void ServoDynamixel::setMaxTorque(int torque)
{
//std::cout << "[#" << servoId << "] setMaxTorque(" << torque << ")" << std::endl;
if (torque < 1024)
{
std::lock_guard <std::mutex> lock(access);
registerTableValues[gid(REG_MAX_TORQUE)] = torque;
registerTableCommits[gid(REG_MAX_TORQUE)] = 1;
}
}
void ServoDynamixel::setCCWLimit(int limit)
{
//std::cout << "[#" << servoId << "] setCCWLimit(" << limit << ")" << std::endl;
if (limit > -1 && limit < steps)
{
std::lock_guard <std::mutex> lock(access);
registerTableValues[gid(REG_MAX_POSITION)] = limit;
registerTableCommits[gid(REG_MAX_POSITION)] = 1;
}
}
void ServoDynamixel::setTorqueEnabled(int torque)
{
// Normalize value
(torque > 0) ? torque = 1 : torque = 0;
//std::cout << "[#" << servoId << "] setTorqueEnabled(" << torque << ")" << std::endl;
std::lock_guard <std::mutex> lock(access);
registerTableValues[gid(REG_TORQUE_ENABLE)] = torque;
registerTableCommits[gid(REG_TORQUE_ENABLE)] = 1;
}
void ServoDynamixel::setId(int id)
{
//std::cout << "[#" << servoId << "] setId(from " << servoId << " to " << id << ")" << std::endl;
if (id > -1 && id < 254)
{
std::lock_guard <std::mutex> lock(access);
// Maybe check if new ID is not already in use ?
registerTableValues[gid(REG_ID)] = id;
registerTableCommits[gid(REG_ID)] = 1;
}
}
double ServoDynamixel::getCurrentVoltage()
{
std::lock_guard <std::mutex> lock(access);
int ivolt = registerTableValues[gid(REG_CURRENT_VOLTAGE)];
return (ivolt / 10.0);
}
double ServoDynamixel::getHighestLimitVolt()
{
std::lock_guard <std::mutex> lock(access);
int volt = registerTableValues[gid(REG_VOLTAGE_HIGHEST_LIMIT)];
return (volt / 10.0);
}
void ServoDynamixel::getModelInfos(int &servo_serie, int &servo_model)
{
std::lock_guard <std::mutex> lock(access); // ?
int model_number = registerTableValues[gid(REG_MODEL_NUMBER)];
dxl_get_model_infos(model_number, servo_serie, servo_model);
}
/*!
Change the file owner for the log locations.
*/
void XmlVhostHandler::changeLocationsOwner ()
{
if (Server::getInstance ()->getUid ()
|| Server::getInstance ()->getGid ())
{
string uid (Server::getInstance ()->getUid ());
string gid (Server::getInstance ()->getGid ());
/*
*Change the log files owner if a different user or group
*identifier is specified.
*/
for (vector<Vhost*>::iterator it = hosts.begin (); it != hosts.end (); it++)
{
int err;
Vhost* vh = *it;
/* Chown the log files. */
err = logManager->chown (vh, "ACCESSLOG", uid, gid);
if (err)
Server::getInstance ()->log (MYSERVER_LOG_MSG_ERROR,
_("Error while changing accesses log owner"));
err = logManager->chown (vh, "WARNINGLOG", uid, gid);
if (err)
Server::getInstance ()->log (MYSERVER_LOG_MSG_ERROR,
_("Error while changing warnings log owner"));
}
}
}
int SocketInfo::Create(const std::string& context) const {
auto types = android::base::Split(type(), "+");
int flags =
((types[0] == "stream" ? SOCK_STREAM : (types[0] == "dgram" ? SOCK_DGRAM : SOCK_SEQPACKET)));
bool passcred = types.size() > 1 && types[1] == "passcred";
return CreateSocket(name().c_str(), flags, passcred, perm(), uid(), gid(), context.c_str());
}
naming::gid_type component_storage::migrate_to_here(
std::vector<char> const& data, naming::id_type id,
naming::address const& current_lva)
{
naming::gid_type gid(naming::detail::get_stripped_gid(id.get_gid()));
data_[gid] = data;
// rebind the object to this storage locality
naming::address addr(current_lva);
addr.address_ = 0; // invalidate lva
if (!agas::bind(launch::sync, gid, addr, this->gid_))
{
std::ostringstream strm;
strm << "failed to rebind id " << id
<< "to storage locality: " << gid_;
HPX_THROW_EXCEPTION(duplicate_component_address,
"component_storage::migrate_to_here",
strm.str());
return naming::invalid_gid;
}
id.make_unmanaged(); // we can now release the object
return naming::invalid_gid;
}
void testChown ()
{
#ifndef WIN32
list<string> filters;
try
{
FilesUtility::deleteFile ("foo");
}
catch (...)
