int init(void)
{
// ARA begin insert new code
#ifdef __ANDROID__
runNEONTests();
#endif
// ARA end
perf_init();
ctrl_init();
render_init();
physics_init();
landscapeMeshId = render_init_mesh(
LargeMeshVtx,sizeof(float)*6,
LargeMeshVtx+3,sizeof(float)*6,
LargeMeshIdx,sizeof(unsigned short)*3,
LargeMeshVtxCount,LargeMeshIdxCount/3);
convexMeshId = render_init_mesh(
BarrelVtx,sizeof(float)*6,
BarrelVtx+3,sizeof(float)*6,
BarrelIdx,sizeof(unsigned short)*3,
BarrelVtxCount,BarrelIdxCount/3);
return 0;
}
JNIEXPORT jint JNICALL Java_org_openoverlayrouter_noroot_OOR_1JNI_oor_1start
(JNIEnv *env, jobject thisObj, jint vpn_tun_fd, jstring storage_path)
{
oor_dev_type_e dev_type;
jintArray fd_list;
uint32_t iseed = 0; /* initial random number generator */
pid_t pid = 0; /* child pid */
pid_t sid = 0;
char log_file[1024];
const char *path = NULL;
lisp_xtr_t *tunnel_router;
memset (log_file,0,sizeof(char)*1024);
initial_setup();
jni_init(env,thisObj);
/* create socket master, timer wheel, initialize interfaces */
smaster = sockmstr_create();
oor_timers_init();
ifaces_init();
/* create control. Only one instance for now */
lctrl = ctrl_create();
/* Detect the data plane type */
data_plane_select();
/** parse config and create ctrl_dev **/
/* obtain the configuration file */
path = (*env)->GetStringUTFChars(env, storage_path, 0);
config_file = calloc(1024, sizeof(char));
strcat(config_file,path);
strcat(config_file,"oor.conf");
strcat(log_file,path);
strcat(log_file,"oor.log");
(*env)->ReleaseStringUTFChars(env, storage_path, path);
open_log_file(log_file);
if (parse_config_file()!=GOOD){
exit_cleanup();
close(vpn_tun_fd);
return (BAD);
}
dev_type = ctrl_dev_mode(ctrl_dev);
if (dev_type == xTR_MODE || dev_type == RTR_MODE || dev_type == MN_MODE) {
OOR_LOG(LDBG_2, "Configuring data plane");
tunnel_router = CONTAINER_OF(ctrl_dev, lisp_xtr_t, super);
data_plane->datap_init(dev_type, tr_get_encap_type(tunnel_router), vpn_tun_fd);
OOR_LOG(LDBG_1, "Data plane initialized");
}
ctrl_init(lctrl);
init_netlink();
/* run lisp control device xtr/ms */
if (!ctrl_dev) {
OOR_LOG(LDBG_1, "device NULL");
return (BAD);
}
return (GOOD);
}
void hw_init()
{
/* Status LED */
DDRB |= (1<<PB1);
/* Init onewire */
#ifndef OW_ONE_BUS
ow_set_bus(&PINB,&PORTB,&DDRB,PB0);
#endif
/* Init controller */
ctrl_init();
}
int init(void)
{
perf_init();
ctrl_init();
render_init();
physics_init();
float angX,angY,r;
render_get_view_angle(angX,angY,r);
r *= 0.5f;
render_set_view_angle(angX,angY,r);
return 0;
}
int main()
{
kb_init(&keyboard);
stb_fake_model_init(&model);
gl_view_init(&view);
ctrl_init(&ctrl);
ctrl_set_view(&view);
ctrl_set_model(&model);
kb_set_callback(ctrl.handler);
view.start();
ctrl.start();
keyboard.start();
model.deinit();
puts("finish");
}
int init(void)
{
perf_init();
ctrl_init();
render_init();
physics_init();
landscapeMeshId = render_init_mesh(
LargeMeshVtx,sizeof(float)*6,
LargeMeshVtx+3,sizeof(float)*6,
LargeMeshIdx,sizeof(unsigned short)*3,
LargeMeshVtxCount,LargeMeshIdxCount/3);
convexMeshId = render_init_mesh(
BarrelVtx,sizeof(float)*6,
BarrelVtx+3,sizeof(float)*6,
BarrelIdx,sizeof(unsigned short)*3,
BarrelVtxCount,BarrelIdxCount/3);
return 0;
}
void motor_init()
{
mylogfd (MOTOFD, "[moto]init\n");
mylogfd(1, "in motor\n");
// init ttys
if ((fd = ttys_init(0)) < 0) {
exit(-1);
}
else
printf("serial init ok\n");
mylogfd(1, "in motor 2\n");
// init ctrl
ctrl_init(fd);
tcgetattr(0, &tio);
// clean up at exit
if (atexit(cleanup)) {
mylogfd(2,"[moto]init:atexit error\n");
exit(-1);
}
task_segList = NULL;
}
int Init(void *_ctx) {
ctx = _ctx;
switch(ctrl_init()) {
case -1:
return -1;
case 0:
return 0;
}
init_memory();
ctrl_in = NULL;
if (!init_ctrl_input(ctx)) {
return 0;
}
nof_output_data_itf = 0;
param_get_int_name("nof_output_data_itf",&nof_output_data_itf);
if (init_remote_variables(ctx) == -1) {
return -1;
}
nof_remote_itf = scan_remote_itf(ctx,nof_remote_variables);
if (nof_remote_itf == -1) {
return -1;
}
nof_local_variables = init_local_variables(ctx);
if (nof_local_variables == -1) {
return -1;
}
if (init_remote_itf(ctx,nof_remote_itf)) {
return -1;
}
return 1;
}
/** *****************************************************************************************************************
@brief the main event loop.
