void rFlea_Arduino::rFlea_profile(byte rFlea_profile){
if (rFlea_profile==SENSOR){
mCH[rFlea_profile].channelNR=rFlea_profile;
mCH[rFlea_profile].channelType=CHANNEL_TYPE_MASTER_TX_ONLY;
mCH[rFlea_profile].networkID=0x00;
mCH[rFlea_profile].deviceID=getSerialNumber();
mCH[rFlea_profile].deviceType=0x27;
mCH[rFlea_profile].txType=0x01;
mCH[rFlea_profile].channelFreq=DEFAULT_RADIO_CHANNEL;
mCH[rFlea_profile].channelPeriod=4096;
mCH[rFlea_profile].channelStatus=STATUS_ASSIGNED_CHANNEL;
}else if (rFlea_profile==SENSOR_RX){
mCH[rFlea_profile].channelNR=rFlea_profile;
mCH[rFlea_profile].channelType=CHANNEL_TYPE_MASTER;
mCH[rFlea_profile].networkID=0x00;
mCH[rFlea_profile].deviceID=getSerialNumber();
mCH[rFlea_profile].deviceType=0x27;
mCH[rFlea_profile].txType=0x01;
mCH[rFlea_profile].channelFreq=DEFAULT_RADIO_CHANNEL;
mCH[rFlea_profile].channelPeriod=4096;
mCH[rFlea_profile].channelStatus=STATUS_ASSIGNED_CHANNEL;
}else if (rFlea_profile==BEACON_LISTENER){
mCH[rFlea_profile].channelNR=rFlea_profile;
mCH[rFlea_profile].channelType=CHANNEL_TYPE_SLAVE;
mCH[rFlea_profile].networkID=0x00;
mCH[rFlea_profile].deviceID=0x00; //wild card as default
mCH[rFlea_profile].deviceType=0x27; //wild card as default
mCH[rFlea_profile].txType=0x01;
mCH[rFlea_profile].channelFreq=DEFAULT_RADIO_CHANNEL;
mCH[rFlea_profile].channelPeriod=4096;
mCH[rFlea_profile].channelStatus=STATUS_ASSIGNED_CHANNEL;
}
}
Json::Value ModuleIdentifier::toJSONObject() {
Json::Value output;
output["manufacturer"] = getManufacturer();
output["typeNumber"] = getTypeNumber();
output["serialNumber"] = getSerialNumber();
return output;
}
STDMETHODIMP HostUSBDeviceFilterWrap::COMGETTER(SerialNumber)(BSTR *aSerialNumber)
{
LogRelFlow(("{%p} %s: enter aSerialNumber=%p\n", this, "HostUSBDeviceFilter::getSerialNumber", aSerialNumber));
VirtualBoxBase::clearError();
HRESULT hrc;
try
{
CheckComArgOutPointerValidThrow(aSerialNumber);
AutoCaller autoCaller(this);
if (FAILED(autoCaller.rc()))
throw autoCaller.rc();
hrc = getSerialNumber(BSTROutConverter(aSerialNumber).str());
}
catch (HRESULT hrc2)
{
hrc = hrc2;
}
catch (...)
