//////////////////////////////////////////////////////////////////////////////
/// \brief nav_getWaypoint
/// returns the waypoint with the given id
/// \param id
/// ID of the desired waypoint
/// \return Pointer to waypoint with the given ID
///
nav_waypoint_t *nav_getWaypoint(int16_t id)
{
nav_waypoint_t *get_el = nav_wpStart; //Element to find (index)
if(nav_wpStart != NULL) //Are elements in the List?
{
for(u_int16_t i = 0; i < WP_STACKSIZE; i++)
{
if(get_el->id == id)
{
return get_el;
}
else
{
get_el = get_el->next;
if(get_el == NULL) //End of list - stop loop (Element not found).
return NULL;
}
}
}
else
{
foutf(&debug,"No waypoints available to return!\n");
//To do: Debug...
}
return NULL;
}
////////////////////////////////////////////////////////////////
/// \brief nav_deleteWaypoint
/// Deletes waypoint with the given id from the list
/// \param id
/// ID of the waypoint to delete
void nav_deleteWaypoint(int16_t id)
{
nav_waypoint_t *del_el; //Element to delete
if(nav_wpStart != NULL) //Are elements in the List?
{
if(nav_wpStart->id == id) //Is the start id the element we want to delete?
{
if(nav_wpStart->next == NULL) //Are not more than one elements in the list?
{
nav_stackFree(nav_wpStart);
nav_wpStart = NULL;
nav_wpEnd = NULL;
}
else
{
nav_wpStart->next->previous = NULL;
nav_stackFree(nav_wpStart);
nav_wpStart = nav_wpStart->next;
}
}
else if(nav_wpEnd->id == id) //Do we want to delete the last element?
{
nav_wpEnd->previous->next=NULL;
nav_stackFree(nav_wpEnd);
nav_wpEnd = nav_wpEnd->previous;
}
else //We want to delete an element between end and start.
{
del_el = nav_wpStart;
for(u_int16_t i = 0; i < WP_STACKSIZE; i++)
{
if(del_el->id == id)
{
del_el->previous->next = del_el->next;
del_el->next->previous = del_el->previous;
nav_stackFree(del_el);
break; //Found ID - stop for-loop
}
else
{
del_el = del_el->next;
if(del_el == NULL) //End of list - stop loop (Element not found).
break;
}
}
}
}
else
{
foutf(&debug,"No waypoints available to delete!\n");
//To do: Debug...
}
}
void SaveCache(
__in IPAddressMap const & f_cache,
__in_z char const * const f_szFileName )
{
std::cout << "Saving cache to " << f_szFileName << "..." << std::endl;
std::ofstream foutf( f_szFileName);
if( foutf.bad() )
{
// some error, abort
return;
}
foutf << "# Copyright (c) 1993-1999 Microsoft Corp." << std::endl
<< std::endl
<< "# This is a sample HOSTS file used by Microsoft TCP/IP for Windows." << std::endl
<< std::endl
<< "# This file contains the mappings of IP addresses to host names. Each" << std::endl
<< "# entry should be kept on an individual line. The IP address should" << std::endl
<< "# be placed in the first column followed by the corresponding host name." << std::endl
<< "# The IP address and the host name should be separated by at least one" << std::endl
<< "# space." << std::endl
<< "#" << std::endl
<< "#" << std::endl
<< "# This file was generated by HostsMergeCmd." << std::endl
<< "#" << std::endl
<< "#" << std::endl
<< "# Additionally, comments (such as these) may be inserted on individual" << std::endl
<< "# lines or following the machine name denoted by a '#' symbol." << std::endl
<< std::endl
<< "# For example:" << std::endl
<< "#" << std::endl
<< "# 102.54.94.97 rhino.acme.com # source server" << std::endl
<< "# 38.25.63.10 x.acme.com # x client host" << std::endl
<< std::endl
<< "127.0.0.1\tlocalhost" << std::endl
<< std::endl;
foutf << "# BEGIN Local network\\Specific hosts" << std::endl;
OutputLocalNetwork( f_cache, foutf );
foutf << "# END Local network\\Specific hosts" << std::endl
<< std::endl
<< std::endl;
foutf << "# BEGIN Block List" << std::endl;
OutputBlockList( f_cache, foutf );
foutf << "# END Block List" << std::endl
<< std::endl;
}
void nav_attachWaypoint(nav_waypoint_t *wp)
{
nav_waypoint_t *penultimate_el; //Pointer to acces penultimate element in the list
if(nav_wpStart == NULL) //There are no elements in the list, because the start pointer points to NULL
{
nav_wpStart = nav_stackFindEmptyElement(); //Reserve first element from stack
if(nav_wpStart == NULL) //couldn’t reserve element. Stack too small?