This will handle signals, poll buddies, poll clients, publish events, and cleanup sockets.
********************************************************************************************************************/
void
event_loop(int32_t listen_sock)
{
upk_conn_handle_meta_t *clients;
fd_set lfds;
double sel_ival = upk_runtime_configuration.BuddyPollingInterval / 2;
struct timeval timeout, timeoutv = { 0, 0 };
#ifdef UPK_CONTROLLER_TERMINATE_FOR_TESTING_AFTER_N
int connections = 0;
#endif
clients = ctrl_init();
while(1) {
handle_signals();
handle_buddies();
FD_ZERO(&lfds);
FD_SET(listen_sock, &lfds);
timeout = timeoutv;
if(select(listen_sock + 1, &lfds, NULL, NULL, &timeout) > 0) {
if(FD_ISSET(listen_sock, &lfds)) {
upk_debug1("Accepting connection\n");
ctrl_accept_conn(listen_sock, clients);
#ifdef UPK_CONTROLLER_TERMINATE_FOR_TESTING_AFTER_N
connections++;
#endif
}
}
upk_net_event_dispatcher(clients, sel_ival);
upk_net_flush_closed_sockets(clients);
#ifdef UPK_CONTROLLER_TERMINATE_FOR_TESTING_AFTER_N
if(n++ > 50 || connections > UPK_CONTROLLER_TERMINATE_FOR_TESTING_AFTER_N)
break;
#endif
}
}
/* Client program */
int
main(int argc, char *argv[])
{
char server[256];
char fullhostname[64];
char domain[256];
char shell[256];
char directory[256];
RD_BOOL prompt_password, deactivated;
struct passwd *pw;
uint32 flags, ext_disc_reason = 0;
char *p;
int c;
char *locale = NULL;
int username_option = 0;
RD_BOOL geometry_option = False;
#ifdef WITH_RDPSND
char *rdpsnd_optarg = NULL;
#endif
#ifdef HAVE_LOCALE_H
/* Set locale according to environment */
locale = setlocale(LC_ALL, "");
if (locale)
{
locale = xstrdup(locale);
}
#endif
/* Ignore SIGPIPE, since we are using popen() */
struct sigaction act;
memset(&act, 0, sizeof(act));
act.sa_handler = SIG_IGN;
sigemptyset(&act.sa_mask);
act.sa_flags = 0;
sigaction(SIGPIPE, &act, NULL);
/* setup default flags for TS_INFO_PACKET */
flags = RDP_INFO_MOUSE | RDP_INFO_DISABLECTRLALTDEL
| RDP_INFO_UNICODE | RDP_INFO_MAXIMIZESHELL | RDP_INFO_ENABLEWINDOWSKEY;
prompt_password = False;
g_seamless_spawn_cmd[0] = domain[0] = g_password[0] = shell[0] = directory[0] = 0;
g_embed_wnd = 0;
g_num_devices = 0;
#ifdef RDP2VNC
#define VNCOPT "V:Q:"
#else
#define VNCOPT
#endif
while ((c = getopt(argc, argv,
VNCOPT "A:u:L:d:s:c:p:n:k:g:o:fbBeEitmzCDKS:T:UNX:a:x:Pr:045h?")) != -1)
{
switch (c)
{
#ifdef RDP2VNC
case 'V':
rfb_port = strtol(optarg, NULL, 10);
if (rfb_port < 100)
rfb_port += 5900;
break;
case 'Q':
defer_time = strtol(optarg, NULL, 10);
if (defer_time < 0)
defer_time = 0;
break;
#endif
case 'A':
g_seamless_rdp = True;
STRNCPY(g_seamless_shell, optarg, sizeof(g_seamless_shell));
break;
case 'u':
g_username = (char *) xmalloc(strlen(optarg) + 1);
STRNCPY(g_username, optarg, strlen(optarg) + 1);
username_option = 1;
break;
case 'L':
#ifdef HAVE_ICONV
STRNCPY(g_codepage, optarg, sizeof(g_codepage));
#else
error("iconv support not available\n");
#endif
break;
case 'd':
STRNCPY(domain, optarg, sizeof(domain));
break;
case 's':
STRNCPY(shell, optarg, sizeof(shell));
g_seamless_persistent_mode = False;
break;
case 'c':
STRNCPY(directory, optarg, sizeof(directory));
break;
case 'p':
if ((optarg[0] == '-') && (optarg[1] == 0))
{
prompt_password = True;
break;
}
STRNCPY(g_password, optarg, sizeof(g_password));
flags |= RDP_INFO_AUTOLOGON;
/* try to overwrite argument so it won't appear in ps */
p = optarg;
while (*p)
*(p++) = 'X';
break;
#ifdef WITH_SCARD
case 'i':
flags |= RDP_INFO_PASSWORD_IS_SC_PIN;
g_use_password_as_pin = True;
break;
#endif
case 't':
g_use_ctrl = False;
break;
case 'n':
STRNCPY(g_hostname, optarg, sizeof(g_hostname));
break;
case 'k':
STRNCPY(g_keymapname, optarg, sizeof(g_keymapname));
break;
case 'g':
geometry_option = True;
g_fullscreen = False;
if (!strcmp(optarg, "workarea"))
{
g_sizeopt = 1;
break;
}
g_width = strtol(optarg, &p, 10);
if (g_width <= 0)
{
error("invalid geometry\n");
return EX_USAGE;
}
if (*p == 'x')
g_height = strtol(p + 1, &p, 10);
if (g_height <= 0)
{
error("invalid geometry\n");
return EX_USAGE;
}
if (*p == '%')
{
g_sizeopt = -g_width;
g_width = 800;