{
hrc = VirtualBoxBase::handleUnexpectedExceptions(this, RT_SRC_POS);
}
LogRelFlow(("{%p} %s: leave *aSerialNumber=%ls hrc=%Rhrc\n", this, "HostUSBDeviceFilter::getSerialNumber", *aSerialNumber, hrc));
return hrc;
}
static int getSerialNumber(int mjd)
throw(Exception)
{
CommonTime t;
t=MJD(double(mjd));
return getSerialNumber(t);
}
extern void confirmSNonDisk(void) {
int exists, handle, ret;
char fileSN[PATH_LENGTH],filePattern[PATH_LENGTH];
char sysPath[PATH_LENGTH];
struct f_info file_info;
// if (!SNexists())
// return; // no serial number - don't write to disk
if (SYSTEM_PATH)
strcpy(sysPath,SYSTEM_PATH);
else
strcpy(sysPath,DEFAULT_SYSTEM_PATH);
strcpy(fileSN,sysPath);
strcat(fileSN, (char *)getSerialNumber());
strcat(fileSN, (char *)SERIAL_EXT);
exists = fileExists((LPSTR) fileSN);
if (!exists) {
mkdir((LPSTR)sysPath);
tbChdir((LPSTR)sysPath);
strcpy(filePattern,(char *)"*" SERIAL_EXT);
ret =_findfirst((LPSTR)filePattern, &file_info, D_FILE);
while (ret >= 0) {
ret = unlink((LPSTR)file_info.f_name);
ret = _findnext(&file_info);
}
handle = tbOpen((LPSTR)fileSN,O_CREAT|O_RDWR|O_TRUNC);
close(handle);
}
}
char *
getDeviceSN(void) {
char *ret;
ret = getSerialNumber();
return ret;
}
static int getSerialNumber(int mjd)
throw(DayTime::DayTimeException)
{
DayTime t;
t.setMJD(double(mjd));
return getSerialNumber(t);
}
bool DepthCamera::_init()
{
{
CalibrationInformation &calibInfo = _getCalibrationInformationStructure()[CALIB_SECT_LENS];
calibInfo.name = CALIB_SECT_LENS;
calibInfo.id = CALIB_SECT_LENS_ID;
calibInfo.definingParameters = {};
calibInfo.calibrationParameters = {"fx", "fy", "cx", "cy", "k1", "k2", "k3", "p1", "p2"};
}
String serialNumber;
if(getSerialNumber(serialNumber))
{
configFile.setHardwareID(serialNumber);
configFile.readFromHardware();
}
int currentID = -1;
if(_getCurrentProfileID(currentID) && currentID >= 0)
{
if(!setCameraProfile(currentID, true))
return setCameraProfile(configFile.getDefaultCameraProfileID());
else
return true;
}
else
return setCameraProfile(configFile.getDefaultCameraProfileID());
}
BEGIN_NAMESPACE_NIDAQ
Device::Device(const std::string &name) :
name(name),
serialNumber(getSerialNumber(name))
{ }
bool CloudWatcherController::getConstants(CloudWatcherConstants *cwc) {
bool r = getFirmwareVersion(cwc->firmwareVersion);
if (!r) {
return false;
}
r = getSerialNumber(&(cwc->internalSerialNumber));
if (!r) {
return false;
}
if (cwc->firmwareVersion[0] >= '3') {
r = getElectricalConstants();
if (!r) {
return false;
}
}
cwc->zenerVoltage = zenerConstant;
cwc->ldrMaxResistance = LDRMaxResistance;
cwc->ldrPullUpResistance = LDRPullUpResistance;
cwc->rainBetaFactor = rainBeta;
cwc->rainResistanceAt25 = rainResAt25;
cwc->rainPullUpResistance = rainPullUpResistance;
cwc->ambientBetaFactor = ambBeta;
cwc->ambientResistanceAt25 = ambResAt25;
cwc->ambientPullUpResistance = ambPullUpResistance;
return true;
}
uint32_t DeviceObjectDvc_c::getSize( const IsoAgLib::ProcData::ConnectionCapabilities_s& caps ) const {
uint32_t size = DeviceObject_c::getSize( caps );
size += sizeof( uint8_t ) + CNAMESPACE::strlen( getDesignator() );
size += sizeof( uint8_t ) + CNAMESPACE::strlen( getVersion() );
size += 8; // m_wsmName;
size += sizeof( uint8_t ) + CNAMESPACE::strlen( getSerialNumber() );
size += 14; /* m_structLabel + m_localization */
if( caps.versionNr >= 4 )
{
size += 1; // Extended Structure Label length byte
size += m_extendedStructureLabel.length;
}
return size;
}
void Wagnis::generateId()
{
// There is no such thing as a reliable unique device ID on SailfishOS. Usually, /etc/machine-id
// does the job, but it seems to be the same on a lot of devices of the same kind (e.g. Xperia X)
// Therefore, there is no other choice than to use IMEI(s), serial numbers and MAC addresses as
// hash data. For those of you who are afraid about data privacy, please use the search engine of
// your choice for information about cryptographic hash functions. tl;dr: Nobody can restore the
// original data from the hash...
