/**
* Construct using a base64 string
* @param value the string
*/
explicit CppIntegerData(const QString &string)
{
QByteArray data = FromBase64(string);
_integer = CryptoPP::Integer(
reinterpret_cast<const byte *>(data.constData()), data.size());
}
//==================================================================
bool FileManagerAndroid::GrabFile(const char* pFileName, DVec<U8> &out_data, const char* pMode)
{
DFUNCTION();
DLOG("File: %s", pFileName);
#if defined(ANDROID)
bool prefs = isPrefsMode( pMode );
if (prefs)
{
// Read from the prefs storage
DLOG("Grabbing file (prefs): %s", pFileName);
char *contents = ::DoReadPrefs(pFileName);
if (0 == contents)
{
DLOG("Failed to open the file");
return false;
}
// Decode into binary
size_t binLength = 0;
void *binData = FromBase64(contents, &binLength);
free(contents);
if (binData == 0)
{
DPRINT("!! File '%s' was not base64 format. Rejecting.", pFileName);
return false;
}
// Copy into output array and free original
// TODO: Could be sped up by pre-calculating length and not
// copying.
out_data.resize(binLength);
memcpy(&out_data[0], binData, binLength);
free(binData);
DLOG("copied %d bytes", binLength);
return true;
}
::FileLoad(pFileName);
int datasize;
void *data;
if (!FileGetData(pFileName, &data, &datasize))
{
//DASSTHROW(0, ("failed loading file '%s'", pFileName));
return false;
}
out_data.resize(datasize);
DVERBOSE("GrabFile: memcpy-ing '%s', %d bytes", pFileName, datasize);
memcpy(&out_data[0], data, datasize);
FileRemove(pFileName);
DVERBOSE("GrabFile: released");
#endif
return true;
}
HRESULT
CALLBACK
bpcmds(PDEBUG_CLIENT4 Client, PCSTR Args)
{
HRESULT hRes=S_OK;
char *msg, *decoded, *query;
LPSTR pszString;
int NbBytesRecvd;
size_t cbBinary;
INIT_API();
#if VERBOSE >= 2
dprintf("[sync] !bpcmds called\n");
#endif
if(!g_Synchronized)
{
dprintf("[sync] please enable sync\n");
return E_FAIL;
}
if (!Args || !*Args){
msg = "query";
} else {
msg = (char *)Args;
}
if ((strncmp("load", msg, 4)==0) || (strncmp("query", msg, 5)==0))
{
dprintf("[sync] query idb for bpcmds\n");
hRes=TunnelSend("[sync]{\"type\":\"bps_get\"}\n");
}
else if(strncmp("save", msg, 4)==0)
{
dprintf("[sync] dumping bpcmds to idb\n");
hRes=LocalCmd(Client, ".bpcmds");
// g_CommandBuffer first four bytes should contains
// return value for command exec
if (FAILED(hRes) || FAILED(*g_CommandBuffer))
{
dprintf("[sync] failed to evaluate .bpcmds command\n");
return E_FAIL;
}
cbBinary = strlen(g_CommandBuffer+4);
dprintf("%s\n", g_CommandBuffer);
hRes = ToBase64((const byte *)g_CommandBuffer+4, (unsigned int)cbBinary, &pszString);
if (SUCCEEDED(hRes)) {
hRes = TunnelSend("[sync]{\"type\":\"bps_set\",\"msg\":\"%s\"}\n", pszString);
free(pszString);
}
}
else
{
dprintf("[sync] usage !bpcmds <||query|save|load|\n");
return E_FAIL;
}
// Check if we failed to query the idb client
if (FAILED(hRes)){
dprintf("[sync] !bpcmds failed\n");
return hRes;
}
// Get result from idb client
hRes=TunnelReceive(&NbBytesRecvd, &query);
if (!(SUCCEEDED(hRes) & (NbBytesRecvd>0) & (query != NULL)))
{
dprintf("[sync] !bpcmds failed\n");
return hRes;
}
// Handle result
if(strncmp("load", msg, 4)==0)
{
hRes = FromBase64(query, (BYTE **)(&decoded));
if (SUCCEEDED(hRes)) {
hRes = ExecCmdList(decoded);
free(decoded);
}
}
else if(strncmp("query", msg, 4)==0)
{
hRes = FromBase64(query, (BYTE **)(&decoded));
if (SUCCEEDED(hRes)) {
dprintf("[sync] idb's saved bpcmds:\n %s\n", decoded);
free(decoded);
}
}
else
{
dprintf("%s\n", query);
}
free(query);
