@@ -285,7 +285,7 @@ static int ini_callback(const char *sect
void load_options() {
use_default_options();
- ini_load("SDLPoP.ini", ini_callback);
+ ini_load(PKGSRC_DATA_PATH "SDLPoP.ini", ini_callback);
if (!options.use_fixes_and_enhancements) disable_fixes_and_enhancements();
}
void load_options() {
use_default_options();
ini_load("SDLPoP.ini", global_ini_callback); // global configuration
// load mod-specific INI configuration
if (use_custom_levelset) {
char filename[256];
snprintf(filename, sizeof(filename), "mods/%s/%s", levelset_name, "mod.ini");
ini_load(filename, mod_ini_callback);
}
if (!options.use_fixes_and_enhancements) disable_fixes_and_enhancements();
}
int config_init()
{
setting->ini = ini_load(setting->config_path);
if (NULL == setting->ini) {
fatal("Load config failure!");
}
}
INI_CONTAINER* ini_start(char* filepath)
{
INI_CONTAINER* container = NULL;
ini_init(&container, filepath);
if (container != NULL)
ini_load(container);
return container;
}
/*! load_initial_plugin will be called when this plug in being loaded.
* Please notice that a global parament "map_instances" is introduced, for multi-instance situation
* in windows OCX usage. A Brave new instance of "qtvplugin_geomarker" will be created for each different viewer_interface.
*
* @param strSLibPath the absolute path of this dll.
* @param ptrviewer the pointer to main view.
* @return return the instance pointer to the instance belong to ptrviewer
*/
layer_interface * qtvplugin_geomarker::load_initial_plugin(QString strSLibPath,viewer_interface * ptrviewer)
{
//!In this instance, we will see how to create a new instance for each ptrviewer
qtvplugin_geomarker * instance = 0;
//!1.Check whether there is already a instance for ptrviewer( viewer_interface)
mutex_instances.lock();
//!1.1 situation 1: map_instances is empty, which means no instance exists. We just save this pointer to map_instances
if (map_instances.empty()==true)
{
map_instances[ptrviewer] = this;
instance = this;
}
/*! 1.2 situation 2: map_instances dose not contain ptrviewer, which is the normal situation when a second ocx ctrl is initializing.
* we just allocate a new qtvplugin_geomarker, and save key-value in map_instances.
*/
else if (map_instances.contains(ptrviewer)==false)
{
instance = new qtvplugin_geomarker;
map_instances[ptrviewer] = instance;
}
//! 1.3 situation 3: a ABNORMAL situation. load_initial_plugin is called again.
else
instance = map_instances[ptrviewer];
mutex_instances.unlock();
//2. if the instance is just this object, we do real init code.
if (instance==this)
{
QFileInfo info(strSLibPath);
m_SLLibPath = strSLibPath;
m_SLLibName = info.completeBaseName();
m_pVi = ptrviewer;
mutex_instances.lock();
m_nInstance = ++count_instances[m_SLLibName];
mutex_instances.unlock();
loadTranslations();
ini_load();
style_load();
initialBindPluginFuntions();
}
//3. elseif, we call the instance's load_initial_plugin method instead
else
{
layer_interface * ret = instance->load_initial_plugin(strSLibPath,ptrviewer);
assert(ret==instance);
return ret;
}
qDebug()<<QFont::substitutions();
return instance;
}
void Settings::load(const void* _data, uint32_t _len)
{
if (NULL != m_ini)
{
ini_destroy(INI_T(m_ini) );
}
if (NULL == _data)
{
m_ini = ini_create(m_allocator);
}
else
{
m_ini = ini_load( (const char*)_data, _len, m_allocator);
}
}
/*
* API
*
* loads the project's configuration from the INI file specified by `prefix`.
* the INI file is `prefix`.ini.
*
* if some required parameters is missing, or if its value is illegal, a message
* is printed and the functions returns INI_STATUS_ERROR. otherwise, the function
* returns INI_STATUS_OK.