QCryptographicHash idHash(QCryptographicHash::Sha256);
// If we are on a device which you still can use as a telephone, there's at least one IMEI
QStringList imeis = getImeis();
QListIterator<QString> imeiIterator(imeis);
while (imeiIterator.hasNext()) {
QString imei = imeiIterator.next();
qDebug() << "[Wagnis] Using IMEI for the ID" << imei;
idHash.addData(imei.toUtf8());
}
// On devices without cellular connection, there should be a unique serial ID as replacement
QString serialNumber = getSerialNumber();
if (!serialNumber.isEmpty()) {
qDebug() << "[Wagnis] Using Serial Number for the ID" << serialNumber;
idHash.addData(serialNumber.toUtf8());
}
// Most devices support Wi-Fi - all networking devices have a MAC address
QString wifiMacAddress = getWifiMacAddress();
if (!wifiMacAddress.isEmpty()) {
qDebug() << "[Wagnis] Using Wi-Fi MAC address for the ID" << wifiMacAddress;
idHash.addData(wifiMacAddress.toUtf8());
}
// Additional components of the hash are the current application name...
idHash.addData(this->applicationName.toUtf8());
// ...and the identifier of this Wagnis release.
idHash.addData(QString("Wagnis 42.1807").toUtf8());
idHash.result().toHex();
QString uidHash = QString::fromUtf8(idHash.result().toHex());
qDebug() << "[Wagnis] Complete hash: " << uidHash;
wagnisId = uidHash.left(4) + "-" + uidHash.mid(4,4) + "-" + uidHash.mid(8,4) + "-" + uidHash.mid(12,4);
qDebug() << "[Wagnis] ID: " << wagnisId;
}
void USB::init() {
iprintf("init\n");
uint32_t chip_serial[4];
getSerialNumber(4, chip_serial);
for (int j = 0; j < 4; j++) {
for (int i = 0; i < 8; i++) {
uint8_t c = (chip_serial[j] & 15);
serial.str[j * 8 + 7 - i] = (c < 10)?(c + '0'):(c - 10 + 'A');
chip_serial[j] >>= 4;
}
}
setDescriptors(descriptors);
USBHAL::init();
iprintf("OK\n");
}
CIMInstance ComputerSystem::buildInstance(const CIMName& className)
{
CIMInstance instance(className);
CIMProperty p;
//-- fill in properties for CIM_ComputerSystem
if (getCaption(p)) instance.addProperty(p);
if (getDescription(p)) instance.addProperty(p);
if (getInstallDate(p)) instance.addProperty(p);
if (getStatus(p)) instance.addProperty(p);
if (getOperationalStatus(p)) instance.addProperty(p);
if (getStatusDescriptions(p)) instance.addProperty(p);
if (getElementName(p)) instance.addProperty(p);
if (getCreationClassName(p)) instance.addProperty(p);
if (getName(p)) instance.addProperty(p);
if (getNameFormat(p)) instance.addProperty(p);
if (getPrimaryOwnerName(p)) instance.addProperty(p);
if (getPrimaryOwnerContact(p)) instance.addProperty(p);
if (getRoles(p)) instance.addProperty(p);
if (getOtherIdentifyingInfo(p)) instance.addProperty(p);
if (getIdentifyingDescriptions(p)) instance.addProperty(p);
if (getDedicated(p)) instance.addProperty(p);
if (getResetCapability(p)) instance.addProperty(p);
if (getPowerManagementCapabilities(p)) instance.addProperty(p);
// Done if we are servicing CIM_ComputerSystem
if (className.equal (CLASS_CIM_COMPUTER_SYSTEM))
return instance;