{
}
lm->add (this, "test", "file://foo", filters, 0);
ostringstream uidOss;
uidOss << ::getuid ();
string uid (uidOss.str ());
ostringstream gidOss;
gidOss << ::getuid ();
string gid (gidOss.str ());
CPPUNIT_ASSERT (!lm->chown (this, "test", "file://foo", uid, gid));
#endif
}
ServoDynamixel::ServoDynamixel(const int control_table[][8], int dynamixel_id, int dynamixel_model, int speed_mode):
Servo()
{
// Store servo id, serie and model
servoId = dynamixel_id;
dxl_get_model_infos(dynamixel_model, servoSerie, servoModel);
// Set the control table
if (control_table)
{
ct = control_table;
}
else
{
ct = MX_control_table;
}
// Register count // FIXME // Horrible hack!
for (registerTableSize = 0; registerTableSize < 64; registerTableSize++)
{
if (ct[registerTableSize][0] == 999) // end of table
{
break;
}
}
// Init register tables (value and commit info) with value-initialization
registerTableValues = new int [registerTableSize]();
registerTableCommits = new int [registerTableSize]();
// Set model and id because we already known them
registerTableValues[gid(REG_MODEL_NUMBER)] = dynamixel_model;
if (dynamixel_id > -1 && dynamixel_id < BROADCAST_ID)
{
registerTableValues[gid(REG_ID)] = dynamixel_id;
}
// Choose speed mode
if (speed_mode == SPEED_MANUAL || speed_mode == SPEED_AUTO)
{
speedMode = speed_mode;
}
// Set default value for ack policy, ACK_REPLY_ALL for Dynamixel devices
// (will be overwritten when reading the real value from the device)
registerTableValues[gid(REG_STATUS_RETURN_LEVEL)] = ACK_REPLY_ALL;
}
bool KUserGroup::operator ==(const KUserGroup& group) const {
if (isValid() != group.isValid())
return false;
if (isValid())
return gid() == group.gid();
else
return true;
}
void ServoDynamixel::setGoalPosition(int pos)
{
//std::cout << "[#" << servoId << "] DXL setGoalPosition(" << pos << ")" << std::endl;
if (pos > -1 && pos < steps)
{
std::lock_guard <std::mutex> lock(access);
// Check min/max positions
if (pos < registerTableValues[gid(REG_MIN_POSITION)])
{
pos = registerTableValues[gid(REG_MIN_POSITION)];
}
if (pos > registerTableValues[gid(REG_MAX_POSITION)])
{
pos = registerTableValues[gid(REG_MAX_POSITION)];
}
// Set position
registerTableValues[gid(REG_GOAL_POSITION)] = pos;
registerTableCommits[gid(REG_GOAL_POSITION)] = 1;
}
else
{
std::cerr << "[#" << servoId << "] setGoalPosition(" << registerTableValues[gid(REG_CURRENT_POSITION)] << " > " << pos << ") [VALUE ERROR]" << std::endl;
}
}
void ServoDynamixel::setLed(int led)
{
//std::cout << "[#" << servoId << "] setLed(" << led << ")" << std::endl;
std::lock_guard <std::mutex> lock(access);
// Normalize value
if (led >= 1)
{
(servoSerie == SERVO_XL) ? led = led : led = 1;
}
else
{
led = 0;
}
registerTableValues[gid(REG_LED)] = led;
registerTableCommits[gid(REG_LED)] = 1;
}
void ServoDynamixel::setGoalPosition(int pos, int time_budget_ms)
{
//std::cout << "[#" << servoId << "] DXL setGoalPosition(" << pos << " in " << time_budget_ms << "ms)" << std::endl;
if (time_budget_ms > 0)
{
if (pos > -1 && pos < steps)
{
std::lock_guard <std::mutex> lock(access);
// Check min/max positions
if (pos < registerTableValues[gid(REG_MIN_POSITION)])
{
pos = registerTableValues[gid(REG_MIN_POSITION)];
}