*
* the config argument will be populated with the values of the parameters
*/
int config_load(config_t * config, const char * prefix)
{
int res = INI_STATUS_ERROR;
const char * str_value;
char inifilename[MAX_INPUT_BUFFER];
inifile_t ini;
config->seed_table = NULL;
strncpy(inifilename, prefix, sizeof(inifilename) - 5);
strcat(inifilename, ".ini");
if (ini_load(&ini, inifilename) != INI_STATUS_OK) {
/* error message printed by ini_load */
return INI_STATUS_ERROR;
}
strncpy(config->prefix, prefix, sizeof(config->prefix));
INI_GET_STR("rule", config->rule_pattern);
INI_GET_STR("lexicon_name", config->lexicon_file);
INI_GET_STR("hash_name", config->hash_name);
INI_GET_STR("main_rand_seed", config->random_seed);
INI_GET_NUM("num_of_R", config->chain_length);
INI_GET_NUM("multi_query", config->num_of_query_results);
INI_GET_NUM("bucket_size", config->bucket_size);
INI_GET_NUM("hash_size", config->num_of_buckets);
if (strcasecmp(config->hash_name, "MD5") == 0) {
config->hash_func = MD5BasicHash;
config->digest_size = MD5_OUTPUT_LENGTH_IN_BYTES;
}
else if (strcasecmp(config->hash_name, "SHA1") == 0) {
config->hash_func = SHA1BasicHash;
config->digest_size = SHA1_OUTPUT_LENGTH_IN_BYTES;
}
else {
fprintf(stderr, "INI: hash_name must be 'MD5' or 'SHA1'");
goto cleanup;
}
res = INI_STATUS_OK;
cleanup:
ini_finalize(&ini);
return res;
}
BOOL WINAPI DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpvReserved)
{
// This shouldn't be done on DllMain
if (!initialized)
{
initialized = TRUE;
ini_load();
ini_save();
if (!load_xinput_dll(hinstDLL))
return FALSE;
}
return TRUE;
}
static void goldlim_ini_load(void)
{
char *value;
ini_t *ini = ini_load(INI_NAME);
if (!ini) {
LOG("No "INI_NAME" found.");
return;
}
value = ini_get_setting(ini, "goldlim", "InventoryMultiplier");
if (value) gold_inv_mul = strtol(value, NULL, 0);
value = ini_get_setting(ini, "goldlim", "StashMultiplier");
if (value) gold_stash_mul = strtol(value, NULL, 0);
ini_free(ini);
}
static void loader_ini_load(void)
{
ini_t *ini = ini_load(INI_NAME);
modules = 0;
if (!ini) return;
while (ini_seek_section(ini, "loader")) {
while (ini_seek_setting(ini, NULL)) {
char *value = ini_value(ini);
module[modules] = LoadLibrary(value);
if (module[modules] != NULL) {
LOG("Loaded %s at %p", value, modules[module]);
++modules;
} else {
LOG("Failed to loaded %s", value);
}
}
}
ini_free(ini);
}
void load_options() {
use_default_options();
ini_load("SDLPoP.ini", ini_callback);
if (!options.use_fixes_and_enhancements) disable_fixes_and_enhancements();
}
static int init ( void )
{
traceLastFunc( "init()" );
if ( g_hOrigDll == NULL )
{
if ( GetModuleFileName(g_hDllModule, g_szWorkingDirectory, sizeof(g_szWorkingDirectory) - 32) != 0 )
{
if ( strrchr(g_szWorkingDirectory, '\\') != NULL )
*strrchr( g_szWorkingDirectory, '\\' ) = 0;
else
strcpy( g_szWorkingDirectory, "." );
}
else
{
strcpy( g_szWorkingDirectory, "." );
}
// Hello World
Log( "Initializing exe24 mod" );
Log( "Compiled: %s CL:%d", COMPILE_DT, COMPILE_VERSION );
// log windows version for people that forget to report it
WindowsInfo.osPlatform = (int) * (DWORD *)GTAvar_osPlatform;
WindowsInfo.osVer = (int) * (DWORD *)GTAvar_osVer;
WindowsInfo.winVer = (int) * (DWORD *)GTAvar_winVer;
WindowsInfo.winMajor = (int) * (DWORD *)GTAvar_winMajor;
if ( WindowsInfo.osPlatform == 2 )
Log( "OS: Windows Version %d.%d.%d", WindowsInfo.winMajor, WindowsInfo.winVer, WindowsInfo.osVer );
else
Log( "OS: Not Windows (%d.%d.%d)", WindowsInfo.winMajor, WindowsInfo.winVer, WindowsInfo.osVer );
#pragma warning( disable : 4127 )
if ( sizeof(struct vehicle_info) != 2584 )