p++;
}
if (*p == '+' || *p == '-')
{
g_pos |= (*p == '-') ? 2 : 1;
g_xpos = strtol(p, &p, 10);
}
if (*p == '+' || *p == '-')
{
g_pos |= (*p == '-') ? 4 : 1;
g_ypos = strtol(p, NULL, 10);
}
break;
case 'f':
g_fullscreen = True;
break;
case 'b':
g_bitmap_cache = False;
break;
case 'B':
g_ownbackstore = False;
break;
case 'e':
g_encryption_initial = g_encryption = False;
break;
case 'E':
g_packet_encryption = False;
break;
case 'm':
g_sendmotion = False;
break;
case 'C':
g_owncolmap = True;
break;
case 'D':
g_hide_decorations = True;
break;
case 'K':
g_grab_keyboard = False;
break;
case 'U':
g_ungrab_on_ctrlalt = True;
break;
case 'S':
if (!strcmp(optarg, "standard"))
{
g_win_button_size = 18;
break;
}
g_win_button_size = strtol(optarg, &p, 10);
if (*p)
{
error("invalid button size\n");
return EX_USAGE;
}
break;
case 'T':
STRNCPY(g_title, optarg, sizeof(g_title));
break;
case 'N':
g_numlock_sync = True;
break;
case 'X':
g_embed_wnd = strtol(optarg, NULL, 0);
break;
case 'a':
g_server_depth = strtol(optarg, NULL, 10);
if (g_server_depth != 8 &&
g_server_depth != 16 &&
g_server_depth != 15 && g_server_depth != 24
&& g_server_depth != 32)
{
error("Invalid server colour depth.\n");
return EX_USAGE;
}
break;
case 'z':
DEBUG(("rdp compression enabled\n"));
flags |= (RDP_INFO_COMPRESSION | RDP_INFO_COMPRESSION2);
break;
case 'x':
if (str_startswith(optarg, "m")) /* modem */
{
g_rdp5_performanceflags = RDP5_NO_CURSOR_SHADOW |
RDP5_NO_WALLPAPER | RDP5_NO_FULLWINDOWDRAG |
RDP5_NO_MENUANIMATIONS | RDP5_NO_THEMING;
}
else if (str_startswith(optarg, "b")) /* broadband */
{
g_rdp5_performanceflags =
RDP5_NO_CURSOR_SHADOW | RDP5_NO_WALLPAPER;
}
else if (str_startswith(optarg, "l")) /* lan */
{
g_rdp5_performanceflags =
RDP5_NO_CURSOR_SHADOW | RDP5_DISABLE_NOTHING;
}
else
{
g_rdp5_performanceflags =
RDP5_NO_CURSOR_SHADOW | strtol(optarg, NULL, 16);
}
break;
case 'P':
g_bitmap_cache_persist_enable = True;
break;
case 'r':
if (str_startswith(optarg, "sound"))
{
optarg += 5;
if (*optarg == ':')
{
optarg++;
while ((p = next_arg(optarg, ',')))
{
if (str_startswith(optarg, "remote"))
flags |= RDP_INFO_REMOTE_CONSOLE_AUDIO;
if (str_startswith(optarg, "local"))
#ifdef WITH_RDPSND
{
rdpsnd_optarg =
next_arg(optarg, ':');
g_rdpsnd = True;
}
#else
warning("Not compiled with sound support\n");
#endif
if (str_startswith(optarg, "off"))
#ifdef WITH_RDPSND
g_rdpsnd = False;
#else
warning("Not compiled with sound support\n");
#endif
optarg = p;
}
}
else
{
#ifdef WITH_RDPSND
g_rdpsnd = True;
#else
warning("Not compiled with sound support\n");
#endif
}
}
else if (str_startswith(optarg, "disk"))
{
/* -r disk:h:=/mnt/floppy */
disk_enum_devices(&g_num_devices, optarg + 4);
}
else if (str_startswith(optarg, "comport"))
{
serial_enum_devices(&g_num_devices, optarg + 7);
}
else if (str_startswith(optarg, "lspci"))
{
g_lspci_enabled = True;
}
else if (str_startswith(optarg, "lptport"))
{
parallel_enum_devices(&g_num_devices, optarg + 7);
}
else if (str_startswith(optarg, "printer"))
{
printer_enum_devices(&g_num_devices, optarg + 7);
}
else if (str_startswith(optarg, "clientname"))
{
g_rdpdr_clientname = xmalloc(strlen(optarg + 11) + 1);
strcpy(g_rdpdr_clientname, optarg + 11);
}
else if (str_startswith(optarg, "clipboard"))
{
optarg += 9;
if (*optarg == ':')
{
optarg++;
if (str_startswith(optarg, "off"))
g_rdpclip = False;
else
cliprdr_set_mode(optarg);
}
else
g_rdpclip = True;
}
else if (strncmp("scard", optarg, 5) == 0)
{
#ifdef WITH_SCARD
scard_enum_devices(&g_num_devices, optarg + 5);
#else
warning("Not compiled with smartcard support\n");
#endif
}
else
{
warning("Unknown -r argument\n\n\tPossible arguments are: comport, disk, lptport, printer, sound, clipboard, scard\n");
}
break;
case '0':
g_console_session = True;
break;
case '4':
g_rdp_version = RDP_V4;
break;
case '5':
g_rdp_version = RDP_V5;
break;
#if WITH_SCARD
case 'o':
{
char *p = strchr(optarg, '=');
if (p == NULL)
{
warning("Skipping option '%s' specified, lacks name=value format.\n");
continue;
}
if (strncmp(optarg, "sc-csp-name", strlen("sc-scp-name")) ==
0)
g_sc_csp_name = strdup(p + 1);