// Fill in properties for CIM_UnitaryComputerSystem
if (getInitialLoadInfo(p)) instance.addProperty(p);
if (getLastLoadInfo(p)) instance.addProperty(p);
if (getPowerManagementSupported(p)) instance.addProperty(p);
if (getPowerState(p)) instance.addProperty(p);
if (getWakeUpType(p)) instance.addProperty(p);
// Done if we are servicing CIM_UnitaryComputerSystem
if (className.equal (CLASS_CIM_UNITARY_COMPUTER_SYSTEM))
return instance;
// Fill in properties for <Extended>_ComputerSystem
if (className.equal (CLASS_EXTENDED_COMPUTER_SYSTEM))
{
if(getPrimaryOwnerPager(p)) instance.addProperty(p);
if(getSecondaryOwnerName(p)) instance.addProperty(p);
if(getSecondaryOwnerContact(p)) instance.addProperty(p);
if(getSecondaryOwnerPager(p)) instance.addProperty(p);
if(getSerialNumber(p)) instance.addProperty(p);
if(getIdentificationNumber(p)) instance.addProperty(p);
}
return instance;
}
int main(){
pid_t pid, sid;
int list_s; /* listening socket */
int conn_s; /* connection socket */
short int port = 1995; /* port number */
struct sockaddr_in servaddr; /* socket address structure */
int i;
uint8_t numClients = 0;
threadInfo* info;
/* Fork off the parent process */
pid = fork();
if(pid < 0) {
exit(EXIT_FAILURE);
}
/* If we got a good PID, then we can exit the parent process */
if(pid > 0){
exit(EXIT_SUCCESS);
}
umask(0);
printf("Daemon started. Writing all further notices to daemon log: /var/log/daemon.log\n");
// Enable Signal Handler
signal(SIGTERM, catch_term);
/* Open Log File Here */
openlog("SEASSERVER",LOG_PID,LOG_DAEMON);
syslog(LOG_DAEMON|LOG_INFO,"Daemon Started.");
/* Open Config File Here */
if(!readConfig()){
syslog(LOG_DAEMON|LOG_ERR,"Unable to Read Configuration File. Daemon Terminated.\n");
exit(EXIT_FAILURE);
}
/* Create a new SID for the child process */
sid = setsid();
if(sid < 0){
syslog(LOG_DAEMON|LOG_ERR,"Unable to create a new SID for child process. Daemon Terminated.");
exit(EXIT_FAILURE);
}
/* Change the current working directory */
if((chdir("/")) < 0){
syslog(LOG_DAEMON|LOG_ERR,"Unable to switch working directory. Daemon Terminated.");
exit(EXIT_FAILURE);
}
close(STDIN_FILENO);
close(STDOUT_FILENO);
close(STDERR_FILENO);
/* Setup TCP/IP Socket */
if((list_s = socket(AF_INET, SOCK_STREAM, 0)) < 0){
syslog(LOG_DAEMON|LOG_ERR,"Unable to create socket. Daemon Terminated.");
exit(EXIT_FAILURE);
}
memset(&servaddr, 0, sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
servaddr.sin_port = htons(port);
#ifdef DEBUG
syslog(LOG_DAEMON|LOG_INFO,"Opening Spectrometers.");
#endif
// Power Cycle GPIO for USB Hub to make sure USB ports initialized correctly
//system("echo 0 > /sys/class/gpio/gpio168/value");
//sleep(3);
//system("echo 1 > /sys/class/gpio/gpio168/value");
//sleep(3);
// Connect the USB Spectrometers
char *serialNumbers[NUM_SPECS] = {getSerialNumber(0),getSerialNumber(1)};
if(connectSpectrometers(serialNumbers) == CONNECT_ERR)
{
syslog(LOG_DAEMON|LOG_ERR,"Spectrometers could not be opened. Daemon Exiting");