{
Log( "sizeof(struct vehicle_info) == %d, aborting.", sizeof(struct vehicle_info) );
return 0;
}
if ( sizeof(struct actor_info) != 1988 )
{
Log( "sizeof(struct actor_info) == %d, aborting.", sizeof(struct actor_info) );
return 0;
}
#pragma warning( default : 4127 )
ini_load();
if ( !set.i_have_edited_the_ini_file )
{
MessageBox( 0, "Error when starting exe24.info mod.","Error", 0 );
return 0;
}
// get SAMP and set g_dwSAMP_Addr
getSamp();
// get actual d3d9.dll and proxy original D3D9Device
char filename[MAX_PATH];
if (fileExists(".\\d3d9_exe24+.dll"))
{
strlcat(filename, ".\\d3d9_exe24+.dll", sizeof(filename));
}
else
{
GetSystemDirectory(filename, (UINT)(MAX_PATH - strlen("\\d3d9.dll") - 1));
strlcat(filename, "\\d3d9.dll", sizeof(filename));
}
g_hOrigDll = LoadLibrary( filename );
if ( g_hOrigDll == NULL )
{
Log( "Failed to load %s", filename );
return 0;
}
orig_Direct3DCreate9 = ( D3DC9 ) GetProcAddress( g_hOrigDll, "Direct3DCreate9" );
if ( orig_Direct3DCreate9 == NULL )
{
Log( "%s does not export Direct3DCreate9!?", filename );
FreeLibrary( g_hOrigDll );
return 0;
}
}
return 1;
}
ExcCode options_config_load(const char *filename) {
TRY(ini_load(filename, sections));
shortcuts[shortcuts_count].handler = NULL;
return 0;
}
static void merc_ini_load(void)
{
char *value;
int i;
ini_t *ini = ini_load(INI_NAME);
if (!ini) {
LOG("No "INI_NAME" found.");
return;
}
while (ini_seek_section(ini, NULL)) {
int i;
char *end;
char *section = ini_section(ini);
if (strncasecmp(section, "merc", 4) != 0)
continue;
i = strtoul(§ion[4], &end, 10) - 1;
if (!section[4] || *end) continue;
if (i < 0 || i >= MERCOPT_MAX) continue;
while (ini_seek_setting(ini, NULL)) {
char *key = ini_key(ini);
char *value = ini_value(ini);
if (strcasecmp(key, "class") == 0) {
mercopt[i].merc_class = strtoul(value, NULL, 0);
} else if (strcasecmp(key, "allow_class") == 0) {
int j;
int klass[7];
int klasses = merc_parse_array(value, klass, 7);
mercopt[i].allow_class = 0;
for (j = 0; j < klasses; ++j)
mercopt[i].allow_class |= 1 << klass[j];
} else if (strcasecmp(key, "allow_2h") == 0) {
mercopt[i].allow_2h = !!strtoul(value, NULL, 0);
} else if (strcasecmp(key, "dual") == 0) {
mercopt[i].dual_types = merc_parse_array(value, mercopt[i].dual_type, MERCOPT_TYPE_MAX);
} else if (strcasecmp(key, "except") == 0) {
mercopt[i].except_types = merc_parse_array(value, mercopt[i].except_type, MERCOPT_TYPE_MAX);
} else if (strcasecmp(key, "allow") == 0) {
mercopt[i].allow_types = merc_parse_array(value, mercopt[i].allow_type, MERCOPT_TYPE_MAX);
} else if (strcasecmp(key, "deny") == 0) {
mercopt[i].deny_types = merc_parse_array(value, mercopt[i].deny_type, MERCOPT_TYPE_MAX);
} /* else, ignore ( option for new version? :-D ) */
}
}
value = ini_get_setting(ini, "mercmod", "loadmpq");
if (value) { merc_load_image_mpq = !!strtoul(value, NULL, 0); }
for (i = 0; i < INVREC_MAX; ++i) {
char setting[32];
snprintf(setting, sizeof(setting), "inv%d", i + 1);
value = ini_get_setting(ini, "mercmod", setting);
if (value) {
int j, r;
int arr[1 + 6*INVENTORY_REC_ITEM_MAX];
int count = merc_parse_array(value, arr, 1 + 6*INVENTORY_REC_ITEM_MAX);
if (count <= 0) continue;
invrec_idx[i] = arr[0];
for (j = 1, r = 0; j <= (count-6); j += 6) {
invrec[i][r].left = arr[j];
invrec[i][r].right = arr[j+1];
invrec[i][r].top = arr[j+2];
invrec[i][r].bottom = arr[j+3];
invrec[i][r].w = arr[j+4];
invrec[i][r].h = arr[j+5];
}
}
}
ini_free(ini);
}
int main(int argc, char *argv[])
{
int ros_argc;
char **ros_argv;
std::string node_name(NODE_NAME_DEFAULT);
int option;
int ival;
double dval;
int ws_port = WS_PORT_DEFAULT;
