/* this probes for the device on all serial ports and at all baud rates */
int probe(struct polhemus *ph, int *devicenum_p, int *baud_p, int *mode_p)
{
static int baudrates[2] = { 9600,
38400 };
int mode = PH_THREAD;
int nbaud, baud, devicenum;
int errnum;
char *devicename;
char reply[256];
phSetThreadMode(ph,mode);
errnum = phGetError(ph);
if (errnum == PH_MODE_ERROR && mode != PH_NOTHREAD) {
mode = PH_NOTHREAD;
phSetThreadMode(ph,mode);
}
for (devicenum = 0; devicenum < 4; devicenum++) {
devicename = phDeviceName(devicenum);
for (nbaud = 0; nbaud < 2; nbaud++) {
baud = baudrates[nbaud];
phSetInitialComm(ph,baud,'N',8,0);
fprintf(stderr, "trying %s baud %i\n", devicename, baud);
phOpen(ph,devicename);
errnum = phGetError(ph);
/* if we can't open the serial port, go on to next serial port */
if (errnum == PH_OPEN_ERROR) {
break;
}
phSendCommand(ph, "\r\n");
phReceiveReply(ph, reply, 256);
errnum = phGetError(ph);
/* if no error, then we're done switching baud rates */
if (!errnum) {
break;
}
}
/* if no error, then we're done switching ports */
if (!errnum) {
break;
}
}
if (!errnum) {
phReset(ph);
phClose(ph);
*devicenum_p = devicenum;
*baud_p = baud;
*mode_p = mode;
}
return !errnum;
}
int main(int argc, char *argv[])
{
float pos[3],ang[3];
struct polhemus *ph;
int i;
char status[128];
int devicenum = 2;
int baud = PH_38400;
int mode = PH_NOTHREAD;
char *devicename;
double starttime;
int count = 10;
if (argc > 1) {
count = atoi(argv[1]);
}
/* return a polhemus object */
ph = phNew();
/* probe for port/baud rate */
if (!probe(ph,&devicenum,&baud,&mode)) {
fprintf(stderr,"error %s\n",phGetErrorMessage(ph));
exit(0);
}
/* print out probed information */
fprintf(stderr,"found ph on port %s at baud rate %d in mode %d\n",
phDeviceName(devicenum),baud,mode);
/* you can set an error callback if you want */
phSetErrorCallback(ph,callback,ph);
/* get the serial port name, e.g. "COM1:" or "COM2:" */
devicename = phDeviceName(devicenum);
/* args are ph, serial port, baud, flags */
fprintf(stderr, "opening device %s\n", devicename);
phSetInitialComm(ph, baud, 'N', 8, 0);
phSetThreadMode(ph, mode);
phOpen(ph,devicename);
/* ph->file = ndiSerialOpen(devicename);
ndiSerialComm(ph->file, 38400, "8N1", 0); */
fprintf(stderr, "device opened\n");
/*
fprintf(stderr,"system status\n");
fbExamineValueBytes(ph,FB_FBB_STATUS,status);
fprintf(stderr,"1: %2.2x 2: %2.2x",status[0],status[1]);
fprintf(stderr,"\n");
*/
fprintf(stderr,"sending: P\r\n");
/*
write(ph->file, "P\r\n", 3);
usleep(500000);
read(ph->file, status, 128);
read(ph->file, status, 128);
*/
phSetReplyFormat(ph, 1, PH_POSITION | PH_ANGLES);
phSendRaw(ph,"P\n",2);
phReceiveRaw(ph, status, 45, 0);
fprintf(stderr, "received: \'%.*s\'\n", 45, status);
phSetReplyFormat(ph, 1, PH_POSITION | PH_ANGLES);
/* grab a single record */
starttime = phGetTime(ph);
fprintf(stderr, "phStream\n");
phStream(ph);
for (i = 0;i<count;i++) {
fprintf(stderr, "phUpdate %i\n", i);
phUpdate(ph);
phGetPosition(ph,pos);
phGetAngles(ph,ang);
fprintf(stderr,"ph %d time %10.3f pos %+6.2f %+6.2f %+6.2f ang %+6.2f %+6.2f %+6.2f\n",
phGetStation(ph),phGetTime(ph)-starttime,
pos[0],pos[1],pos[2],
ang[0],ang[1],ang[2]);
}
phClose(ph);
return 0;
}
BOOL DestroySockets(PHGlobal *phglobal)
{
phClose(&phglobal->m_tcpsocket);
phClose(&phglobal->m_udpsocket);
return TRUE;
}
int ExecuteUpdate(PHGlobal *phglobal)
{
char buffer[1024];
char username[128] = "";
char key[128] = "";
char sendbuffer[256];
char domains[255][255];
char regicommand[255];
int i,len, totaldomains;
long challengetime = 0;
char *chatid = NULL;
char *startid = NULL;
char *xmldata = NULL;
int buflen = 0;
LOG(1) ("ExecuteUpdate Connecting %s.\n",phglobal->szHost);
if (!phConnect(phglobal->m_tcpsocket, phglobal->szHost,phglobal->nPort,&phglobal->nAddressIndex,phglobal->szTcpConnectAddress))