exit(EXIT_FAILURE);
}
#ifdef DEBUG
syslog(LOG_DAEMON|LOG_INFO,"Spectrometers Opened.");
#endif
applyConfig();
logConfig();
// Start LON Dispatch
syslog(LOG_DAEMON|LOG_INFO,"Starting LON Connection.");
if(startDispatch(LONPORT) == -1){
syslog(LOG_DAEMON|LOG_ERR,"LON Not Connected! Check serial port.");
exit(EXIT_FAILURE);
} else {
syslog(LOG_DAEMON|LOG_INFO,"LON Connection Started.");
}
// Init Bench Config and Power Management GPIOs (See SEASPeriperalCommands.c)
readBenchConfig();
initPeripherals();
// Start CTD Sink
CTDSink* ctdSink = CTDSink::Instance();
/* Bind our socket addresss to the
listening socket, and call listen() */
if ( bind(list_s, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0 ) {
syslog(LOG_DAEMON|LOG_ERR,"Unable to bind socket. Daemon Terminated.");
exit(EXIT_FAILURE);
}
if ( listen(list_s, NUM_THREADS) < 0 ) {
syslog(LOG_DAEMON|LOG_ERR,"Unable to listen on socket. Daemon Terminated.");
exit(EXIT_FAILURE);
}
for(i=0; i < NUM_THREADS; i++)
thread_bin_available[i] = AVAILABLE;
execMode();
while(keep_going){
syslog(LOG_DAEMON|LOG_INFO,"Listening for connection on port %i", port);
/* Wait for TCP/IP Connection */
conn_s = accept(list_s, NULL, NULL);
if ( conn_s < 0 ) {
syslog(LOG_DAEMON|LOG_ERR,"Unable to call accept() on socket.");
break;
}
/* Spawn a POSIX Server Thread to Handle Connected Socket */
for(i=0; i < NUM_THREADS; i++){
if(thread_bin_available[i]){
thread_bin_available[i] = UNAVAILABLE;
syslog(LOG_DAEMON|LOG_INFO,"Handling new connection on port %i",port);
numClients++;
info = (threadInfo*)malloc(sizeof(threadInfo));
info->socket_connection = conn_s;
info->thread_bin_index = i;
pthread_create(&thread_bin[i],NULL,handleConnection, (void*)info);
break;
}
}
if(i > NUM_THREADS){
syslog(LOG_DAEMON|LOG_ERR,"Unable to create thread to handle connection. Continuing...");
}
}
if(disconnectSpectrometers() == CONNECT_OK)
syslog(LOG_DAEMON|LOG_INFO,"Spectrometers Successfully Disconnected");
else
syslog(LOG_DAEMON|LOG_ERR,"Unable to Disconnect Spectrometers");
syslog(LOG_DAEMON|LOG_INFO,"Daemon Exited Politely.");
exit(EXIT_SUCCESS);
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d Gyro %s\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
ArUtil::convertBool(getHasGyro()));
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "DriftFactor %d\n", getDriftFactor());
ret += line;
sprintf(line, "Aux2Baud setting %d, Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "TicksMM: %d\n", getTicksMM());
ret += line;
sprintf(line, "Shutdown Voltage: %d\n", getShutdownVoltage());
ret += line;
return ret;
}
int main(int argc, char *argv[])
{
char cBufRead[BUF_SIZE];
DWORD dwBytesRead;
FT_STATUS ftStatus;
FT_HANDLE ftHandle;
int iport;
int i;
char c;
if(argc > 1) {
sscanf(argv[1], "%d", &iport);
}
else {
iport = 0;
}
// Note!
// The second version of open should work from version 0.4.9 it may be prefered
// in many situations. On Fedora Core 4, kernal 2.6.15 it fails however.