int emove_port = EMOVE_PORT_DEFAULT;
double period = 1;
int ws_server_id;
int ws_connection_id;
ulapi_task_struct *ws_client_read_task;
ws_client_read_task_args *ws_client_read_args;
ulapi_task_struct *ws_client_write_task;
ws_client_write_task_args *ws_client_write_args;
int emove_server_id;
ulapi_task_struct emove_server_task;
emove_server_task_args emove_server_args;
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
opterr = 0;
while (true) {
option = getopt(argc, argv, ":i:n:p:t:Whd");
if (option == -1) break;
switch (option) {
case 'i':
inifile_name = std::string(optarg);
break;
case 'n':
// first check for valid name
if (optarg[0] == '-') {
fprintf(stderr, "invalid node name: %s\n", optarg);
return 1;
}
node_name = std::string(optarg);
break;
case 'w':
ival = atoi(optarg);
ws_port = ival;
break;
case 'e':
ival = atoi(optarg);
emove_port = ival;
break;
case 't':
dval = atof(optarg);
if (dval < FLT_EPSILON) {
fprintf(stderr, "bad value for period: %s\n", optarg);
return 1;
}
period = dval;
break;
// FIXME -- ipad
case 'W':
ws_all = true;
break;
case 'h':
print_help();
break;
case 'd':
debug = true;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "can't init ulapi\n");
return 1;
}
if (! inifile_name.empty()) {
if (0 != ini_load(inifile_name, &ws_port, &emove_port)) {
fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str());
return 1;
}
}
ulapi_mutex_init(&ws_stat_mutex, 1);
ulapi_mutex_init(&emove_stat_mutex, 1);
// pass everything after a '--' separator to ROS
ros_argc = argc - optind;
ros_argv = &argv[optind];
ros::init(ros_argc, ros_argv, node_name);
ros::NodeHandle nh;
ros::Subscriber wssub;
ros::Subscriber emovesub;
wssub = nh.subscribe(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN, ws_stat_callback);
emovesub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback);
/*
Run two processes, one that serves up the Workstation-level commands
and status, and the other that serves up the Emove status. This main
thread will handle the Workstation level.
*/
ws_server_id = ulapi_socket_get_server_id(ws_port);
if (ws_server_id < 0) {
fprintf(stderr, "can't serve WS port %d\n", ws_port);
return 1;
}
emove_server_id = ulapi_socket_get_server_id(emove_port);
if (emove_server_id < 0) {
fprintf(stderr, "can't serve Emove port %d\n", emove_port);
return 1;
}
ulapi_task_init(&emove_server_task);
emove_server_args.task = &emove_server_task;
emove_server_args.id = emove_server_id;
emove_server_args.period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(&emove_server_task, reinterpret_cast<ulapi_task_code>(emove_server_task_code), reinterpret_cast<void *>(&emove_server_args), ulapi_prio_highest(), 0);
bool done = false;
while (! done) {
if (debug) printf("waiting for a WS HMI connection on %d...\n", ws_server_id);
ws_connection_id = ulapi_socket_get_connection_id(ws_server_id);
if (ws_connection_id < 0) {
fprintf(stderr, "can't get a WS HMI connection\n");
break;
}
if (debug) printf("got a WS HMI connection on id %d\n", ws_connection_id);
// spawn connection tasks for reading and writing
ws_client_read_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_read_task)));
ws_client_read_args = reinterpret_cast<ws_client_read_task_args *>(malloc(sizeof(*ws_client_read_args)));
ulapi_task_init(ws_client_read_task);
ws_client_read_args->task = ws_client_read_task;
ws_client_read_args->id = ws_connection_id;
ulapi_task_start(ws_client_read_task, reinterpret_cast<ulapi_task_code>(ws_client_read_task_code), reinterpret_cast<void *>(ws_client_read_args), ulapi_prio_highest(), 0);
ws_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_write_task)));
