int mountDriveUDisks2(TQString deviceNode, TQString fileSystemType, TQString mountOptions, TQString* errStr = NULL) {
#ifdef WITH_UDISKS2
TQT_DBusConnection dbusConn = TQT_DBusConnection::addConnection(TQT_DBusConnection::SystemBus);
if (dbusConn.isConnected()) {
TQString blockDeviceString = deviceNode;
blockDeviceString.replace("/dev/", "");
blockDeviceString = "/org/freedesktop/UDisks2/block_devices/" + blockDeviceString;
// Mount the drive!
TQT_DBusError error;
TQT_DBusProxy driveControl("org.freedesktop.UDisks2", blockDeviceString, "org.freedesktop.UDisks2.Filesystem", dbusConn);
if (driveControl.canSend()) {
TQValueList<TQT_DBusData> params;
TQMap<TQString, TQT_DBusData> optionsMap;
if (fileSystemType != "") {
optionsMap["fstype"] = convertDBUSDataToVariantData(TQT_DBusData::fromString(fileSystemType));
}
optionsMap["options"] = convertDBUSDataToVariantData(TQT_DBusData::fromString(mountOptions));
params << TQT_DBusData::fromStringKeyMap(TQT_DBusDataMap<TQString>(optionsMap));
TQT_DBusMessage reply = driveControl.sendWithReply("Mount", params, &error);
if (error.isValid()) {
// Error!
if (error.name() == "org.freedesktop.DBus.Error.ServiceUnknown") {
// Service not installed or unavailable
return -2;
}
if (errStr) {
*errStr = error.name() + ": " + error.message();
}
else {
printf("[ERROR][tdehwlib] mountDriveUDisks2: %s\n", error.name().ascii()); fflush(stdout);
}
return -1;
}
else {
return 0;
}
}
else {
return -2;
}
}
#endif // WITH_UDISKS2
return -2;
}
int mountDriveUDisks(TQString deviceNode, TQString fileSystemType, TQStringList mountOptions, TQString* errStr = NULL) {
#ifdef WITH_UDISKS
TQT_DBusConnection dbusConn = TQT_DBusConnection::addConnection(TQT_DBusConnection::SystemBus);
if (dbusConn.isConnected()) {
TQString blockDeviceString = deviceNode;
blockDeviceString.replace("/dev/", "");
blockDeviceString = "/org/freedesktop/UDisks/devices/" + blockDeviceString;
// Mount the drive!
TQT_DBusError error;
TQT_DBusProxy driveControl("org.freedesktop.UDisks", blockDeviceString, "org.freedesktop.UDisks.Device", dbusConn);
if (driveControl.canSend()) {
TQValueList<TQT_DBusData> params;
params << TQT_DBusData::fromString(fileSystemType);
params << TQT_DBusData::fromList(TQT_DBusDataList(mountOptions));
TQT_DBusMessage reply = driveControl.sendWithReply("FilesystemMount", params, &error);
if (error.isValid()) {
// Error!
if (error.name() == "org.freedesktop.DBus.Error.ServiceUnknown") {
// Service not installed or unavailable
return -2;
}
if (errStr) {
*errStr = error.name() + ": " + error.message();
}
else {
printf("[ERROR][tdehwlib] mountDriveUDisks: %s\n", error.name().ascii()); fflush(stdout);
}
return -1;
}
else {
return 0;
}
}
else {
return -2;
}
}
#endif // WITH_UDISKS
return -2;
}
task main()
{
initializeRobot();
waitForStart(); // wait for start of tele-op phase
arm_fsm = 1; //arm_fsm = 0;
while (true)
{
getJoystickSettings(joystick); //Required for driver control
if(joy1Btn(9) && joy1Btn(10)) {
arm_fsm = 2;
}
driveControl();
armControl();
manipulatorControl();
flagControl();
}
}
// Call once per frame.
//
void driveUpdate(void)
{
DROID *psDroid;
PROPULSION_STATS *psPropStats;
AllInRange = true;
if(DirectControl) {
if(psDrivenDroid != NULL) {
if(bMultiMessages && (driveBumpTime < gameTime)) // send latest info about driven droid.
{
sendDroidInfo(psDrivenDroid, DORDER_MOVE, psDrivenDroid->pos.x, psDrivenDroid->pos.y, NULL, NULL, 0, 0, 0, false);
}
//TO BE DONE:
//clear the order on taking over the droid, to stop attacks..
//send some sort of message when droids stopo and get inrange.