if (pos > registerTableValues[gid(REG_MAX_POSITION)])
{
pos = registerTableValues[gid(REG_MAX_POSITION)];
}
// Compute movment amplitude and necessary speed to meet time budget
int amp = 0;
int pos_curr = registerTableValues[gid(REG_CURRENT_POSITION)];
if (pos > pos_curr)
amp = pos - pos_curr;
else
amp = pos_curr - pos;
double speed = ((double)(60 * amp) / (double)(steps * 0.114 * ((double)(time_budget_ms)/1000.0)));
if (speed < 1.0)
speed = 1;
// Set position and speed
registerTableValues[gid(REG_GOAL_POSITION)] = pos;
registerTableCommits[gid(REG_GOAL_POSITION)] = 1;
registerTableValues[gid(REG_GOAL_SPEED)] = speed;
registerTableCommits[gid(REG_GOAL_SPEED)] = 1;
}
else
{
std::cerr << "[#" << servoId << "] setGoalPosition(" << registerTableValues[gid(REG_CURRENT_POSITION)] << " > " << pos << ") [VALUE ERROR]" << std::endl;
}
}
}
void ServoDynamixel::waitMovmentCompletion(int timeout_ms)
{
std::chrono::milliseconds timeout_duration(static_cast<int>(timeout_ms));
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
access.lock();
int c = registerTableValues[gid(REG_CURRENT_POSITION)];
int g = registerTableValues[gid(REG_GOAL_POSITION)];
// Margin is set to 3% of servo steps
int margin = static_cast<int>(static_cast<double>(steps) * 0.03 / 2.0);
int margin_up = g + margin;
int margin_dw = g - margin;
if (margin_up > steps) margin_up = steps;
if (margin_dw < 0) margin_dw = 0;
// Wait until the current pos is within margin of the goal pos, or wait for the timeout
while (!(c < margin_up && c > margin_dw))
{
access.unlock();
//std::cout << "waitMovmentCompletion (" << margin_dw << " < pos:" << c << " < " << margin_up << ")" << std::endl;
if ((start + timeout_duration) < std::chrono::system_clock::now())
{
std::cerr << "waitMovmentCompletion(): timeout!" << std::endl;
return;
}
std::chrono::milliseconds loopwait(4);
std::this_thread::sleep_for(loopwait);
access.lock();
c = registerTableValues[gid(REG_CURRENT_POSITION)];
g = registerTableValues[gid(REG_GOAL_POSITION)];
}
access.unlock();
}
void MyDirEntry::setMetadata(const QString& path) const{
QFile file(path);
file.setPermissions(permissions);
struct timeval tv[2];
tv[0].tv_sec=lastModified.toTime_t();
tv[0].tv_usec=0;
tv[1].tv_sec=lastModified.toTime_t();
tv[1].tv_usec=0;
lutimes(QFile::encodeName(file.fileName()), tv);
lchown(QFile::encodeName(file.fileName()), uid(), gid());
}
void ServoDynamixel::moveGoalPosition(int move)
{
//std::cout << "moveGoalPosition(" << move << ")" << std::endl;
access.lock();
int curr = registerTableValues[gid(REG_CURRENT_POSITION)];
int newpos = registerTableValues[gid(REG_CURRENT_POSITION)] + move;
// Wheel mode ?
if (registerTableValues[gid(REG_MIN_POSITION)] == 0 && registerTableValues[gid(REG_MAX_POSITION)] == 0)
{
if (newpos < 0 || newpos > steps)
{
int mod = newpos % steps;
std::cerr << "[#" << servoId << "] moveGoalPosition([" << curr << " > " << newpos << "] [VALUE ERROR] with modulo: " << mod << std::endl;
}
}
access.unlock();
setGoalPosition(newpos);
}
/// \brief Shutdown the given runtime system
lcos::future<void>
runtime_support::shutdown_async(naming::id_type const& targetgid,
double timeout)
{
// Create a promise directly and execute the required action.