//ftStatus = FT_Open(iport, &ftHandle);
ftStatus = FT_OpenEx( "LWO65RKA", FT_OPEN_BY_SERIAL_NUMBER, &ftHandle);
//ftStatus = FT_OpenEx( NULL, FT_OPEN_BY_SERIAL_NUMBER, &ftHandle); // First found
if(ftStatus != FT_OK) {
/*
This can fail if the ftdi_sio driver is loaded
use lsmod to check this and rmmod ftdi_sio to remove
also rmmod usbserial
*/
printf("FT_Open(%d) failed. rv=%d\n", iport, ftStatus);
return 1;
}
FT_SetTimeouts(ftHandle, 3000, 3000 ); // 3 second read timeout
while ( 1 ) {
printf("\n\n\n");
printf("=====================================================================\n");
printf(" Lawicel AB -- CANUSB test application\n");
printf("=====================================================================\n\n");
printf("S - Send test frames.\n");
printf("R - Read five frames.\n");
printf("N - Get Serial number.\n");
printf("V - Get Version Information.\n");
printf("Q - Quit application.\n");
while ( 0x0a == ( c = getchar() ));
if ( 'q' == c || 'Q' == c ) break;
else if ( 'v' == c || 'V' == c ){
getVersionInfo( ftHandle );
}
else if ( 'n' == c || 'N' == c ){
getSerialNumber( ftHandle );
}
else if ( 's' == c || 'S' == c ){
SendTestFrames( ftHandle );
}
else if ( 'r' == c || 'R' == c ){
GetTestFrames( ftHandle );
}
}
printf("Bye,bye....\n");
FT_Close(ftHandle);
return 0;
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "firmware version '%s'\n",
getFirmwareVersion());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelTop %d LatAccelTop %d\n",
getLatVelTop(), getLatAccelTop());
ret += line;
}
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelMax %d LatAccel %d LatDecel %d\n",
getLatVelMax(), getLatAccel(), getLatDecel());
ret += line;
}
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d GyroType %d\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
getGyroType());
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "GyroRateLimit %d\n",
getGyroRateLimit());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Other:\n");
ret += line;
sprintf(line, "DriftFactor %d KinematicsDelay %d\n", getDriftFactor(),
getKinematicsDelay());
ret += line;
sprintf(line, "Aux2Baud setting %d Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "PDBPort setting %d\n", getPDBPort());
ret += line;
sprintf(line, "TicksMM %d GyroCW %d GyroCCW %d\n", getTicksMM(),
getGyroCW(), getGyroCCW());
ret += line;
sprintf(line, "ShutdownVoltage %d PowerbotChargeTreshold %d\n",
getShutdownVoltage(), getPowerbotChargeThreshold());
ret += line;
char buf[128];
int i, j;
unsigned int value = getPowerBits();
int bit;
buf[0] = '\0';
for (j = 0, bit = 1; j < 16; ++j, bit *= 2)
{
if (j == 8)
sprintf(buf, "%s ", buf);
if (value & bit)
sprintf(buf, "%s%d", buf, 1);
else
sprintf(buf, "%s%d", buf, 0);
}
sprintf(line, "HighTempShutdown %d PowerBits %s\n",
getHighTemperatureShutdown(), buf);
ret += line;
return ret;
}
boost::shared_ptr<FreenectDevice> getDeviceByIndex(unsigned device_idx) {
return getDeviceBySerialNumber(std::string(getSerialNumber(device_idx)));
}
extern void
setSystemData(struct SystemData *sd) {
struct SystemCounts2 sc;
int size, totalSize, i, reflashes;
dumpSystemDataToLog(sd);
sd->structType = NOR_STRUCT_ID_SYSTEM;
reflashes = getReflashCount();
if (!sd->countReflashes)
sd->countReflashes = reflashes + 1;
if (!sd->serialNumber[0]) {
strcpy(sd->serialNumber,getSerialNumber());
if (!sd->serialNumber[0]) {
strcpy(sd->serialNumber,(char *)"UNKNOWN");