return hRes;
}
bool XmlSimulationSettings::GetSettings(WorldSimulation& sim)
{
string globals="globals";
TiXmlElement* c = e->FirstChildElement(globals);
if(c) {
printf("Parsing timestep...\n");
//parse timestep
double timestep;
if(c->QueryValueAttribute("timestep",×tep)==TIXML_SUCCESS)
sim.simStep = timestep;
}
printf("Parsing ODE...\n");
XmlODESettings ode(e);
if(!ode.GetSettings(sim.odesim)) {
return false;
}
printf("Parsing robot controllers / sensors\n");
c = e->FirstChildElement("robot");
while(c != NULL) {
int index;
if(c->QueryValueAttribute("index",&index)!=TIXML_SUCCESS) {
fprintf(stderr,"Unable to read index of robot element\n");
continue;
}
Assert(index < (int)sim.robotControllers.size());
ControlledRobotSimulator& robotSim=sim.controlSimulators[index];
TiXmlElement* ec=c->FirstChildElement("controller");
if(ec) {
RobotControllerFactory::RegisterDefault(*robotSim.robot);
SmartPointer<RobotController> controller=RobotControllerFactory::Load(ec,*robotSim.robot);
if(controller)
sim.SetController(index,controller);
else {
fprintf(stderr,"Unable to load controller from xml file\n");
return false;
}
Real temp;
if(ec->QueryValueAttribute("rate",&temp)==TIXML_SUCCESS){
if(!(temp > 0)) {
fprintf(stderr,"Invalid rate %g\n",temp);
continue;
}
sim.controlSimulators[index].controlTimeStep = 1.0/temp;
}
if(ec->QueryValueAttribute("timeStep",&temp)==TIXML_SUCCESS){
if(!(temp > 0)) {
fprintf(stderr,"Invalid timestep %g\n",temp);
continue;
}
sim.controlSimulators[index].controlTimeStep = temp;
}
}
TiXmlElement*es=c->FirstChildElement("sensors");
if(es) {
if(!sim.controlSimulators[index].sensors.LoadSettings(es)) {
fprintf(stderr,"Unable to load sensors from xml file\n");
return false;
}
}
/*
TiXmlElement* es=c->FirstChildElement("sensors");
if(es) {
printf("Parsing sensors...\n");
TiXmlElement* pos=es->FirstChildElement("position");
int ival;
Real fval;
if(pos) {
if(pos->QueryValueAttribute("enabled",&ival)==TIXML_SUCCESS) {
if(bodyIndex >= 0)
fprintf(stderr,"Warning: cannot enable individual joint encoders yet\n");
robotSim.sensors.hasJointPosition=(ival!=0);
}
if(pos->QueryValueAttribute("variance",&fval)==TIXML_SUCCESS) {
if(robotSim.sensors.qvariance.n==0)
robotSim.sensors.qvariance.resize(robotSim.robot->q.n,Zero);
if(bodyIndex >= 0)
robotSim.sensors.qvariance(bodyIndex)=fval;
else
robotSim.sensors.qvariance.set(fval);
}
if(pos->QueryValueAttribute("resolution",&fval)==TIXML_SUCCESS) {
if(robotSim.sensors.qresolution.n==0)
robotSim.sensors.qresolution.resize(robotSim.robot->q.n,Zero);
if(bodyIndex >= 0)
robotSim.sensors.qresolution(bodyIndex)=fval;
else
robotSim.sensors.qresolution.set(fval);
}
}
TiXmlElement* vel=c->FirstChildElement("velocity");
if(vel) {
if(vel->QueryValueAttribute("enabled",&ival)==TIXML_SUCCESS) {
if(bodyIndex >= 0)
fprintf(stderr,"Warning: cannot enable individual joint encoders yet\n");
robotSim.sensors.hasJointVelocity=(ival!=0);
}
if(vel->QueryValueAttribute("variance",&fval)==TIXML_SUCCESS) {
if(robotSim.sensors.dqvariance.n==0)
robotSim.sensors.dqvariance.resize(robotSim.robot->q.n,Zero);
if(bodyIndex >= 0)
robotSim.sensors.dqvariance(bodyIndex)=fval;
else
robotSim.sensors.dqvariance.set(fval);
}
if(vel->QueryValueAttribute("resolution",&fval)==TIXML_SUCCESS) {
if(robotSim.sensors.dqresolution.n==0)
robotSim.sensors.dqresolution.resize(robotSim.robot->q.n,Zero);
if(bodyIndex >= 0)
robotSim.sensors.dqresolution(bodyIndex)=fval;
else
robotSim.sensors.dqresolution.set(fval);
}
}
//TODO: other sensors?