else if (strncmp
(optarg, "sc-reader-name",
strlen("sc-reader-name")) == 0)
g_sc_reader_name = strdup(p + 1);
else if (strncmp
(optarg, "sc-card-name",
strlen("sc-card-name")) == 0)
g_sc_card_name = strdup(p + 1);
else if (strncmp
(optarg, "sc-container-name",
strlen("sc-container-name")) == 0)
g_sc_container_name = strdup(p + 1);
}
break;
#endif
case 'h':
case '?':
default:
usage(argv[0]);
return EX_USAGE;
}
}
if (argc - optind != 1)
{
usage(argv[0]);
return EX_USAGE;
}
STRNCPY(server, argv[optind], sizeof(server));
parse_server_and_port(server);
if (g_seamless_rdp)
{
if (shell[0])
STRNCPY(g_seamless_spawn_cmd, shell, sizeof(g_seamless_spawn_cmd));
STRNCPY(shell, g_seamless_shell, sizeof(shell));
if (g_win_button_size)
{
error("You cannot use -S and -A at the same time\n");
return EX_USAGE;
}
g_rdp5_performanceflags &= ~RDP5_NO_FULLWINDOWDRAG;
if (geometry_option)
{
error("You cannot use -g and -A at the same time\n");
return EX_USAGE;
}
if (g_fullscreen)
{
error("You cannot use -f and -A at the same time\n");
return EX_USAGE;
}
if (g_hide_decorations)
{
error("You cannot use -D and -A at the same time\n");
return EX_USAGE;
}
if (g_embed_wnd)
{
error("You cannot use -X and -A at the same time\n");
return EX_USAGE;
}
if (g_rdp_version < RDP_V5)
{
error("You cannot use -4 and -A at the same time\n");
return EX_USAGE;
}
g_sizeopt = -100;
g_grab_keyboard = False;
}
if (!username_option)
{
pw = getpwuid(getuid());
if ((pw == NULL) || (pw->pw_name == NULL))
{
error("could not determine username, use -u\n");
return EX_OSERR;
}
/* +1 for trailing \0 */
int pwlen = strlen(pw->pw_name) + 1;
g_username = (char *) xmalloc(pwlen);
STRNCPY(g_username, pw->pw_name, pwlen);
}
#ifdef HAVE_ICONV
if (g_codepage[0] == 0)
{
if (setlocale(LC_CTYPE, ""))
{
STRNCPY(g_codepage, nl_langinfo(CODESET), sizeof(g_codepage));
}
else
{
STRNCPY(g_codepage, DEFAULT_CODEPAGE, sizeof(g_codepage));
}
}
#endif
if (g_hostname[0] == 0)
{
if (gethostname(fullhostname, sizeof(fullhostname)) == -1)
{
error("could not determine local hostname, use -n\n");
return EX_OSERR;
}
p = strchr(fullhostname, '.');
if (p != NULL)
*p = 0;
STRNCPY(g_hostname, fullhostname, sizeof(g_hostname));
}
if (g_keymapname[0] == 0)
{
if (locale && xkeymap_from_locale(locale))
{
fprintf(stderr, "Autoselected keyboard map %s\n", g_keymapname);
}
else
{
STRNCPY(g_keymapname, "en-us", sizeof(g_keymapname));
}
}
if (locale)
xfree(locale);
if (prompt_password && read_password(g_password, sizeof(g_password)))
flags |= RDP_INFO_AUTOLOGON;
if (g_title[0] == 0)
{
strcpy(g_title, "rdesktop - ");
strncat(g_title, server, sizeof(g_title) - sizeof("rdesktop - "));
}
#ifdef RDP2VNC
rdp2vnc_connect(server, flags, domain, g_password, shell, directory);
return EX_OK;
#else
/* Only startup ctrl functionality is seamless are used for now. */
if (g_use_ctrl && g_seamless_rdp)
{
if (ctrl_init(server, domain, g_username) < 0)
{
error("Failed to initialize ctrl mode.");
exit(1);
}
if (ctrl_is_slave())
{
fprintf(stdout,
"rdesktop in slave mode sending command to master process.\n");
if (g_seamless_spawn_cmd[0])
return ctrl_send_command("seamless.spawn", g_seamless_spawn_cmd);
fprintf(stdout, "No command specified to be spawn in seamless mode.\n");
return EX_USAGE;
}
}
if (!ui_init())
return EX_OSERR;
#ifdef WITH_RDPSND
if (!rdpsnd_init(rdpsnd_optarg))
warning("Initializing sound-support failed!\n");
#endif
if (g_lspci_enabled)
lspci_init();
rdpdr_init();
g_reconnect_loop = False;
while (1)
{
rdesktop_reset_state();
if (g_redirect)
{
STRNCPY(domain, g_redirect_domain, sizeof(domain));
xfree(g_username);
g_username = (char *) xmalloc(strlen(g_redirect_username) + 1);
STRNCPY(g_username, g_redirect_username, strlen(g_redirect_username) + 1);
STRNCPY(server, g_redirect_server, sizeof(server));
flags |= RDP_INFO_AUTOLOGON;
fprintf(stderr, "Redirected to %s@%s session %d.\n",
g_redirect_username, g_redirect_server, g_redirect_session_id);
/* A redirect on SSL from a 2003 WTS will result in a 'connection reset by peer'
and therefor we just clear this error before we connect to redirected server.