{
foutf(&debug,"Couldn’t reserve start waypoint from stack!\n");
}
else
{
attWp_copy(wp, nav_wpStart); //Copy data from given waypoint
nav_wpStart->next = NULL; //Next pointer points to next element in list, but the start element is now the first and last element, so it points to NULL
nav_wpEnd = nav_wpStart; //The first element is also the last element
nav_wpEnd->previous = NULL; //Just like start->next
}
}
else //There is at least one element in the list
{
nav_wpEnd->next = nav_stackFindEmptyElement(); //Reserve element from stack for the element after end
if(nav_wpEnd->next == NULL)
{
foutf(&debug,"Couldn’t reserve waypoint from stack!\n");
}
else
{
penultimate_el = nav_wpEnd; //Now, the last element became the penultimate element (because we attached one more element to the end of the list)
nav_wpEnd = nav_wpEnd->next; //And the ultimate element points to the just reserved stack element
nav_wpEnd->next = NULL; //The next pointer of the ultimate element (end element) has to point to NULL again
nav_wpEnd->previous = penultimate_el; //The previous pointer of the last element has to point to the penultimate element
penultimate_el->next = nav_wpEnd; //And inversed...
attWp_copy(wp, nav_wpEnd); //Copy data from given waypoint
}
}
}
void SavePdnsdNeg(
__in IPAddressMap const & f_cache,
__in_z char const * const f_szFileName )
{
std::cout << "Saving bind pdnsd neg file to " << f_szFileName << "..." << std::endl;
std::ofstream foutf( f_szFileName );
if( foutf.bad() )
{
// some error, abort
return;
}
foutf << "neg" << std::endl;
foutf << "{" << std::endl;
DomainNames const setDomainNames( ExtractUniqueDomainNames( f_cache ) );
DomainNames::const_iterator const itEndDomain( setDomainNames.end() );
// Banned stuff: Domain names
for( DomainNames::const_iterator itDomain( setDomainNames.begin() );
itEndDomain != itDomain;
++itDomain )
{
std::string domain(*itDomain);
// contains bad chars
if( std::string::npos != domain.find('\"'))
{
continue;
}
// Too Short
if(domain.size() < 3)
{
continue;
}
std::stringstream ss;
foutf << "\tname " << domain << ";" << std::endl;
}
foutf << "\ttypes = domain;" << std::endl;
foutf << "}" << std::endl;
foutf << std::endl;
}
virtual int main()
{
CStreamFile* pOutFile = NULL;
CFilePath fcurdir;
CFilePath fziparchive(__FILE__LINE__ m_sZipArchive);
CFilePath foutf(__FILE__LINE__ m_sOutputFile);
int result = 0;
if ( m_help )
{
CStringBuffer tmp;
usage(tmp);
CERR << tmp;
return 0;
}
if ( !m_AnyZipOption )
{
m_AnyZipOption = true;
m_bAddFiles = true;
}
if (m_bInputDir)
{
CFilePath finputdir(__FILE__LINE__ m_sInputDir);
if (CWinDirectoryIterator::FileExists(finputdir))
finputdir.set_Filename(NULL);
finputdir.MakeDirectory();
if (CWinDirectoryIterator::DirectoryExists(finputdir) < 0)