ws_client_write_args = reinterpret_cast<ws_client_write_task_args *>(malloc(sizeof(*ws_client_write_args)));
ulapi_task_init(ws_client_write_task);
ws_client_write_args->task = ws_client_write_task;
ws_client_write_args->id = ws_connection_id;
ws_client_write_args->period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(ws_client_write_task, reinterpret_cast<ulapi_task_code>(ws_client_write_task_code), reinterpret_cast<void *>(ws_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(ws_server_id);
if (debug) printf("server on %d done\n", ws_server_id);
return 0;
}
static bool loadZum1(std::string const& dataIn)
{
// Remove the header data
const std::string data = dataIn.substr(5);
createDefaultEmpty();
currentDoc().width_ = 0;
currentDoc().height_ = 0;
ini_t * ini = ini_load(data.c_str(), nullptr);
{ // Load columns section
const int columnsSection = ini_find_section(ini, "columns", 0);
if (columnsSection != INI_NOT_FOUND)
{
const int columnsCount = ini_property_count(ini, columnsSection);
for (int i = 0; i < columnsCount; ++i)
{
const int col = Index::strToColumn(std::string(ini_property_name(ini, columnsSection, i)));
const int width = std::atoi(ini_property_value(ini, columnsSection, i));
currentDoc().columnWidth_[col] = width;
}
}
}
{ // Load data section
const int dataSection = ini_find_section(ini, "data", 0);
if (dataSection == INI_NOT_FOUND)
{
logError("Could not locate the data section in the document");
ini_destroy(ini);
return false;
}
const int dataCount = ini_property_count(ini, dataSection);
for (int i = 0; i < dataCount; ++i)
{
const Index idx = Index::fromStr(std::string(ini_property_name(ini, dataSection, i)));
const std::string value = ini_property_value(ini, dataSection, i);
setText(idx, value);
}
}
{ // Load format section
const int formatSection = ini_find_section(ini, "format", 0);
if (formatSection != INI_NOT_FOUND)
{
const int formatCount = ini_property_count(ini, formatSection);
for (int i = 0; i < formatCount; ++i)
{
const Index idx = Index::fromStr(std::string(ini_property_name(ini, formatSection, i)));
const std::string value = ini_property_value(ini, formatSection, i);
getCell(idx).format = parseFormat(value);
}
}
}
ini_destroy(ini);
evaluateDocument();
return true;
}
static int init ( void )
{
traceLastFunc( "init()" );
if ( g_hOrigDll == NULL )
{
if ( GetModuleFileName(g_hDllModule, g_szWorkingDirectory, sizeof(g_szWorkingDirectory) - 32) != 0 )
{
if ( strrchr(g_szWorkingDirectory, '\\') != NULL )
*strrchr( g_szWorkingDirectory, '\\' ) = 0;
else
strcpy( g_szWorkingDirectory, "." );
}
else
{
strcpy( g_szWorkingDirectory, "." );
}
// Hello World
Log( "Initializing %s", NAME );
Log( "Compiled: %s CL:%d", COMPILE_DT, COMPILE_VERSION );
// log windows version for people that forget to report it
WindowsInfo.osPlatform = (int) * (DWORD *)GTAvar_osPlatform;
WindowsInfo.osVer = (int) * (DWORD *)GTAvar_osVer;
WindowsInfo.winVer = (int) * (DWORD *)GTAvar_winVer;
WindowsInfo.winMajor = (int) * (DWORD *)GTAvar_winMajor;
if ( WindowsInfo.osPlatform == 2 )
Log( "OS: Windows Version %d.%d.%d", WindowsInfo.winMajor, WindowsInfo.winVer, WindowsInfo.osVer );
else
Log( "OS: Not Windows (%d.%d.%d)", WindowsInfo.winMajor, WindowsInfo.winVer, WindowsInfo.osVer );
/*
int D3D9UseVersion = (int)*(DWORD*)GTAvar__D3D9UseVersion;
Log("D3D9UseVersion: %d", D3D9UseVersion);
int DXVersion = (int)*(DWORD*)GTAvar__DXVersion;
Log("DXVersion: %d", DXVersion);
int windowsVersion = (int)*(DWORD*)GTAvar__windowsVersion;
Log("windowsVersion: %d", windowsVersion);
int CPUSupportsMMX = (int)*(DWORD*)__rwD3D9CPUSupportsMMX;