*/
g_network_error = False;
g_redirect = False;
}
ui_init_connection();
if (!rdp_connect
(server, flags, domain, g_password, shell, directory, g_reconnect_loop))
{
g_network_error = False;
if (g_reconnect_loop == False)
return EX_PROTOCOL;
/* check if auto reconnect cookie has timed out */
if (time(NULL) - g_reconnect_random_ts > RECONNECT_TIMEOUT)
{
fprintf(stderr, "Tried to reconnect for %d minutes, giving up.\n",
RECONNECT_TIMEOUT / 60);
return EX_PROTOCOL;
}
sleep(4);
continue;
}
if (g_redirect)
{
rdp_disconnect();
continue;
}
/* By setting encryption to False here, we have an encrypted login
packet but unencrypted transfer of other packets */
if (!g_packet_encryption)
g_encryption_initial = g_encryption = False;
DEBUG(("Connection successful.\n"));
rd_create_ui();
tcp_run_ui(True);
deactivated = False;
g_reconnect_loop = False;
rdp_main_loop(&deactivated, &ext_disc_reason);
tcp_run_ui(False);
DEBUG(("Disconnecting...\n"));
rdp_disconnect();
if (g_redirect)
continue;
/* handle network error and start autoreconnect */
if (g_network_error && !deactivated)
{
fprintf(stderr,
"Disconnected due to network error, retrying to reconnect for %d minutes.\n",
RECONNECT_TIMEOUT / 60);
g_network_error = False;
g_reconnect_loop = True;
continue;
}
ui_seamless_end();
ui_destroy_window();
/* Enter a reconnect loop if we have a pending resize request */
if (g_pending_resize)
{
g_pending_resize = False;
g_reconnect_loop = True;
continue;
}
break;
}
cache_save_state();
ui_deinit();
if (g_user_quit)
return EXRD_WINDOW_CLOSED;
return handle_disconnect_reason(deactivated, ext_disc_reason);
#endif
if (g_redirect_username)
xfree(g_redirect_username);
xfree(g_username);
}
int
main(int argc, char **argv)
{
lisp_dev_type_e dev_type;
initial_setup();
handle_lispd_command_line(argc, argv);
/* see if we need to daemonize, and if so, do it */
demonize_start();
/* create socket master, timer wheel, initialize interfaces */
smaster = sockmstr_create();
lmtimers_init();
ifaces_init();
/* create control. Only one instance for now */
if ((lctrl = ctrl_create())==NULL){
exit_cleanup();
}
/* Detect the data plane type */
data_plane_select();
/* parse config and create ctrl_dev */
if (parse_config_file() != GOOD){
exit_cleanup();
}
dev_type = ctrl_dev_mode(ctrl_dev);
if (dev_type == xTR_MODE || dev_type == RTR_MODE || dev_type == MN_MODE) {
data_plane->datap_init(dev_type);
}
ctrl_init(lctrl);
init_netlink();
/* run lisp control device xtr/ms */
if (!ctrl_dev) {
LMLOG(LDBG_1, "device NULL");
exit(0);
}
ctrl_dev_run(ctrl_dev);
LMLOG(LINF,"\n\n LISPmob (%s): 'lispd' started... \n\n",LISPD_VERSION);
#ifndef ANDROID
/* Initialize API for external access */
lmapi_init_server(&lmapi_connection);
for (;;) {
sockmstr_wait_on_all_read(smaster);
sockmstr_process_all(smaster);
lmapi_loop(&lmapi_connection);
}
#else
for (;;) {
sockmstr_wait_on_all_read(smaster);
sockmstr_process_all(smaster);
}
#endif
/* EVENT LOOP */
for (;;) {
sockmstr_wait_on_all_read(smaster);
sockmstr_process_all(smaster);
#ifndef ANDROID
lmapi_loop(&lmapi_connection);
#endif
}
/* event_loop returned: bad! */
LMLOG(LINF, "Exiting...");
exit_cleanup();
return(0);
}
JNIEXPORT jint JNICALL Java_org_lispmob_noroot_LISPmob_1JNI_startLispd
(JNIEnv *env, jobject thisObj, jint vpn_tun_fd, jstring storage_path)
{
lisp_dev_type_e dev_type;
jintArray fd_list;
uint32_t iseed = 0; /* initial random number generator */
pid_t pid = 0; /* child pid */
pid_t sid = 0;
char log_file[1024];
const char *path = NULL;
memset (log_file,0,sizeof(char)*1024);
initial_setup();
jni_init(env,thisObj);
/* create socket master, timer wheel, initialize interfaces */
smaster = sockmstr_create();
lmtimers_init();
ifaces_init();
/* create control. Only one instance for now */
lctrl = ctrl_create();
/* Detect the data plane type */
data_plane_select();
/** parse config and create ctrl_dev **/
/* obtain the configuration file */
path = (*env)->GetStringUTFChars(env, storage_path, 0);
config_file = calloc(1024, sizeof(char));
strcat(config_file,path);
strcat(config_file,"lispd.conf");
