
int i ;
int wert;
int check=0;
int unique_counter =0;
int counter = 0;
int unique_list[100];
int liste[100];
int time_start;
int time_stop;
int error_counter = 0;
float t_sample_linux = 1.0/(float)f_linux;
int sleep_time = t_sample_linux*1e6;
/*int fails = 0;*/
//..........
time_start = get_time_usec();
// Read out all the messages in a for loop that has 1000 iterations (about 0.25s) and storing them into a list (unsorted and not filtered)
while((get_time_usec()-time_start)/1000000.0 < 1)
{
int success = read_messages(&all_counter, &wert);
float t = messages.global_position_int.time_boot_ms;
/*printf("Time since start %0.3f", t/1000.0 - t_px_start);*/
/*printf("\n ---------------- \nLinux Time: %0.3f \n", (get_time_usec()-time_start)/1e6);*/
liste[counter] = wert;
if(success == 1) {
counter++;
}
else {
error_counter++;
}
/*printf("i %i \n", i);*/
/*if(get_time_usec()-time_start > 5000000){break;}*/
time_stop = get_time_usec();
usleep(sleep_time);
}
float t_diff = (time_stop - time_start)/1000000.0;
int int_t_diff = t_diff*1e6;
//..........
float scale = 1/t_diff;
float frequency = scale*all_counter;
float t_sample = 1/frequency;
printf("Received %i messages in %f secs (Real time)\n", all_counter, t_diff);
printf("Pixhawk time difference: %f \n -----------------\n", t_px_stop - t_px_start);
printf("Sample Rate of Linux: %0.4f , Frequency of Linux: %i \n", t_sample_linux, f_linux);
printf("Sample time: %f and Frequency: %f \n -------------\n", t_sample, frequency);
int times_called = error_counter + all_counter;
printf("Error counter: %i, Times called: %i \n", error_counter, times_called);
printf("Time for a while loop: %i us \n", (int_t_diff - times_called*sleep_time)/times_called);
printf("int_t_diff %i, times_called %i, sleep_time %i \n", int_t_diff, times_called, sleep_time);
printf("---------------------\n");
printf("Packets dropped: %i \n", packets_dropped);
// Generating a list with unique values
for(i=0; i<all_counter; i++) {
wert = liste[i];
check = 0;
int a;
for(a=0; a<unique_counter; a++) {
if(wert ==unique_list[a]) {
check =1;
}
}
if (check == 0) {
unique_list[unique_counter] = wert;
unique_counter++;
}
}
qsort(unique_list, unique_counter, sizeof(int), cmpfcn);
int unique_count_list[100] = {0}; //variable size cannot be initialized
/*for (i=0; i < unique_counter; i++){*/
/*printf("value of ucl %i \n", unique_count_list[i]);*/
/*}*/
for(i=0; i < unique_counter; i++) {
int unique_value = unique_list[i];
/*printf("\n ----------\n unique_value %i \n", unique_value);*/
int a;
for(a=0; a < all_counter; a++) {
/*printf("liste[a] %i \n", liste[a]);*/
if(unique_value == liste[a]) {
unique_count_list[i] += 1;
/*printf("unique_coutn_value %i \n",unique_count_list[i]);*/
}
}
}
//Printing the results
printf("Got %i unique values: \n", unique_counter);
for (i = 0; i < unique_counter; i++) {
printf("%i: %i times\n", unique_list[i], unique_count_list[i]);
}
printf("..............................\n");
//Serial Port stuff
close_serial();
sleep(1);
return 0;
}
/**
* Our main entry, decode requests and monitor activity
*/
static void avr_evtd_main(void)
{
char buf[17];
char cmd;
char pushed_power = 0;
char pushed_reset = 0;
char pressed_power_flag = 0;
char pressed_reset_flag = 0;
char current_status = 0;
time_t idle = time(NULL);
time_t power_press = idle;
time_t fault_time;
time_t last_shutdown_ping;
fd_set serialfd_set;
struct timeval timeout_poll;
int fan_fault = 0;
long time_diff;
char extraTime = 0;
char disk_full = 0;
/* Update the shutdown timer */
fault_time = 0;
last_shutdown_ping = time(NULL);
/* Loop whilst port is valid */
while (serialfd) {
timeout_poll.tv_usec = 0;