// This action has implemented special response handling as the
// back-parcel is sent explicitly (and synchronously).
typedef server::runtime_support::shutdown_action action_type;
lcos::promise<void> value;
// We need to make it unmanaged to avoid late refcnt requests
id_type gid(value.get_id().get_gid(), id_type::unmanaged);
hpx::apply<action_type>(targetgid, timeout, gid);
return value.get_future();
}
void CreateMCFThread::processGames(std::vector<UserCore::Item::BranchInfo*> &outList, TiXmlElement* platform)
{
XML::for_each_child("game", platform->FirstChildElement("games"), [this, &outList](TiXmlElement* game)
{
const char* szId = game->Attribute("siteareaid");
DesuraId gid(szId, "games");
if (gid == this->getItemId())
this->processBranches(outList, game);
if (this->getItemId().getType() != DesuraId::TYPE_MOD)
return;
this->processMods(outList, game);
});
}
bool unregister_name(
std::string const& name
, error_code& ec
)
{
naming::resolver_client& agas_ = naming::get_agas_client();
naming::gid_type raw_gid;
if (agas_.unregister_name(name, raw_gid, ec) && !ec)
{
// If the GID has a reference count, return it to AGAS.
if (naming::get_credit_from_gid(raw_gid) != 0)
// When this id_type goes out of scope, it's deleter will
// take care of the reference count.
naming::id_type gid(raw_gid, naming::id_type::managed);
return true;
}
return false;
}
static bool
gid_alloc (gid_t *gidp, uid_t uid)
{
str path (sfssockdir << "/agent.sock");
int fd = unixsocket_connect (path);
if (fd < 0) {
warn << path << ": " << strerror (errno) << "\n";
return false;
}
close_on_exec (fd);
AUTH *auth = authunixint_create ("localhost", uid, getgid (), 0, NULL);
if (!auth)
fatal ("could not create RPC authunix credentials\n");
int32_t res (EIO);
srpc_callraw (fd, SETUID_PROG, SETUID_VERS, SETUIDPROC_SETUID,
xdr_void, NULL, xdr_int32_t, &res, auth);
if (res) {
close (fd);
warn ("sfscd rejected credentials: %s\n", strerror (errno));
return false;
}
u_int32_t gid (static_cast<u_int32_t> (sfs_badgid));
clnt_stat stat = srpc_callraw (fd, AGENT_PROG, AGENT_VERS, AGENT_AIDALLOC,
xdr_void, NULL, xdr_u_int32_t, &gid, NULL);
close (fd);
if (stat || gid < sfs_resvgid_start
|| gid >= (sfs_resvgid_start + sfs_resvgid_count)) {
warn << "no free group IDs.\n";
return false;
}
*gidp = static_cast<gid_t> (gid);
return true;
}
void ServoDynamixel::setMovingSpeed(int speed)
{
//std::cout << "setMovingSpeed(" << speed << ")" << std::endl;
std::lock_guard <std::mutex> lock(access);
if (registerTableValues[gid(REG_MIN_POSITION)] == 0 &&
registerTableValues[gid(REG_MAX_POSITION)] == 0)
{
if (speed < 2048)
{
registerTableValues[gid(REG_GOAL_SPEED)] = speed;
registerTableCommits[gid(REG_GOAL_SPEED)] = 1;
}
}
else
{
if (speed < 1024)
{
registerTableValues[gid(REG_GOAL_SPEED)] = speed;
registerTableCommits[gid(REG_GOAL_SPEED)] = 1;
}
}
}
//! Returns true if the LID passed in belongs to the calling processor in this map, otherwise returns false.