strcat(log_file,path);
strcat(log_file,"lispd.log");
(*env)->ReleaseStringUTFChars(env, storage_path, path);
open_log_file(log_file);
if (parse_config_file()!=GOOD){
exit_cleanup();
return (BAD);
}
dev_type = ctrl_dev_mode(ctrl_dev);
if (dev_type == xTR_MODE || dev_type == RTR_MODE || dev_type == MN_MODE) {
data_plane->datap_init(dev_type, vpn_tun_fd);
}
ctrl_init(lctrl);
init_netlink();
/* run lisp control device xtr/ms */
if (!ctrl_dev) {
LMLOG(LDBG_1, "device NULL");
return (BAD);
}
return (GOOD);
}
int main(int argc, char *argv[])
{
int c;
const char *read_file = NULL;
const char *read_wired_file = NULL;
const char *write_file = NULL;
const char *ifname = NULL;
const char *ifname_wired = NULL;
struct wlantest wt;
int ctrl_iface = 0;
wpa_debug_level = MSG_INFO;
wpa_debug_show_keys = 1;
if (os_program_init())
return -1;
wlantest_init(&wt);
for (;;) {
c = getopt(argc, argv, "cdf:hi:I:p:P:qr:R:w:W:");
if (c < 0)
break;
switch (c) {
case 'c':
ctrl_iface = 1;
break;
case 'd':
if (wpa_debug_level > 0)
wpa_debug_level--;
break;
case 'f':
if (add_pmk_file(&wt, optarg) < 0)
return -1;
break;
case 'h':
usage();
return 0;
case 'i':
ifname = optarg;
break;
case 'I':
ifname_wired = optarg;
break;
case 'p':
add_passphrase(&wt, optarg);
break;
case 'P':
add_secret(&wt, optarg);
break;
case 'q':
wpa_debug_level++;
break;
case 'r':
read_file = optarg;
break;
case 'R':
read_wired_file = optarg;
break;
case 'w':
write_file = optarg;
break;
case 'W':
if (add_wep(&wt, optarg) < 0)
return -1;
break;
default:
usage();
return -1;
}
}
if (ifname == NULL && ifname_wired == NULL &&
read_file == NULL && read_wired_file == NULL) {
usage();
return 0;
}
if (eloop_init())
return -1;
if (write_file && write_pcap_init(&wt, write_file) < 0)
return -1;
if (read_wired_file && read_wired_cap_file(&wt, read_wired_file) < 0)
return -1;
if (read_file && read_cap_file(&wt, read_file) < 0)
return -1;
if (ifname && monitor_init(&wt, ifname) < 0)
return -1;
if (ifname_wired && monitor_init_wired(&wt, ifname_wired) < 0)
return -1;
if (ctrl_iface && ctrl_init(&wt) < 0)
return -1;
eloop_register_signal_terminate(wlantest_terminate, &wt);
eloop_run();
wpa_printf(MSG_INFO, "Processed: rx_mgmt=%u rx_ctrl=%u rx_data=%u "
"fcs_error=%u",
wt.rx_mgmt, wt.rx_ctrl, wt.rx_data, wt.fcs_error);
wlantest_deinit(&wt);
eloop_destroy();
os_program_deinit();
return 0;
}
int main(void)
{
// INITIALISATIONS
float x = 0.0;
float y = 0.0;
float theta = 0.0;
float vel = 0.0;
float velref = 0.0;
float Mvel = 0.0;
char* word_array[MAX_CMDS];
int no_of_words = 0;
int error = 1;
DDRC |= 1 << 5; // PortC.5 as output
lb_init(&lb); // init line buffer lb
uart_init(); // init USART
enc_init(); // init Encoder
ctrl_init(); // init Controller
motor_init(); // init Motor
sei(); // enable interrupts
printf_P(PSTR("Sup Bitches\nThis is Command\n"));
for (;/*ever*/;)
{
while (uart_avail())
{
char c = uart_getc(); //gets character from circular buffer
if (lb_append(&lb, c) == LB_BUFFER_FULL) // Add character "c" to line buffer, report status(putc) and handle special characters(append)
{
lb_init(&lb); // Clear line buffer, discards input
printf_P(PSTR("\nMax line length exceeded\n"));
}
}
error = 1;
// Process command if line buffer is terminated by a line feed or carriage return
if (lb_line_ready(&lb)) //if not empty and has null terminator
{
for (int j = 0; j < NUM_CMDS; j++) //re-setting word_array to zero
{
word_array[j] = 0;
}
no_of_words = string_parser( lb_gets(&lb), word_array); // gets serial, puts into word_array
for (int i=0; cmd_table[i].cmd != NULL; ++i) //
{
if( !strcmp(word_array[0], cmd_table[i].cmd))
{
error = 0;
cmd_table[i].func(no_of_words, word_array);
}
}
lb_init(&lb);
// Error checking
if(!no_of_words)
{
printf_P(PSTR("No Command Entered\n"));
}
if(error)
{
printf_P(PSTR("Invalid Command\n"));
}
/* // Note: The following is a terrible way to process strings from the user
// See recommendations section of the lab guide for a better way to
// handle commands with arguments, which scales well to a large
// number of commands.