int res = refresh_rate;
/* After file change or startup, update the time within 20 secs as the
* user may have pushed the refresh time out. */
if (check_state > 0) {
res = 2;
} else {
/* Change our timer to check for a power/reset request need a
* faster poll rate here to see the double press event
* properly. */
if (pushed_power || pushed_reset || first_time_flag > 1) {
timeout_poll.tv_usec = 250;
res = 0;
check_state = -2;
/* Hold off any configuration file updates */
}
}
if (check_state != -2) {
/* Ensure we shutdown on the nail if the timer is enabled will
* be off slightly as timer reads are different */
if (timer_flag == 1) {
if (shutdown_timer < res)
res = shutdown_timer;
}
/* If we have a fan failure report, then ping frequently */
if (fan_fault > 0)
res = fan_fault == 6 ? fan_fault_seize : 2;
}
timeout_poll.tv_sec = res;
FD_ZERO(&serialfd_set);
FD_SET(serialfd, &serialfd_set);
/* Wait for AVR message or time-out? */
res = select(serialfd + 1, &serialfd_set, NULL, NULL, &timeout_poll);
time_t time_now = time(NULL);
/* catch input? */
if (res > 0) {
/* Read AVR message */
res = read(serialfd, buf, 16);
/* AVR command detected so force to ping only */
check_state = -2;
switch (buf[0]) {
/* power button release */
case 0x20: /* ' ' */
if (pressed_power_flag == 0) {
cmd = POWER_RELEASE;
if ((time_now - power_press) <= HOLD_TIME && first_time_flag < 2) {
cmd = USER_RESET;
} else if (shutdown_timer < FIVE_MINUTES || first_time_flag > 1) {
if (first_time_flag == 0)
first_time_flag = 10;
shutdown_timer += FIVE_MINUTES;
first_time_flag--;
extraTime = 1;
}
exec_simple_cmd(cmd);
power_press = time_now;
}
pushed_power = pressed_power_flag = 0;
break;
/* power button push */
case 0x21: /* '!' */
exec_simple_cmd(POWER_PRESS);
pressed_power_flag = 0;
pushed_power = 1;
break;
/* reset button release */
case 0x22: /* '"' */
if (pressed_reset_flag == 0) {
cmd = RESET_RELEASE;
res = 0;
/* Launch our telnet daemon */
if ((time_now - power_press) <= HOLD_TIME) {
cmd = SPECIAL_RESET;
res = reset_presses;
reset_presses++;
}
exec_cmd(cmd, res);
power_press = time_now;
}
pushed_reset = pressed_reset_flag = 0;
break;
/* reset button push */
case 0x23: /* '#' */
exec_simple_cmd(RESET_PRESS);
pressed_reset_flag = 0;
pushed_reset = 1;
break;
/* Fan on high speed */
case 0x24: /* '$' */
fan_fault = 6;
fault_time = time_now;
break;
/* Fan fault */
case 0x25: /* '%' */
/* Flag the EventScript */
exec_cmd(FAN_FAULT, fan_fault);
if (fan_fault_seize > 0) {
fan_fault = 2;
fault_time = time_now;
} else
fan_fault = -1;
break;
/* Acknowledge */
case 0x30: /* '0' */
break;
/* AVR halt requested */
case 0x31: /* '1' */
close_serial();
exec_simple_cmd(AVR_HALT);
break;
/* AVR initialization complete */
case 0x33: /* '3' */
break;
default:
syslog(LOG_INFO, "unknown message %X[%d]", buf[0], res);
break;
}
/* Get time for use later */
time(&idle);
} else { /* Time-out event */
/* Check if button(s) are still held after holdcyle seconds */
if ((idle + hold_cycle) < time_now) {
/* Power down selected */
if (pushed_power == 1) {
/* Re-validate our time wake-up; do not perform if in extra time */
if (!extraTime)
set_avr_timer(1);
exec_simple_cmd(USER_POWER_DOWN);
pushed_power = 0;
pressed_power_flag = 1;
}
}
/* Has user held the reset button long enough to request EM-Mode? */
if ((idle + EM_MODE_TIME) < time_now) {
if (pushed_reset == 1 && in_em_mode) {
/* Send EM-Mode request to script. The script handles the
* flash device decoding and writes the HDD no-good flag
* NGNGNG into the flash status. It then flags a reboot
* which causes the box to boot from ram-disk backup to
* recover the HDD.