int CPUSupports3DNow = (int)*(DWORD*)__rwD3D9CPUSupports3DNow;
int CPUSupportsSSE = (int)*(DWORD*)__rwD3D9CPUSupportsSSE;
int CPUSupportsSSE2 = (int)*(DWORD*)__rwD3D9CPUSupportsSSE2;
if (!CPUSupportsMMX)
Log("CPU Supports MMX: %d", CPUSupportsMMX);
if (!CPUSupports3DNow)
Log("CPU Supports 3DNow: %d", CPUSupports3DNow);
if (!CPUSupportsSSE)
Log("CPU Supports SSE: %d", CPUSupportsSSE);
if (!CPUSupportsSSE2)
Log("CPU Supports SSE2: %d", CPUSupportsSSE2);
*/
#pragma warning( disable : 4127 )
if ( sizeof(struct vehicle_info) != 2584 )
{
Log( "sizeof(struct vehicle_info) == %d, aborting.", sizeof(struct vehicle_info) );
return 0;
}
if ( sizeof(struct actor_info) != 1988 )
{
Log( "sizeof(struct actor_info) == %d, aborting.", sizeof(struct actor_info) );
return 0;
}
#pragma warning( default : 4127 )
ini_load();
if ( !set.i_have_edited_the_ini_file )
{
MessageBox( 0, "Looks like you've not edited the .ini file like you were told to!\n""\n"
"Before you can use mod_sa, you have to set \"i_have_edited_the_ini_file\" to true.\n"
"We did this so you would read the INI file to see the configurability of mod_sa.\n",
"You're a retard.", 0 );
ShellExecute( 0, "open", "notepad", INI_FILE, g_szWorkingDirectory, SW_SHOW );
return 0;
}
// get SAMP and set g_dwSAMP_Addr
getSamp();
// get actual d3d9.dll and proxy original D3D9Device
char filename[MAX_PATH];
GetSystemDirectory( filename, (UINT) (MAX_PATH - strlen("\\d3d9.dll") - 1) );
strlcat( filename, "\\d3d9.dll", sizeof(filename) );
g_hOrigDll = LoadLibrary( filename );
if ( g_hOrigDll == NULL )
{
Log( "Failed to load %s", filename );
return 0;
}
orig_Direct3DCreate9 = ( D3DC9 ) GetProcAddress( g_hOrigDll, "Direct3DCreate9" );
if ( orig_Direct3DCreate9 == NULL )
{
Log( "%s does not export Direct3DCreate9!?", filename );
FreeLibrary( g_hOrigDll );
return 0;
}
}
return 1;
}
int main(int argc, char **argv)
{
int ros_argc;
char **ros_argv;
std::string node_name(NODE_NAME_DEFAULT);
int option;
int ival;
double dval;
nist_kitting::ws_stat ws_stat_buf;
ws_stat_buf.stat.period = PERIOD_DEFAULT;
opterr = 0;
while (true) {
option = getopt(argc, argv, ":i:n:t:p:f:hd");
if (option == -1)
break;
switch (option) {
case 'i':
inifile_name = std::string(optarg);
break;
case 'n':
// first check for valid name
if (optarg[0] == '-') {
fprintf(stderr, "invalid node name: %s\n", optarg);
return 1;
}
node_name = std::string(optarg);
break;
case 't':
dval = atof(optarg);
if (dval < FLT_EPSILON) {
fprintf(stderr, "bad value for period: %s\n", optarg);
return 1;
}
ws_stat_buf.stat.period = dval;
break;
case 'p':
planning_app = std::string(optarg);
break;
case 'f':
plan_file = std::string(optarg);
break;
case 'h':
print_help();
break;
case 'd':
debug = 1;
ulapi_set_debug(ULAPI_DEBUG_ALL);
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
}
}
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "can't init ulapi\n");
return 1;
}
if (inifile_name.empty()) {
fprintf(stderr, "no ini file provided\n");
return 1;
}
if (0 != ini_load(inifile_name, planning_app, plan_file)) {
fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str());
return 1;
}
if (planning_app.empty()) {
fprintf(stderr, "no planning application provided\n");
return 1;
}
if (plan_file.empty()) {
fprintf(stderr, "no plan file provided\n");
return 1;
}
if (debug) {
ROS_INFO("Using planning application '%s', plan file '%s'\n", planning_app.c_str(), plan_file.c_str());
}
// pass everything after a '--' separator to ROS
ros_argc = argc - optind;
ros_argv = &argv[optind];
ros::init(ros_argc, ros_argv, node_name);
ros::NodeHandle nh;
ros::Subscriber ws_cmd_sub;
ros::Subscriber emove_stat_sub;