}
}
if (!sd->location[0]) {
strcpy(sd->location,getLocation());
if (!sd->location[0]) {
strcpy(sd->location,(char *)"UNKNOWN");
}
}
if (!sd->imageName[0]) {
strcpy(sd->imageName,getImageName());
if (!sd->imageName[0]) {
strcpy(sd->imageName,(char *)"UNKNOWN");
}
}
if (!sd->updateNumber[0])
strcpy(sd->updateNumber,getUpdateNumber());
if (!sd->monthLastUpdated)
sd->monthLastUpdated = getUpdateMonth();
if (!sd->dateLastUpdated)
sd->dateLastUpdated = getUpdateDate();
if (!sd->yearLastUpdated)
sd->yearLastUpdated = getUpdateYear();
dumpSystemDataToLog(sd);
systemCounts.monthday = sd->dateLastUpdated;
systemCounts.month = sd->monthLastUpdated;
systemCounts.year = sd->yearLastUpdated;
sc.structType = NOR_STRUCT_ID_COUNTS;
sc.period = 0;
sc.cumulativeDays = 0;
sc.corruptionDay = 0;
sc.powerups = 0;
sc.lastInitVoltage = 0;
sc.rotations[0].structType = NOR_STRUCT_ID_ROTATION;
sc.rotations[0].rotationNumber = 0;
sc.rotations[0].periodNumber = 0;
sc.rotations[0].hoursAfterLastUpdate = 0;
checkVoltage();
sc.rotations[0].initVoltage = vCur_1;
for (i=1; i< MAX_ROTATIONS; i++) {
sc.rotations[i].structType = -2; // -1 is bad since FF is unwritten memory
}
// startup() assumes that struct SystemData is written first at TB_SERIAL_NUMBER_ADDR
totalSize = 0;
size = sizeof(struct SystemData); // round up # of words
write_app_flash((int *)sd, size, totalSize);
totalSize += size;
ptrsCounts.systemData = (struct SystemData *)(TB_SERIAL_NUMBER_ADDR);
size = sizeof(struct SystemCounts2); // round up # of words
write_app_flash((int *)&sc, size, totalSize);
ptrsCounts.systemCounts = (struct SystemCounts2 *)(TB_SERIAL_NUMBER_ADDR + totalSize);
ptrsCounts.period = NULL;
ptrsCounts.cumulativeDays = NULL;
ptrsCounts.powerups = NULL;
ptrsCounts.corruptionDay = NULL;
ptrsCounts.latestRotation = NULL;
}
std::string ModuleIdentifier::toString() {
return "{\"manufacturer\":" + getManufacturer() + "\"typeNumber\":" + getTypeNumber() + "\"serialNumber\":" + getSerialNumber() + "}";
}
int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
IO::IODevicePtr src_device = nullptr;
if (argc == param_count)
{
uint64_t start_offset = 0;
std::string offset_txt(argv[offset_param]);
if (offset_txt.compare(offset_str) == 0)
{
start_offset = boost::lexical_cast<uint64_t>(argv[offset_value]);
qInfo() << "offset : " << start_offset <<"(sectors)";
}
std::string disk_file_string(argv[disk_file_param]);
if (disk_file_string.compare(d_str) == 0)
{
auto drive_number = boost::lexical_cast<uint32_t>(argv[source_value]);
auto drive_list = IO::ReadPhysicalDrives();
auto physical_drive = drive_list.find_by_number(drive_number);
start_offset *= physical_drive->getBytesPerSector();
if (physical_drive)
{
qInfo() << "You selected";
qInfo() << "Number : " << drive_number;
qInfo() << "Name :" << physical_drive->getDriveName().c_str();
qInfo() << "Serial number : " << physical_drive->getSerialNumber().c_str();
qInfo() << "Size : " << physical_drive->getSize() << "(bytes)";
}
src_device = std::make_shared<IO::DiskDevice>(physical_drive);
}
else if (disk_file_string.compare(f_str) == 0)
{
std::string src_path = argv[source_value];
src_device = IO::makeFilePtr(IO::path_string(src_path.begin(), src_path.end()));
start_offset *= default_sector_size;
}
if (!src_device->Open(IO::OpenMode::OpenRead))
{
qInfo() << "Error open source device.";
return -1;
}
std::string targer_path = argv[target_value];