if (!strncmp_P(lb_gets(&lb), PSTR("help"), 4))
{
printf_P(PSTR(
"MCHA3000 RS232 lab help.\n"
"Replace these lines with your own help instructions.\n"));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("x="), 2)) // takes 'x' co-ordinate
{
x = atof(lb_gets_at(&lb, 2));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("x?"), 2)) // prints 'x' co-ordinate to serial
{
printf_P(PSTR("x is %f\n"), x);
}
else if (!strncmp_P(lb_gets(&lb), PSTR("y="), 2)) // takes 'y' co-ordinate
{
y = atof(lb_gets_at(&lb, 2));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("xy?"), 3)) // prints 'x'*'y' to serial
{
printf_P(PSTR("%f\n"), x*y);
}
else if (!strncmp_P(lb_gets(&lb), PSTR("theta="), 6)) // HIL: takes 'theta'
{
theta = atof(lb_gets_at(&lb, 6));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("vel="), 4)) // HIL: takes 'vel'
{
vel = atof(lb_gets_at(&lb, 4));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("velref="), 7)) // HIL: takes 'velref'
{
velref = atof(lb_gets_at(&lb, 7));
}
else if (!strncmp_P(lb_gets(&lb), PSTR("ctrl?"), 5)) // HIL: initialises feedback loop for cascade controller
{ // and prints control action to serial
float outer_loop = velocity_controller(velref - vel);
float inner_loop = angle_controller(outer_loop - theta);
printf_P(PSTR("%g\n"), inner_loop);
}
else if (!strncmp_P(lb_gets(&lb), PSTR("ecount?"), 7)) // prints enc_count
{
printf_P(PSTR("Encoder1 Count = %d\n"), enc_read1());
printf_P(PSTR("Encoder2 Count = %d\n"), enc_read2());
}
else if (!strncmp_P(lb_gets(&lb), PSTR("ereset"), 6)) // Resets enc_count then prints count
{
enc_reset();
printf_P(PSTR("Encoder1 Count = %d\n"), enc_read1());
printf_P(PSTR("Encoder2 Count = %d\n"), enc_read2());
}
else if (!strncmp_P(lb_gets(&lb), PSTR("mvel="), 5)) // Motor On/Off
{
Mvel=atof(lb_gets_at(&lb, 5));
motor_vel(Mvel);
printf_P(PSTR("Motor Velocity = %f\n"), Mvel);
}
else if (!strncmp_P(lb_gets(&lb), PSTR("I"), 1)) // Motor Current
{
printf_P(PSTR("Motor Current = %f\n"), motor_current());
}
else // WARNING: Unknown command
{
printf_P(PSTR("Unknown command: \"%s\"\n"), lb_gets(&lb));
}
lb_init(&lb); // Reset line buffer
*/
}
}
return 0;
}
int
main(int argc, char **argv)
{
oor_dev_type_e dev_type;
lisp_xtr_t *tunnel_router;
initial_setup();
handle_oor_command_line(argc, argv);
/* see if we need to daemonize, and if so, do it */
demonize_start();
/* create socket master, timer wheel, initialize interfaces */
smaster = sockmstr_create();
oor_timers_init();
ifaces_init();
/* create control. Only one instance for now */
if ((lctrl = ctrl_create())==NULL){
exit_cleanup();
}
/* Detect the data plane type */
data_plane_select();
/* parse config and create ctrl_dev */
if (parse_config_file() != GOOD){
exit_cleanup();
}
dev_type = ctrl_dev_mode(ctrl_dev);
if (dev_type == xTR_MODE || dev_type == RTR_MODE || dev_type == MN_MODE) {
OOR_LOG(LDBG_2, "Configuring data plane");
tunnel_router = CONTAINER_OF(ctrl_dev, lisp_xtr_t, super);
if (data_plane->datap_init(dev_type,tr_get_encap_type(tunnel_router))!=GOOD){
exit_cleanup();
}
OOR_LOG(LDBG_1, "Data plane initialized");
}
/* The control should be initialized after data plane */
ctrl_init(lctrl);
init_netlink();
/* run lisp control device xtr/ms */
if (!ctrl_dev) {
OOR_LOG(LDBG_1, "device NULL");
exit(0);
}
ctrl_dev_run(ctrl_dev);
OOR_LOG(LINF,"\n\n Open Overlay Router (%s): started... \n\n",OOR_VERSION);
#ifndef ANDROID
/* Initialize API for external access */
oor_api_init_server(&oor_api_connection);
for (;;) {
sockmstr_wait_on_all_read(smaster);
sockmstr_process_all(smaster);
oor_api_loop(&oor_api_connection);
}
#else
for (;;) {
sockmstr_wait_on_all_read(smaster);
sockmstr_process_all(smaster);
}
#endif
/* event_loop returned: bad! */
OOR_LOG(LINF, "Exiting...");
exit_cleanup();
return(0);
}
int main(int argc, char *argv[])
{
int opt;
uint8_t quiet = 0;
config_t cfg;
switch_cfg = calloc(1, sizeof(struct switch_cfg));
signal(SIGINT, int_handler);
while ((opt = getopt(argc, argv, "qvh")) != -1) {