{
CERR << finputdir.get_Path() << _T(" does not exist.") << endl;
return -4;
}
CDirectoryIterator::GetCurrentDirectory(fcurdir);
fziparchive.MakeAbsolute();
if (m_bOutputFile)
foutf.MakeAbsolute();
CDirectoryIterator::SetCurrentDirectory(finputdir);
}
if (m_bOutputFile)
{
if (CDirectoryIterator::FileExists(foutf))
CDirectoryIterator::RemoveFile(foutf);
else if (foutf.is_File())
{
CFilePath tmp(foutf);
tmp.set_Filename(NULL);
CDirectoryIterator::MakeDirectory(tmp);
}
else
{
CDateTime now;
CStringBuffer tmp;
now.Now();
tmp.FormatString(__FILE__LINE__ _T("XZip%04hd%02hd%02hd%02hd%02hd%02hd.log"),
now.GetYears(), now.GetMonths(), now.GetDays(),
now.GetHours(), now.GetMinutes(), now.GetSeconds());
foutf.set_Filename(tmp);
}
pOutFile = OK_NEW_OPERATOR CStreamFile;
pOutFile->ReOpen(foutf, stdout);
}
if ( m_bAddFiles )
{
if (!m_bZipFileSpec)
{
CERR << _T("No FileSpec given. Do not know, what to do.") << endl;
result = -4;
}
else
XZipAddFiles(fziparchive, m_bRecurseFolders, m_sZipFileSpec, m_sExclude);
}
if ( m_bViewFiles )
{
if ( !m_bZipFileSpec )
m_sZipFileSpec.Append(_T("*.*"));
XZipViewFiles(fziparchive, m_sZipFileSpec, m_sExclude, m_sViewFiles);
}
if ( m_bFreshenFiles )
{
if ( !m_bZipFileSpec )
m_sZipFileSpec.Append(_T("*.*"));
XZipFreshenFiles(fziparchive, m_sZipFileSpec, m_sExclude);
}
if ( m_bUpdateFiles )
{
if ( !m_bZipFileSpec )
{
CERR << _T("No FileSpec given. Do not know, what to do.") << endl;
result = -4;
}
else
XZipUpdateFiles(fziparchive, m_bRecurseFolders, m_sZipFileSpec, m_sExclude);
}
if (pOutFile)
{
pOutFile->Close();
pOutFile->release();
}
if (m_bInputDir)
CDirectoryIterator::SetCurrentDirectory(fcurdir);
return result;
}
void SaveWpadDat(
__in IPAddressMap const & f_cache,
__in_z char const * const f_szFileName,
__in_z_opt char const * const proxyUrl )
{
std::cout << "Saving wpad.dat file to " << f_szFileName << "..." << std::endl;
std::ofstream foutf( f_szFileName );
if( foutf.bad() )
{
// some error, abort
return;
}
std::string proxy = "DIRECT";
if( proxyUrl && *proxyUrl)
{
proxy = "PROXY ";
proxy += proxyUrl;
}
DomainNames const setDomainNames( ExtractUniqueDomainNames( f_cache ) );
DomainNames::const_iterator const itEndDomain( setDomainNames.end() );
foutf << "//////////////////////////////////////////////////////////////////////////////" << std::endl
<< "//" << std::endl
<< "// Hosts file Based proxy auto configuration script" << std::endl
<< "//" << std::endl
<< "//////////////////////////////////////////////////////////////////////////////" << std::endl
<< std::endl;
foutf << "function IsHostOrDomain(host, candidate)" << std::endl
<< "{" << std::endl
<< " return shExpMatch(host, \"*.\" + candidate) || dnsDomainIs(host, candidate);" << std::endl
<< "}" << std::endl
<< std::endl;