{
LOG(1) ("ExecuteUpdate errorConnectFailed.\n");
phglobal->nAddressIndex++;
return errorConnectFailed;
}
//////////////////////////////////////////////////////////////////////////
//Recv server hello string
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
if (len <=0 )
{
LOG(1) ("ExecuteUpdate Recv server hello string failed.\n");
phClose(&phglobal->m_tcpsocket);
phglobal->nAddressIndex++;
return errorConnectFailed;
}
LOG(1) (("SEND AUTH REQUEST COMMAND..."));
phSend(phglobal->m_tcpsocket, (char*)COMMAND_AUTH,sizeof(COMMAND_AUTH),0);
LOG(1) (("OK.\n"));
//////////////////////////////////////////////////////////////////////////
//Recv server key string
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
if (len <=0 )
{
LOG(1) (("ExecuteUpdate Recv server key string failed.\n"));
phClose(&phglobal->m_tcpsocket);
return errorConnectFailed;
}
LOG(1) (("SERVER SIDE KEY \"%s\" RECEIVED.\n"),buffer);
phglobal->nChallengeLen = lutil_b64_pton(buffer+4, (unsigned char *)phglobal->szChallenge, 256);
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//Generate encoded auth string
len = GenerateCrypt(phglobal->szUserID, phglobal->szUserPWD, buffer+4, phglobal->clientinfo, phglobal->challengekey, sendbuffer);
strcat(sendbuffer, "\r\n");
//Generate ok.
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//send auth data
LOG(1) (("SEND AUTH DATA..."));
phSend(phglobal->m_tcpsocket, sendbuffer,strlen(sendbuffer),0);
LOG(1) (("OK\n"));
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
buffer[3] = 0;
if (len <=0 )
{
LOG(1) (("ExecuteUpdate Recv server auth response failed.\n"));
phClose(&phglobal->m_tcpsocket);
//modified skyvense 2005/10/08, for server db conn lost bug
//return errorAuthFailed;
return errorConnectFailed;
}
if (strcmp(buffer,"250")!=0 && strcmp(buffer,"536")!=0)
{
LOG(1) ("CTcpThread::ExecuteUpdate auth failed.\n");
phClose(&phglobal->m_tcpsocket);
if (strstr(buffer + 4, "Busy.") != NULL) return errorAuthBusy;
return errorAuthFailed;
}
if (strcmp(buffer,"536") == 0) //find redirected server address, and let us connect again to new server
{
char *pos0 = strchr(buffer + 4, '<');
if (pos0)
{
char *pos1 = strchr(pos0 + 1, '>');
if (pos1)
{
*pos1 = '\0';
strcpy(phglobal->szHost, pos0 + 1);
phClose(&phglobal->m_tcpsocket);
return okRedirecting;
}
}
return errorAuthFailed;
}
if (strcmp(buffer,"250") == 0) //get user type level, 0(free),1(pro),2(biz)
{
char *pos0 = strchr(buffer + 4, '<');
if (pos0)
{
char *pos1 = strchr(pos0 + 1, '>');
if (pos1)
{
*pos1 = '\0';
phglobal->nUserType = atoi(pos0 + 1);
}
}
}
//////////////////////////////////////////////////////////////////////////
//list domains
for (i=0,totaldomains=0; i<255; i++)
{
memset(domains[i], 0, 255);
phReadOneLine(phglobal->m_tcpsocket, domains[i],255);
LOG(1) (("ExecuteUpdate domain \"%s\"\n"),domains[i]);
totaldomains++;
strcpy(phglobal->szActiveDomains[i],domains[i]);
if (domains[i][0] == '.') break;
}
if (totaldomains<=0)
{
LOG(1) (("ExecuteUpdate Domain List Failed.\n"));
phClose(&phglobal->m_tcpsocket);
return errorDomainListFailed;
}
phglobal->cLastResult = okDomainListed;
if (phglobal->cbOnStatusChanged) phglobal->cbOnStatusChanged(phglobal->cLastResult, 0);
//::SendMessage(theApp.m_hWndController,WM_DOMAIN_UPDATEMSG,okDomainListed,(long)domains);
//////////////////////////////////////////////////////////////////////////
//send domain regi commands list
for (i=0;; i++)
{
if (domains[i][0] == '.') break;
memset(regicommand, 0, 128);
strcpy(regicommand, COMMAND_REGI);
strcat(regicommand, " ");
strcat(regicommand, domains[i]);
strcat(regicommand, "\r\n");
//printf("%s",regicommand);
phSend(phglobal->m_tcpsocket,regicommand,strlen(regicommand),0);
}