}
*/
/*
TiXmlElement* ec=c->FirstChildElement("controller");
if(ec) {
printf("Parsing controller...\n");
TiXmlAttribute* setting = ec->FirstAttribute();
while(setting) {
bool res=robotSim.controller->SetSetting(setting->Name(),setting->Value());
if(!res) {
printf("Setting %s not valid for current controller, or failed parsing\n",setting->Name());
}
setting = setting->Next();
}
}
*/
c = c->NextSiblingElement("robot");
}
printf("Parsing state\n");
c = e->FirstChildElement("state");
if(c) {
const char* data=c->Attribute("data");
if(!data) {
fprintf(stderr,"No 'data' attribute in state\n");
return false;
}
string decoded=FromBase64(data);
if(!sim.ReadState(decoded)) {
fprintf(stderr,"Unable to read state from data\n");
return false;
}
}
return true;
}
/* Fills in a Bookmark structure based off of a line from the NcFTP
* "bookmarks" file.
*/
int
ParseHostLine(char *line, BookmarkPtr bmp)
{
char token[128];
char pass[128];
char *s, *d;
char *tokenend;
long L;
int i;
int result;
int n, n1, n2;
SetBookmarkDefaults(bmp);
s = line;
tokenend = token + sizeof(token) - 1;
result = -1;
for (i=1; ; i++) {
if (*s == '\0')
break;
/* Some tokens may need to have a comma in them. Since this is a
* field delimiter, these fields use \, to represent a comma, and
* \\ for a backslash. This chunk gets the next token, paying
* attention to the escaped stuff.
*/
for (d = token; *s != '\0'; ) {
if ((*s == '\\') && (s[1] != '\0')) {
if (d < tokenend)
*d++ = s[1];
s += 2;
} else if (*s == ',') {
++s;
break;
} else if ((*s == '$') && (s[1] != '\0') && (s[2] != '\0')) {
n1 = HexCharToNibble(s[1]);
n2 = HexCharToNibble(s[2]);
if ((n1 >= 0) && (n2 >= 0)) {
n = (n1 << 4) | n2;
if (d < tokenend)
*(unsigned char *)d++ = (unsigned int) n;
}
s += 3;
} else {
if (d < tokenend)
*d++ = *s;
++s;
}
}
*d = '\0';
switch(i) {
case 1: (void) STRNCPY(bmp->bookmarkName, token); break;
case 2: (void) STRNCPY(bmp->name, token); break;
case 3: (void) STRNCPY(bmp->user, token); break;
case 4: (void) STRNCPY(bmp->pass, token); break;
case 5: (void) STRNCPY(bmp->acct, token); break;
case 6: (void) STRNCPY(bmp->dir, token);
result = 0; /* Good enough to have these fields. */
break;
case 7:
if (token[0] != '\0')
bmp->xferType = (int) token[0];
break;
case 8:
/* Most of the time, we won't have a port. */
if (token[0] == '\0')
bmp->port = (unsigned int) kDefaultFTPPort;
else
bmp->port = (unsigned int) atoi(token);
break;
case 9:
(void) sscanf(token, "%lx", &L);
bmp->lastCall = (time_t) L;
break;
case 10: bmp->hasSIZE = atoi(token); break;
case 11: bmp->hasMDTM = atoi(token); break;
case 12: bmp->hasPASV = atoi(token); break;
case 13: bmp->isUnix = atoi(token);
result = 3; /* Version 3 had all fields to here. */
break;
case 14: (void) STRNCPY(bmp->lastIP, token); break;
case 15: (void) STRNCPY(bmp->comment, token); break;
case 16:
case 17:
case 18:
case 19:
break;
case 20: bmp->xferMode = token[0];
result = 7; /* Version 7 has all fields to here. */
break;
case 21: bmp->hasUTIME = atoi(token);
break;
case 22: (void) STRNCPY(bmp->ldir, token);
result = 8; /* Version 8 has all fields to here. */
break;
default:
result = 99; /* Version >8 ? */
goto done;
}
}
done:
/* Decode password, if it was base-64 encoded. */
if (strncmp(bmp->pass, kPasswordMagic, kPasswordMagicLen) == 0) {
FromBase64(pass, bmp->pass + kPasswordMagicLen, strlen(bmp->pass + kPasswordMagicLen), 1);
(void) STRNCPY(bmp->pass, pass);
}
return (result);
} /* ParseHostLine */