foutf << "function FindProxyForURL(url, host)" << std::endl
<< "{" << std::endl
<< std::endl
<< " // WARNING: all shExpMatch rules following MUST be lowercase!" << std::endl
<< " url = url.toLowerCase();" << std::endl
<< " host = host.toLowerCase();" << std::endl
<< std::endl;
// Local network
foutf << " if( isInNet(host, \"10.0.0.0\", \"255.0.0.0\")" << std::endl
<< " || isInNet(host, \"127.0.0.1\", \"255.255.255.255\")" << std::endl
<< " || isInNet(host, \"172.16.0.0\", \"255.240.0.0\")" << std::endl
<< " || isInNet(host, \"192.168.0.0\", \"255.255.0.0\"))"
<< " {" << std::endl
<< " return \"DIRECT\";" << std::endl
<< " }" << std::endl
<< std::endl;
// Banned stuff: Hard coded networks
foutf << " if(isInNet(host, \"205.180.85.0\", \"255.255.255.0\")) return \"PROXY 0.0.0.0:3421\";" << std::endl // one whole class C full of ad servers (fastclick)
<< " if(isInNet(host, \"67.215.65.130\", \"255.255.255.255\")) return \"PROXY 0.0.0.0:3421\";" << std::endl; // hit-adult.opendns.com
// Banned stuff: Domain names
for( DomainNames::const_iterator itDomain( setDomainNames.begin() );
itEndDomain != itDomain;
++itDomain )
{
std::string domain(*itDomain);
// contains bad chars
if( std::string::npos != domain.find('\"'))
{
continue;
}
// Too Short
if(domain.size() < 3)
{
continue;
}
std::stringstream ss;
foutf << " if(IsHostOrDomain(host, \"" << domain << "\")) return \"PROXY 0.0.0.0:3421\";" << std::endl;
}
foutf << std::endl;
// FTP and HTTP should be proxied
foutf << " if((url.substring(0, 5) == \"http:\")" << std::endl
<< " ||(url.substring(0, 4) == \"ftp:\")" << std::endl
<< " )" << std::endl
<< " {" << std::endl
<< " return \"" << proxy << "\";" << std::endl
<< " }" << std::endl
<< std::endl;
// Everything else direct
foutf << " return \"DIRECT\";" << std::endl
<< std::endl
<< "}" << std::endl
<< std::endl;
}
portTASK_FUNCTION( vGUITask, pvParameters )
{
portTickType xLastWakeTime;
foutf(&debugOS, "xTask GUI started.\n");
xLastWakeTime = xTaskGetTickCount();
u8 timer_drawMap = 0;
for(;;)
{
//foutf(&debugOS, "Watermark gui: %i\n", uxTaskGetStackHighWaterMark( NULL ));
gui_handler(gui_element);
if(STM_EVAL_PBGetState(BUTTON_USER))
{
menu = MENU_CALIBRATION;
}
if(battery.percent != batt_percent_old) //Redraw statusbar if battery value changes
{
gui_drawAREAstatusbar(&gui_element[GUI_EL_AREA_STATUSBAR_TOP]);
batt_percent_old = battery.percent;
}
switch (menu) {
case MENU_INIT:
LCD_Fill(LCD_COLOR_WHITE);
gui_drawAREAstatusbar(&gui_element[GUI_EL_AREA_STATUSBAR_TOP]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_MAP]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_VIEW]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_SETTINGS]);
menu = MENU_INIT_IDLE;
case MENU_INIT_IDLE: //Wait for events...