bool myLID( size_type LID ) const
{
return( gid( LID )!=invalid_size_type_value );
}
bool KUserGroup::isValid() const {
return gid() != gid_t(-1);
}
bool KUserGroup::operator !=(const KUserGroup& user) const {
return (gid() != user.gid()) || (gid() == gid_t(-1));
}
bool KUserGroup::operator ==(const KUserGroup& group) const {
return (gid() == group.gid()) && (gid() != gid_t(-1));
}
static void Test_make_temporary_oneshot_service(bool dash_dash, bool seclabel, bool uid, bool gid,
bool supplementary_gids) {
std::vector<std::string> args;
args.push_back("exec");
if (seclabel) {
args.push_back("u:r:su:s0"); // seclabel
if (uid) {
args.push_back("log"); // uid
if (gid) {
args.push_back("shell"); // gid
if (supplementary_gids) {
args.push_back("system"); // supplementary gid 0
args.push_back("adb"); // supplementary gid 1
}
}
}
}
if (dash_dash) {
args.push_back("--");
}
args.push_back("/system/bin/toybox");
args.push_back("id");
auto svc = Service::MakeTemporaryOneshotService(args);
ASSERT_NE(nullptr, svc);
if (seclabel) {
ASSERT_EQ("u:r:su:s0", svc->seclabel());
} else {
ASSERT_EQ("", svc->seclabel());
}
if (uid) {
auto decoded_uid = DecodeUid("log");
ASSERT_TRUE(decoded_uid);
ASSERT_EQ(*decoded_uid, svc->uid());
} else {
ASSERT_EQ(0U, svc->uid());
}
if (gid) {
auto decoded_uid = DecodeUid("shell");
ASSERT_TRUE(decoded_uid);
ASSERT_EQ(*decoded_uid, svc->gid());
} else {
ASSERT_EQ(0U, svc->gid());
}
if (supplementary_gids) {
ASSERT_EQ(2U, svc->supp_gids().size());
auto decoded_uid = DecodeUid("system");
ASSERT_TRUE(decoded_uid);
ASSERT_EQ(*decoded_uid, svc->supp_gids()[0]);
decoded_uid = DecodeUid("adb");
ASSERT_TRUE(decoded_uid);
ASSERT_EQ(*decoded_uid, svc->supp_gids()[1]);
} else {
ASSERT_EQ(0U, svc->supp_gids().size());
}
ASSERT_EQ(static_cast<std::size_t>(2), svc->args().size());
ASSERT_EQ("/system/bin/toybox", svc->args()[0]);
ASSERT_EQ("id", svc->args()[1]);
}
void ServoDynamixel::status()
{
std::lock_guard <std::mutex> lock(access);
std::cout << "Status(#" << servoId << ")" << std::endl;
std::cout << "> model : " << servoModel << std::endl;
std::cout << "> firmware : " << registerTableValues[gid(REG_FIRMWARE_VERSION)] << std::endl;
std::cout << "> baudrate : " << dxl_get_baudrate(registerTableValues[gid(REG_BAUD_RATE)]) << std::endl;
std::cout << ">> speed mode : " << speedMode << std::endl;
std::cout << ">> steps : " << steps << std::endl;
std::cout << ">> runningDegrees : " << runningDegrees << std::endl;
std::cout << "> torque enabled : " << registerTableValues[gid(REG_TORQUE_ENABLE)] << std::endl;
std::cout << "> max torque : " << registerTableValues[gid(REG_MAX_TORQUE)] << std::endl;
std::cout << "> torque limit : " << registerTableValues[gid(REG_TORQUE_LIMIT)] << std::endl;
std::cout << "> goal position : " << registerTableValues[gid(REG_GOAL_POSITION)] << std::endl;
std::cout << "> goal speed : " << registerTableValues[gid(REG_GOAL_SPEED)] << std::endl;
std::cout << "> current position: " << registerTableValues[gid(REG_CURRENT_POSITION)] << std::endl;
std::cout << "> current speed : " << registerTableValues[gid(REG_CURRENT_SPEED)] << std::endl;
std::cout << "> current load : " << registerTableValues[gid(REG_CURRENT_LOAD)] << std::endl;
std::cout << "> current voltage : " << registerTableValues[gid(REG_CURRENT_VOLTAGE)] << std::endl;
std::cout << "> current temp : " << registerTableValues[gid(REG_CURRENT_TEMPERATURE)] << std::endl;
std::cout << "> registered : " << registerTableValues[gid(REG_REGISTERED)] << std::endl;
std::cout << "> moving : " << registerTableValues[gid(REG_MOVING)] << std::endl;
std::cout << "> lock : " << registerTableValues[gid(REG_LOCK)] << std::endl;
std::cout << "> punch : " << registerTableValues[gid(REG_PUNCH)] << std::endl;
}