// Check the driven droid is still selected
if(psDrivenDroid->selected == false) {
// if it's not then reset the driving system.
driveSelectionChanged();
return;
}
// Update the driven droid.
if(driveControl(psDrivenDroid)) {
// If control did something then force the droid's move status.
if(psDrivenDroid->sMove.Status != MOVEDRIVE) {
psDrivenDroid->sMove.Status = MOVEDRIVE;
ASSERT( (psDrivenDroid->droidType != DROID_TRANSPORTER),"Tried to control a transporter" );
driveDir = UNDEG(psDrivenDroid->rot.direction);
}
DoFollowRangeCheck = true;
}
// Is the driven droid under user control?
if(psDrivenDroid->sMove.Status == MOVEDRIVE) {
// Is it a command droid
if( (psDrivenDroid->droidType == DROID_COMMAND) &&
(psDrivenDroid->psGroup != NULL) ) {
driveMoveCommandFollowers(psDrivenDroid);
}
for(psDroid = apsDroidLists[selectedPlayer]; psDroid; psDroid = psDroid->psNext) {
psPropStats = asPropulsionStats + psDroid->asBits[COMP_PROPULSION].nStat;
if( (psDroid->selected) &&
(psDroid != psDrivenDroid) &&
(psDroid->droidType != DROID_TRANSPORTER) &&
//((psPropStats->propulsionType != PROPULSION_TYPE_LIFT) || (psDroid->droidType == DROID_CYBORG)) ) {
((psPropStats->propulsionType != PROPULSION_TYPE_LIFT) || cyborgDroid(psDroid)) )
{
// Send new orders to it's followers.
driveMoveFollower(psDroid);
}
}
}
if(AllInRange) {
DoFollowRangeCheck = false;
}
if(driveBumpTime < gameTime) {
// Send next order in 1 second.
driveBumpTime = gameTime+GAME_TICKS_PER_SEC;
}
} else {
if(StartDriverMode(NULL) == false) {
// nothing
}
}
}
}
bool ejectDriveUDisks2(TDEStorageDevice* sdevice) {
#ifdef WITH_UDISKS2
TQT_DBusConnection dbusConn = TQT_DBusConnection::addConnection(TQT_DBusConnection::SystemBus);
if (dbusConn.isConnected()) {
TQString blockDeviceString = sdevice->deviceNode();
blockDeviceString.replace("/dev/", "");
blockDeviceString = "/org/freedesktop/UDisks2/block_devices/" + blockDeviceString;
TQT_DBusProxy hardwareControl("org.freedesktop.UDisks2", blockDeviceString, "org.freedesktop.DBus.Properties", dbusConn);
if (hardwareControl.canSend()) {
// get associated udisks2 drive path
TQT_DBusError error;
TQValueList<TQT_DBusData> params;
params << TQT_DBusData::fromString("org.freedesktop.UDisks2.Block") << TQT_DBusData::fromString("Drive");
TQT_DBusMessage reply = hardwareControl.sendWithReply("Get", params, &error);
if (error.isValid()) {
// Error!
printf("[ERROR][tdehwlib] ejectDriveUDisks2: %s\n", error.name().ascii()); fflush(stdout);
return FALSE;
}
else {
if (reply.type() == TQT_DBusMessage::ReplyMessage && reply.count() == 1) {
TQT_DBusObjectPath driveObjectPath = reply[0].toVariant().value.toObjectPath();
if (!driveObjectPath.isValid()) {
return FALSE;
}
error = TQT_DBusError();
TQT_DBusProxy driveInformation("org.freedesktop.UDisks2", driveObjectPath, "org.freedesktop.DBus.Properties", dbusConn);
// can eject?
TQValueList<TQT_DBusData> params;
params << TQT_DBusData::fromString("org.freedesktop.UDisks2.Drive") << TQT_DBusData::fromString("Ejectable");
TQT_DBusMessage reply = driveInformation.sendWithReply("Get", params, &error);
if (error.isValid()) {
// Error!
printf("[ERROR][tdehwlib] ejectDriveUDisks2: %s\n", error.name().ascii()); fflush(stdout);
return FALSE;
}
if (reply.type() == TQT_DBusMessage::ReplyMessage && reply.count() == 1) {
bool ejectable = reply[0].toVariant().value.toBool();
if (!ejectable) {
return FALSE;
}
// Eject the drive!
TQT_DBusProxy driveControl("org.freedesktop.UDisks2", driveObjectPath, "org.freedesktop.UDisks2.Drive", dbusConn);
TQValueList<TQT_DBusData> params;
TQT_DBusDataMap<TQString> options(TQT_DBusData::Variant);
params << TQT_DBusData::fromStringKeyMap(options);
TQT_DBusMessage reply = driveControl.sendWithReply("Eject", params, &error);
if (error.isValid()) {
// Error!
printf("[ERROR][tdehwlib] ejectDriveUDisks2: %s\n", error.name().ascii()); fflush(stdout);
return FALSE;
}
else {
return TRUE;
}
}
}
}
}
}
#endif // WITH_UDISKS2
return FALSE;
}