*/
exec_simple_cmd(EM_MODE);
pushed_reset = 0;
pressed_reset_flag = 1;
}
}
/* Skip this processing during power/reset scan */
if (!pushed_reset && !pushed_power && first_time_flag < 2) {
/* shutdown timer event? */
if (timer_flag == 1) {
/* Decrement our powerdown timer */
if (shutdown_timer > 0) {
time_diff = (time_now - last_shutdown_ping);
/* If time difference is more than a minute,
* force a re-calculation of shutdown time */
if (refresh_rate + 60 > labs(time_diff)) {
shutdown_timer -= time_diff;
/* Within five minutes of shutdown? */
if (shutdown_timer < FIVE_MINUTES) {
if (first_time_flag) {
first_time_flag = 0;
/* Inform the EventScript */
exec_cmd(FIVE_SHUTDOWN, shutdown_timer);
/* Re-validate out time wake-up; do not
* perform if in extra time */
if (!extraTime)
set_avr_timer(1);
}
}
}
/* Large clock drift, either user set time
* or an ntp update, handle accordingly. */
else {
check_timer(2);
}
} else {
/* Prevent re-entry and execute command */
pushed_power = pressed_reset_flag = 2;
exec_simple_cmd(TIMED_SHUTDOWN);
}
}
/* Keep track of shutdown time remaining */
last_shutdown_ping = time(NULL);
/* Split loading, handle disk checks
* over a number of cycles, reduce CPU hog */
switch (check_state) {
/* Kick state machine */
case 0:
check_state = 1;
break;
/* Check for timer change through configuration file */
case 1:
check_timer(0);
check_state = 2;
break;
/* Check the disk and ping AVR accordingly */
case -2:
/* Check the disk to see if full and output appropriate
* AVR command? */
case 2:
cmd = keep_alive;
if ((current_status = check_disk())) {
/* Execute some user code on disk full */
if (first_warning) {
first_warning = pester_message;
exec_cmd(DISK_FULL, pct_used);
}
}
/* Only update DISK LED on disk full change */
if (disk_full != current_status) {
/* LED status */
cmd = 0x56; /* 'V' */
if (current_status)
cmd++;
else {
first_warning = 0;
exec_cmd(DISK_FULL, 0);
}
disk_full = current_status;
}
/* Ping AVR */
write_to_uart(cmd);
check_state = 3;
break;
/* Wait for next refresh kick */
case 3:
check_state = 0;
break;
}
}
/* Try and catch spurious fan fault messages */
switch (fan_fault) {
case -1:
break;
case 1:
fan_fault = 0;
break;
/* Check how long we have been operating with a fan failure */
case 2:
case 3:
case 4:
if ((fault_time + fan_fault_seize) < time_now) {
/* Run some user script on no fan restart message after
* FAN_FAULT_SEIZE time */
exec_cmd(FAN_FAULT, 4);
fan_fault = 5;
}
break;
/* Fan sped up message received */
case 6:
/* Attempt to slow fan down again after 5 minutes */
if ((fault_time + FIVE_MINUTES) < time_now) {
write_to_uart(0x5C); /* '\\' */
fan_fault = 1;
}
break;
}
/* Check that the shutdown pause function (if activated) is still
* available, no then ping the delayed time */
if ((power_press + SP_MONITOR_TIME) < time_now && first_time_flag > 1) {
/* Inform the EventScript */
exec_cmd(FIVE_SHUTDOWN, shutdown_timer/60);
first_time_flag = 1;
power_press = 0;
}
}
}
}
void serial_exit(void)
{
close_serial(fd);
fd = -1;
}
void xmos_dev_close(int xmos_d)
{
close_serial(xmos_d);
}
void close()
{
close_serial();
}
void
Serial_Port::
stop()
{
close_serial();
}
/**
* Close SDP and all asociated ports.
* @param sdp Pointer to sdp_t structure, initialized by sdp_open.
*/
void sdp_close(sdp_t *sdp)
{
close_serial(sdp->f_in);
if (sdp->f_in != sdp->f_out)
close_serial(sdp->f_out);
}