//////////////////////////////////////////////////////////////////////////
//send confirm
LOG(1) (("SEND CNFM DATA..."));
phSend(phglobal->m_tcpsocket,(char*)COMMAND_CNFM,strlen(COMMAND_CNFM),0);
LOG(1) (("OK\n"));
for (i=0; i<totaldomains-1; i++)
{
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
if (len <= 0)
{
LOG(1) (("ExecuteUpdate Recv server confirm response failed.\n"));
phClose(&phglobal->m_tcpsocket);
return errorDomainRegisterFailed;
}
LOG(1) (("ExecuteUpdate %s\n"),buffer);
if (phglobal->cbOnDomainRegistered) phglobal->cbOnDomainRegistered(domains[i]);
}
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
if (len <= 0)
{
LOG(1) (("ExecuteUpdate Recv server confirmed chatID response failed.\n"));
phClose(&phglobal->m_tcpsocket);
return errorDomainRegisterFailed;
}
LOG(1) (("%s\n"),buffer);
//////////////////////////////////////////////////////////////////////////
//find chatid & startid
chatid = buffer + 4;
startid = NULL;
for (i=4; i<strlen(buffer); i++)
{
if (buffer[i] == ' ')
{
buffer[i] = 0;
startid = buffer + i + 1;
break;
}
}
phglobal->nChatID = atoi(chatid);
if (startid) phglobal->nStartID = atoi(startid);
LOG(1) (("ExecuteUpdate nChatID:%d, nStartID:%d\n"),phglobal->nChatID,phglobal->nStartID);
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//after confirm domain register, we begin to get user information
phSend(phglobal->m_tcpsocket,(void *)COMMAND_STAT_USER,sizeof(COMMAND_STAT_USER),0);
memset(buffer, 0, 1024);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
buffer[3] = 0;
if (len <= 0 || strcmp(buffer,"250")!=0)
{
LOG(1) ("CTcpThread::ExecuteUpdate Recv server confirmed stat user response failed.\n");
phClose(&phglobal->m_tcpsocket);
return errorStatDetailInfoFailed;
}
buflen = MAX_PATH;
xmldata = (char *)malloc(buflen);
memset(xmldata, 0, buflen);
for (;;)
{
memset(buffer, 0, 1024);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,1024);
if (buffer[0] == '.' || len <= 0) break;
if (buflen < strlen(xmldata) + len)
{
buflen += MAX_PATH;
xmldata = realloc(xmldata, buflen);
memset((xmldata + buflen) - MAX_PATH, 0, MAX_PATH);
}
strncat(xmldata, buffer, len);
}
LOG(1) ("userinfo: \r\n%s\r\n", xmldata);
if (phglobal->cbOnUserInfo) phglobal->cbOnUserInfo(xmldata, strlen(xmldata));
free(xmldata);
buflen = 0;
phSend(phglobal->m_tcpsocket,(void *)COMMAND_STAT_DOM,sizeof(COMMAND_STAT_DOM),0);
memset(buffer, 0, 1024);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
buffer[3] = 0;
if (len <= 0 || strcmp(buffer,"250")!=0)
{
LOG(1) ("CTcpThread::ExecuteUpdate Recv server confirmed stat user response failed.\n");
phClose(&phglobal->m_tcpsocket);
return errorStatDetailInfoFailed;
}
buflen = MAX_PATH;
xmldata = (char *)malloc(buflen);
memset(xmldata, 0, buflen);
for (;;)
{
memset(buffer, 0, 1024);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,1024);
if (buffer[0] == '.' || len <= 0) break;
if (buflen < strlen(xmldata) + len)
{
buflen += MAX_PATH;
xmldata = realloc(xmldata, buflen);
memset((xmldata + buflen) - MAX_PATH, 0, MAX_PATH);
}
strncat(xmldata, buffer, len);
}
LOG(1) ("domaininfo: \r\n%s\r\n", xmldata);
if (phglobal->cbOnAccountDomainInfo) phglobal->cbOnAccountDomainInfo(xmldata, strlen(xmldata));
free(xmldata);
buflen = 0;
//////////////////////////////////////////////////////////////////////////
//good bye!
LOG(1) (("SEND QUIT COMMAND..."));
phSend(phglobal->m_tcpsocket,(char*)COMMAND_QUIT,sizeof(COMMAND_QUIT),0);
LOG(1) (("OK.\n"));
memset(buffer, 0, 128);
len = phReadOneLine(phglobal->m_tcpsocket, buffer,sizeof(buffer));
if (len <= 0)
{
LOG(1) (("ExecuteUpdate Recv server goodbye response failed.\n"));
phClose(&phglobal->m_tcpsocket);
return okDomainsRegistered;
}
LOG(1) (("%s\n"),buffer);
phClose(&phglobal->m_tcpsocket);
return okDomainsRegistered;
}