IO::path_string target_folder(targer_path.begin(), targer_path.end());
if (!src_device)
return -1;
//////////////////////////////////////////////////////////////////////////
QList<JsonFileStruct> listFileStruct;
QFile file("video.json");
if (!file.open(QIODevice::ReadOnly))
{
qInfo() << "Error to open file. \"" << file.fileName() << "\"";
return -1;
}
auto json_str = file.readAll();
ReadJsonFIle(json_str, listFileStruct);
if ( listFileStruct.empty())
{
qInfo() << "Error to read" << file.fileName() << "file. Wrong syntax.";
return -1;
}
IO::HeaderBase::Ptr headerBase = std::make_shared<IO::HeaderBase>();
for (auto theFileStruct : listFileStruct)
headerBase->addFileFormat(toFileStruct(theFileStruct));
IO::RawFactoryManager factory_manager;
initFactoryMananger(factory_manager);
IO::SignatureFinder signatureFinder(src_device, headerBase);
//uint64_t start_offset = 0x0;
uint64_t header_offset = 0;
uint32_t counter = 0;
while (start_offset < src_device->Size())
{
auto file_struct = signatureFinder.findHeader(start_offset, header_offset);
if (!file_struct)
{
qInfo() << endl << endl << endl << "No more signatures found. Press any key to exit.";
break;
}
qInfo() << "Found signature for [" << file_struct->getName().c_str() << "] file.";
qInfo() << "Offset : " << header_offset << "(bytes)";
start_offset = header_offset;
auto raw_factory = factory_manager.Lookup(file_struct->getName());
IO::RawAlgorithm * raw_algorithm = nullptr;
if (!raw_factory)
{
IO::StandartRaw * standard_raw = new IO::StandartRaw(src_device);
standard_raw->setMaxFileSize(file_struct->getMaxFileSize());
standard_raw->setFooter(file_struct->getFooter(), file_struct->getFooterTailEndSize());
standard_raw->setFooterOffsetSearchBlock(4, 4096);
raw_algorithm = standard_raw;
}
else
{
raw_algorithm = raw_factory->createRawAlgorithm(src_device);
}
if (raw_algorithm->Specify(header_offset))
{
auto target_file = IO::offsetToPath(target_folder, header_offset, file_struct->getExtension(), 512);
auto dst_file = IO::makeFilePtr(target_file);
if (dst_file->Open(IO::OpenMode::Create))
{
auto target_size = raw_algorithm->SaveRawFile(*dst_file, header_offset);
if ( target_size == 0)
{
qInfo() << "Error to save file. Exit." ;
//break;
}
auto dst_size = dst_file->Size();
dst_file->Close();
qInfo() << "Successfully saved " << target_size << "(bytes)" << endl << endl;
uint64_t jump_size = default_sector_size;
if ( raw_algorithm->Verify(target_file) )
{
target_size /= default_sector_size;
target_size *= default_sector_size;
//////////////////////////////////////////////////////////////////////////
jump_size = target_size;
}
else
{
// remove file
IO::path_string new_fileName = target_file + L".bad_file";
boost::filesystem::rename(target_file, new_fileName);
//{
// qInfo() << "File" << target_file.c_str() << "was removed." << endl;
//}
//else
// qInfo() << "File" << target_file.c_str() << "Error to delete." << endl;
}
//if (jump_size == 0)
jump_size = default_sector_size;
start_offset = header_offset + jump_size;
}
else
{
qInfo() << "Error to create target file." << QString::fromStdWString(target_file);
qInfo() << "Exit.";
break;
}
}
else
{
qInfo() << "Not specified for " << QString::fromStdString(file_struct->getName()) << "continue search for other signatures."<<endl;
start_offset += default_sector_size;
}
if ( raw_algorithm)
delete raw_algorithm;
}
}
else
qInfo() << "Wrong params";
return a.exec();
}