ros::Publisher ws_stat_pub;
ros::Publisher emove_cmd_pub;
ros::Rate loop_rate(1.0 / ws_stat_buf.stat.period);
ws_cmd_sub = nh.subscribe(KITTING_WS_CMD_TOPIC, TOPIC_QUEUE_LEN, ws_cmd_callback);
emove_stat_sub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback);
ws_stat_pub = nh.advertise<nist_kitting::ws_stat>(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN);
emove_cmd_pub = nh.advertise<nist_kitting::emove_cmd>(KITTING_EMOVE_CMD_TOPIC, TOPIC_QUEUE_LEN);
// stuff a NOP command
ws_stat_buf.stat.type = ws_cmd_buf.cmd.type = KITTING_NOP;
ws_stat_buf.stat.serial_number = ws_cmd_buf.cmd.serial_number = 0;
ws_stat_buf.stat.state = RCS_STATE_NEW_COMMAND;
ws_stat_buf.stat.status = RCS_STATUS_EXEC;
ws_stat_buf.stat.heartbeat = 0;
signal(SIGINT, quit);
double start, end, last_start = ulapi_time() - ws_stat_buf.stat.period;
while (true) {
ros::spinOnce();
start = ulapi_time();
ws_stat_buf.stat.cycle = start - last_start;
last_start = start;
if (ws_stat_buf.stat.serial_number != ws_cmd_buf.cmd.serial_number) {
ws_stat_buf.stat.type = ws_cmd_buf.cmd.type;
ws_stat_buf.stat.serial_number = ws_cmd_buf.cmd.serial_number;
ws_stat_buf.stat.state = RCS_STATE_NEW_COMMAND;
ws_stat_buf.stat.status = RCS_STATUS_EXEC;
if (NULL != planning_process) {
ulapi_process_stop(planning_process);
ulapi_process_delete(planning_process);
planning_process = NULL;
}
}
switch (ws_cmd_buf.cmd.type) {
case KITTING_NOP:
do_cmd_kitting_nop(ws_stat_buf);
break;
case KITTING_INIT:
do_cmd_kitting_init(ws_stat_buf, emove_cmd_pub, emove_stat_buf);
break;
case KITTING_HALT:
do_cmd_halt(ws_stat_buf);
break;
case KITTING_WS_ASSEMBLE_KIT:
do_cmd_kitting_ws_assemble_kit(ws_cmd_buf.assemble_kit, ws_stat_buf, emove_cmd_pub, emove_stat_buf);
break;
default:
// unrecognized command -- FIXME
break;
}
ws_stat_buf.stat.heartbeat++;
end = ulapi_time();
ws_stat_buf.stat.duration = ulapi_time() - start;
ws_stat_pub.publish(ws_stat_buf);
loop_rate.sleep();
}
return 0;
}
int main()
{
/* $ export MALLOC_TRACE=malloc.log */
mtrace();
ini_t *conf = ini_load("test.ini");
if (conf == NULL)
error(1, errno, "ini_load fail");
char *type;
ini_read_str(conf, "main", "type", &type, "test");
puts(type);
free(type);
char value[100] = { 0 };
ini_read_strn(conf, "main", "len", value, sizeof(value), NULL);
puts(value);
int i;
ini_read_int(conf, "int", "int", &i, 0);
unsigned ui;
ini_read_unsigned(conf, "int", "unsigned", &ui, 0);
printf("int: %d, unsigned: %u\n", i, ui);
int8_t int8;
ini_read_int8(conf, "int", "int8", &int8, 0);
uint8_t uint8;
ini_read_uint8(conf, "int", "uint8", &uint8, 0);
printf("int8: %i, uint8: %u\n", int8, uint8);
int16_t int16;
ini_read_int16(conf, "int", "int16", &int16, 0);
uint16_t uint16;
ini_read_uint16(conf, "int", "uint16", &uint16, 0);
printf("int16: %i, uint16: %u\n", int16, uint16);
int32_t int32;
ini_read_int32(conf, "int", "int32", &int32, 0);
uint32_t uint32;
ini_read_uint32(conf, "int", "uint32", &uint32, 0);
printf("int32: %i, uint32: %u\n", int32, uint32);
int64_t int64;
ini_read_int64(conf, "int", "int64", &int64, 0);
uint64_t uint64;
ini_read_uint64(conf, "int", "uint64", &uint64, 0);
printf("int64: %"PRIi64", uint64: %"PRIu64"\n", int64, uint64);
float f;
ini_read_float(conf, "float", "float", &f, 0);
double d;
ini_read_double(conf, "float", "double", &d, 0);
printf("float: %f, double: %f\n", f, d);
struct sockaddr_in addr;
ini_read_ipv4_addr(conf, "addr", "ipv4", &addr, "127.0.0.1:0");
printf("%s:%u\n", inet_ntoa(addr.sin_addr), ntohs(addr.sin_port));
char *proc_name = NULL;
ini_read_str(conf, "global", "proc_name", &proc_name, "test.ini");
printf("proc_name: %s\n", proc_name);