if(gui_element[GUI_EL_MBTN_MAP].state == MBTN_ACTIVE)
menu = MENU_MAP_INIT;
else if(gui_element[GUI_EL_MBTN_VIEW].state == MBTN_ACTIVE)
menu = MENU_VIEW_INIT;
else if(gui_element[GUI_EL_MBTN_SETTINGS].state == MBTN_ACTIVE)
menu = MENU_SETTINGS_INIT;
break;
case MENU_MAP_INIT:
//Area Map
//SW Startmapping
//SW Show scan
//BTN Clear map
//BTN Set waypoint
gui_element[GUI_EL_AREA_MAP].state = GUI_EL_INTOUCHABLE;
gui_element[GUI_EL_SW_STARTMAPPING].state = mapping ? SW_ON : SW_OFF;
gui_element[GUI_EL_SW_SHOWSCAN].state = show_scan ? SW_ON : SW_OFF;
gui_element[GUI_EL_SW_PROCESSEDVIEW].state = processedView ? SW_ON : SW_OFF;
gui_element[GUI_EL_AREA_MAP].state = MAP_ACTIVE;
gui_element[GUI_EL_BTN_CLEARMAP].state = BTN_NOT_ACTIVE;
if(setWaypoints) gui_element[GUI_EL_BTN_SETWP].state = BTN_ACTIVE;
else gui_element[GUI_EL_BTN_SETWP].state = BTN_NOT_ACTIVE;
gui_drawSW(&gui_element[GUI_EL_SW_STARTMAPPING]);
gui_drawSW(&gui_element[GUI_EL_SW_SHOWSCAN]);
gui_drawSW(&gui_element[GUI_EL_SW_PROCESSEDVIEW]);
gui_drawBTN(&gui_element[GUI_EL_BTN_CLEARMAP]);
gui_drawBTN(&gui_element[GUI_EL_BTN_SETWP]);
timer_drawMap = 0;
menu = MENU_MAP_IDLE;
case MENU_MAP_IDLE:
if(timer_drawMap == 0)
{
gui_drawAREAmap(&gui_element[GUI_EL_AREA_MAP]);
timer_drawMap = MAP_REFRESHTIME;
}
timer_drawMap --;
break; //Map idle (waiting for touch events)
case MENU_VIEW_INIT:
//Draw View
menu = MENU_VIEW_IDLE;
case MENU_VIEW_IDLE:
break; //View idle (waiting for touch events)
case MENU_SETTINGS_INIT: //Settings active
switch (xv11_state(XV11_GETSTATE)) { //Lidar state?
case XV11_OFF: gui_element[GUI_EL_SW_LIDAR].state = SW_OFF; break;
case XV11_STARTING: gui_element[GUI_EL_SW_LIDAR].state = SW_BUSY; break;
case XV11_ON: gui_element[GUI_EL_SW_LIDAR].state = SW_ON; break;
default: break;
}
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
gui_element[GUI_EL_SW_STRLIDAR].state = strlidar.active ? SW_ON : SW_OFF; //Streams on/off?
gui_drawSW(&gui_element[GUI_EL_SW_STRLIDAR]);
gui_element[GUI_EL_SW_STRDEBUG].state = debug.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRDEBUG]);
gui_element[GUI_EL_SW_STRDEBUGOS].state = debugOS.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRDEBUGOS]);
gui_element[GUI_EL_SW_STRERR].state = error.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRERR]);
gui_element[GUI_EL_SW_STRSLAMUI].state = slamUI.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRSLAMUI]);
gui_element[GUI_EL_BTN_CALTOUCH].state = BTN_NOT_ACTIVE; //Calibrate Touchscreen?
gui_drawBTN(&gui_element[GUI_EL_BTN_CALTOUCH]);
gui_element[GUI_EL_BTN_RESET].state = BTN_NOT_ACTIVE; //Reset system!
gui_drawBTN(&gui_element[GUI_EL_BTN_RESET]);
menu = MENU_SETTINGS_IDLE;
case MENU_SETTINGS_IDLE:
if(gui_element[GUI_EL_SW_LIDAR].state != GUI_EL_INVISIBLE)
{
if(xv11_state(XV11_GETSTATE) == XV11_STARTING)
{
if(gui_element[GUI_EL_SW_LIDAR].state != SW_BUSY)
{
gui_element[GUI_EL_SW_LIDAR].state = SW_BUSY;
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
}
}
else if(xv11_state(XV11_GETSTATE) == XV11_ON)
{
if(gui_element[GUI_EL_SW_LIDAR].state != SW_ON)
{
gui_element[GUI_EL_SW_LIDAR].state = SW_ON;
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
}
}
}
break; //Settings idle (waiting for touch events)
case MENU_CALIBRATION: //Calibration mode:
if(UB_Touch_Calibrate() == 1)
{
menu = MENU_INIT;
}
break;
default: menu = MENU_INIT;
break;
}
vTaskDelayUntil( &xLastWakeTime, ( 50 / portTICK_RATE_MS ) );
}
}