switch (opt) {
case 'q':
quiet = 1;
break;
case 'v':
fprintf(stdout, "netvirt-switch %s\n", NVSWITCH_VERSION);
return 0;
default:
case 'h':
fprintf(stdout, "netvirt-switch:\n"
"-q\t\tquiet mode\n"
"-v\t\tshow version\n"
"-h\t\tshow this help\n");
return 0;
}
}
if (!quiet) {
jlog_init_cb(on_log);
}
config_init(&cfg);
switch_cfg->ctrl_initialized = 0;
if (config_parse(&cfg, switch_cfg)) {
jlog(L_ERROR, "config parse failed");
exit(EXIT_FAILURE);
}
if (krypt_init()) {
jlog(L_ERROR, "krypt_init failed");
exit(EXIT_FAILURE);
}
netbus_tcp_init();
if (netbus_init()) {
jlog(L_ERROR, "netbus_init failed");
exit(EXIT_FAILURE);
}
if (ctrl_init(switch_cfg)) {
jlog(L_ERROR, "ctrl_init failed");
exit(EXIT_FAILURE);
}
/* make sure control is properly initialized before
accepting connection */
while (switch_cfg->ctrl_initialized == 0) {
sleep(1);
}
if (switch_init(switch_cfg)) {
jlog(L_ERROR, "switch_init failed");
exit(EXIT_FAILURE);
}
while (switch_cfg->ctrl_running || switch_cfg->switch_running) {
sleep(1);
}
/* clean up */
ctrl_fini();
switch_fini();
netbus_fini();
krypt_fini();
config_destroy(&cfg);
free(switch_cfg);
printf("Goodbye netvirt-switch !\n");
return 0;
}
void _main(int argc, char *argv[])
{
(void)argc;
(void)argv;
syslog(LOG_INFO, "initializing core");
/* init SCL subsystem: */
syslog(LOG_INFO, "initializing signaling and communication link (SCL)");
if (scl_init("core") != 0)
{
syslog(LOG_CRIT, "could not init scl module");
exit(EXIT_FAILURE);
}
/* init params subsystem: */
syslog(LOG_INFO, "initializing opcd interface");
opcd_params_init("core.", 1);
/* initialize logger: */
syslog(LOG_INFO, "opening logger");
if (logger_open() != 0)
{
syslog(LOG_CRIT, "could not open logger");
exit(EXIT_FAILURE);
}
syslog(LOG_CRIT, "logger opened");
sleep(1); /* give scl some time to establish
a link between publisher and subscriber */
LOG(LL_INFO, "+------------------+");
LOG(LL_INFO, "| core startup |");
LOG(LL_INFO, "+------------------+");
LOG(LL_INFO, "initializing system");
/* set-up real-time scheduling: */
struct sched_param sp;
sp.sched_priority = sched_get_priority_max(SCHED_FIFO);
sched_setscheduler(getpid(), SCHED_FIFO, &sp);
if (mlockall(MCL_CURRENT | MCL_FUTURE))
{
LOG(LL_ERROR, "mlockall() failed");
exit(EXIT_FAILURE);
}
/* initialize hardware/drivers: */
omap_i2c_bus_init();
baro_altimeter_init();
ultra_altimeter_init();
ahrs_init();
motors_init();
voltage_reader_start();
//gps_init();
LOG(LL_INFO, "initializing model/controller");
model_init();
ctrl_init();
/* initialize command interface */
LOG(LL_INFO, "initializing cmd interface");
cmd_init();
/* prepare main loop: */
for (int i = 0; i < NUM_AVG; i++)
{
output_avg[i] = sliding_avg_create(OUTPUT_RATIO, 0.0f);
}
LOG(LL_INFO, "system up and running");
struct timespec ts_curr;
struct timespec ts_prev;
struct timespec ts_diff;
clock_gettime(CLOCK_REALTIME, &ts_curr);
/* run model and controller: */
while (1)
{
/* calculate dt: */
ts_prev = ts_curr;
clock_gettime(CLOCK_REALTIME, &ts_curr);
TIMESPEC_SUB(ts_diff, ts_curr, ts_prev);
float dt = (float)ts_diff.tv_sec + (float)ts_diff.tv_nsec / (float)NSEC_PER_SEC;
/* read sensor values into model input structure: */
model_input_t model_input;
model_input.dt = dt;
ahrs_read(&model_input.ahrs_data);
gps_read(&model_input.gps_data);
model_input.ultra_z = ultra_altimeter_read();
model_input.baro_z = baro_altimeter_read();
/* execute model step: */
model_state_t model_state;
model_step(&model_state, &model_input);
/* execute controller step: */
mixer_in_t mixer_in;
ctrl_step(&mixer_in, dt, &model_state);
/* set up mixer input: */
mixer_in.pitch = sliding_avg_calc(output_avg[AVG_PITCH], mixer_in.pitch);
mixer_in.roll = sliding_avg_calc(output_avg[AVG_ROLL], mixer_in.roll);
mixer_in.yaw = sliding_avg_calc(output_avg[AVG_YAW], mixer_in.yaw);
mixer_in.gas = sliding_avg_calc(output_avg[AVG_GAS], mixer_in.gas);
/* write data to motor mixer: */
EVERY_N_TIMES(OUTPUT_RATIO, motors_write(&mixer_in));
}
}