free(proc_name);
char *phone_num = NULL;
ini_read_str(conf, "damon", "phone num", &phone_num, "123456789");
printf("phone num: %s\n", phone_num);
free(phone_num);
char *city = NULL;
ini_read_str(conf, "global", "$%^#@!", &city, "shen zhen");
puts(city);
free(city);
char *name = NULL;
ini_read_str(conf, NULL, "名字", &name, "");
puts(name);
free(name);
ini_free(conf);
return 0;
}
conf_t *conf_init(void)
{
conf_t *self;
ini_t *ini;
char *tmp, **splitted;
int nsplits;
unsigned i;
dict_t *vars;
self = xmalloc(sizeof(conf_t));
self->post_pkgadd = NULL;
self->ask_for_update = 1;
self->not_found_policy = ASK;
ini = ini_new(CONF_FILE);
ini_add(ini, "ilenia");
ini_set_default(ini, "ilenia", "post_pkgadd", xstrdup(""));
ini_set_default(ini, "ilenia", "ask_for_update", xstrdup("1"));
ini_set_default(ini, "ilenia", "not_found_policy", xstrdup("ASK"));
ini_set_default(ini, "ilenia", "repositories_hierarchy", xstrdup(""));
ini_set_default(ini, "ilenia", "enable_colors", xstrdup("Yes"));
ini_set_default(ini, "ilenia", "verbose", xstrdup("No"));
ini_add(ini, "favourite_repositories");
ini_add(ini, "locked_versions");
ini_add(ini, "aliases");
ini_add(ini, "pkgmk_confs");
ini_load(ini);
if ((tmp = getenv("POST_PKGADD")) == NULL)
tmp = ini_get(ini, "ilenia", "post_pkgadd");
self->post_pkgadd = xstrdup(tmp);
if ((tmp = getenv("ASK_FOR_UPDATE")) == NULL)
tmp = ini_get(ini, "ilenia", "ask_for_update");
if (!strcasecmp(tmp, "NO"))
self->ask_for_update = 0;
else
self->ask_for_update = 1;
if ((tmp = getenv("NOT_FOUND_POLICY")) == NULL)
tmp = ini_get(ini, "ilenia", "not_found_policy");
if (!strcasecmp(tmp, "NEVERMIND"))
self->not_found_policy = NEVERMIND;
else if (!strcasecmp(tmp, "STOP"))
self->not_found_policy = STOP;
else
self->not_found_policy = ASK;
tmp = ini_get(ini, "ilenia", "repositories_hierarchy");
if (tmp != NULL) {
strreplace(&tmp, "\t", " ", -1);
while (strstr(tmp, " "))
strreplace(&tmp, " ", " ", -1);
splitted = NULL;
nsplits = strsplit(tmp, ' ', &splitted);
self->repositories_hierarchy =
list_new_from_array((void **)splitted, nsplits);
free(splitted);
} else
self->repositories_hierarchy = list_new();
if ((tmp = getenv("ENABLE_COLORS")) == NULL)
tmp = ini_get(ini, "ilenia", "enable_colors");
if (!strcasecmp(tmp, "NO"))
self->enable_colors = 0;
else
self->enable_colors = 1;
if ((tmp = getenv("VERBOSE")) == NULL)
tmp = ini_get(ini, "ilenia", "verbose");
if (strcasecmp(tmp, "Yes") == 0)
self->verbose = 1;
else
self->verbose = 0;
self->favourite_repositories = dict_new();
vars = ini_get_vars(ini, "favourite_repositories");
for (i = 0; vars && i < vars->length; i++)
dict_add(self->favourite_repositories, vars->elements[i]->key,
xstrdup(vars->elements[i]->value));
self->locked_versions = dict_new();
vars = ini_get_vars(ini, "locked_versions");
for (i = 0; vars && i < vars->length; i++)
dict_add(self->locked_versions, vars->elements[i]->key,
xstrdup(vars->elements[i]->value));
self->aliases = dict_new();
vars = ini_get_vars(ini, "aliases");
for (i = 0; vars != NULL && i < vars->length; i++) {
tmp = vars->elements[i]->value;
strreplace(&tmp, "\t", " ", -1);
while (strstr(tmp, " "))
strreplace(&tmp, " ", " ", -1);
splitted = NULL;
nsplits = strsplit(tmp, ' ', &splitted);
if (nsplits == 0)
continue;
dict_add(self->aliases, vars->elements[i]->key,
list_new_from_array((void **)splitted, nsplits));
free(splitted);
}
self->pkgmk_confs = dict_new();
vars = ini_get_vars(ini, "pkgmk_confs");
for (i = 0; vars && i < vars->length; i++)
dict_add(self->pkgmk_confs, vars->elements[i]->key,
xstrdup(vars->elements[i]->value));
ini_free(ini);
return self;
}
