bool
DriverInstall()
{
CONFIG_DATA *cd = GetConfigData();
// Open the service control manager
SC_HANDLE hScm = OpenSCManager(0, 0, SC_MANAGER_ALL_ACCESS);
if (!hScm) return false;
// Create the driver service
bool rv = false;
WCHAR szDriverPath[MAX_PATH+7] = { '\0' };
wstrlprintf(szDriverPath, sizeof(szDriverPath), L"%ls", cd->szProcFilterDriver);
SC_HANDLE hDriverService = CreateServiceW(hScm, PROCFILTER_DRIVER_SERVICE_NAME, PROCFILTER_DRIVER_SERVICE_DISPLAY_NAME, SERVICE_START | SERVICE_STOP | DELETE,
SERVICE_KERNEL_DRIVER, SERVICE_DEMAND_START, SERVICE_ERROR_IGNORE, szDriverPath, 0, 0, 0, 0, 0);
// Was the service created? Or does it already exist?
if (hDriverService) {
rv = true;
CloseServiceHandle(hDriverService);
} else if (GetLastError() == ERROR_SERVICE_EXISTS) {
rv = true;
}
CloseServiceHandle(hScm);
return rv;
}
QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
{
int i;
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (i=0; i < (int)(ConfigGroundVehicleWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
if (configData.ground.GroundVehicleSteering1 > 0)
channelDesc[configData.ground.GroundVehicleSteering1-1] = QString("GroundSteering1");
if (configData.ground.GroundVehicleSteering2 > 0)
channelDesc[configData.ground.GroundVehicleSteering2-1] = QString("GroundSteering2");
if (configData.ground.GroundVehicleThrottle1 > 0)
channelDesc[configData.ground.GroundVehicleThrottle1-1] = QString("GroundThrottle1");
if (configData.ground.GroundVehicleThrottle2 > 0)
channelDesc[configData.ground.GroundVehicleThrottle2-1] = QString("GroundThrottle2");
return channelDesc;
}
void GetConfigUART(lua_State* L, int index, SerialConfig* serialConfig) {
if (!lua_isnil(L, index)) {
if (lua_istable(L, index)) {
lua_getfield(L, index, "baudrate");
GetConfigBaudrate(L, -1, &(serialConfig->baudrate));
lua_pop(L, 1);
lua_getfield(L, index, "parity");
GetConfigParity(L, -1, &(serialConfig->parity));
lua_pop(L, 1);
lua_getfield(L, index, "data");
GetConfigData(L, -1, &(serialConfig->data));
lua_pop(L, 1);
lua_getfield(L, index, "stop");
GetConfigStop(L, -1, &(serialConfig->stop));
lua_pop(L, 1);
lua_getfield(L, index, "flowcontrol");
GetConfigFlowControl(L, -1, &(serialConfig->flowControl));
lua_pop(L, 1);
lua_getfield(L, index, "timeout");
GetConfigTimeout(L, -1, &(serialConfig->timeout));
lua_pop(L, 1);
lua_getfield(L, index, "retry");
GetConfigRetry(L, -1, &(serialConfig->retry));
lua_pop(L, 1);
} else {
luaL_error(L, "'cfg' should be a table");
}
}
}
/**
Helper function: setup motors. Takes a list of channel names in input.
*/
void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
{
QList<QComboBox*> mmList;
mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
GUIConfigDataUnion configData = GetConfigData();
ResetActuators(&configData);
int index;
foreach (QString motor, motorList) {
index = mmList.takeFirst()->currentIndex();
if (motor == QString("VTOLMotorN"))
configData.multi.VTOLMotorN = index;
else if (motor == QString("VTOLMotorNE"))
configData.multi.VTOLMotorNE = index;
else if (motor == QString("VTOLMotorE"))
configData.multi.VTOLMotorE = index;
else if (motor == QString("VTOLMotorSE"))
configData.multi.VTOLMotorSE = index;
else if (motor == QString( "VTOLMotorS"))
configData.multi.VTOLMotorS = index;
else if (motor == QString( "VTOLMotorSW"))
configData.multi.VTOLMotorSW = index;
else if (motor == QString( "VTOLMotorW"))
configData.multi.VTOLMotorW = index;
else if (motor == QString( "VTOLMotorNW"))
configData.multi.VTOLMotorNW = index;
}
bool InitializeFlowInterface(Controller *me)
{
RegistrationData regData;
GetConfigData(®Data);
if (InitialiseLibFlowMessaging((const char *)regData.url, (const char *)regData.key,(const char *)regData.secret))
{
if (RegisterDevice(regData.deviceType,
regData.deviceMACAddress,
regData.deviceSerialNumber,
DEVICE_SOFTWARE_VERSION,
regData.deviceName,
regData.devRegKey))
{
if (GetUserId(me->userId))
{
GetDeviceId(SENSOR_DEVICE_TYPE, me->userId, &me->sensorConfig.sensorId);
GetDeviceId(ACTUATOR_DEVICE_TYPE, me->userId, &me->actuatorConfig.actuatorId);
printf("Flow Interface initialized successfully\n");
return true;
}
}
}
printf("Flow Interface initialization failed\n");
return false;
}
QStringList ConfigMultiRotorWidget::getChannelDescriptions()
{
QStringList channelDesc;
// init a channel_numelem list of channel desc defaults
for (int i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
{
channelDesc.append(QString("-"));
}
// get the gui config data
GUIConfigDataUnion configData = GetConfigData();
multiGUISettingsStruct multi = configData.multi;
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
if (multi.VTOLMotorS > 0 && multi.VTOLMotorS <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
if (multi.VTOLMotorW > 0 && multi.VTOLMotorW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
if (multi.TRIYaw > 0 && multi.TRIYaw <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
channelDesc[multi.TRIYaw-1] = QString("Tri-Yaw");
return channelDesc;
}
/**
Setup steerable ground vehicle.
Returns False if impossible to create the mixer.
*/
bool ConfigGroundVehicleWidget::setupGroundVehicleCar(SystemSettings::AirframeTypeOptions airframeType)
{
// Check coherence:
//Show any config errors in GUI
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
config.ground.GroundVehicleThrottle1 = m_aircraft->gvMotor1ChannelBox->currentIndex();
config.ground.GroundVehicleThrottle2 = m_aircraft->gvMotor2ChannelBox->currentIndex();
config.ground.GroundVehicleSteering1 = m_aircraft->gvSteering1ChannelBox->currentIndex();
config.ground.GroundVehicleSteering2 = m_aircraft->gvSteering2ChannelBox->currentIndex();
SetConfigData(config);
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
resetMixers(mixerSettings);
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, 127);
channel = m_aircraft->gvSteering2ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, -127);
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_MOTOR);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, 127);
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixerSettings,channel, MixerSettings::MIXER1TYPE_MOTOR);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_THROTTLECURVE2, 127);
//Output success message
m_aircraft->gvStatusLabel->setText("Mixer generated");
return true;
}
/**
Virtual function to refresh the UI widget values
*/
void ConfigGroundVehicleWidget::refreshAirframeWidgetsValues(SystemSettings::AirframeTypeOptions frameType)
{
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
GUIConfigDataUnion config = GetConfigData();
//THIS SECTION STILL NEEDS WORK. FOR THE MOMENT, USE THE FIXED-WING ONBOARD SETTING IN ORDER TO MINIMIZE CHANCES OF BOLLOXING REAL CODE
// Retrieve channel setup values
setComboCurrentIndex(m_aircraft->gvMotor1ChannelBox, config.ground.GroundVehicleThrottle1);
setComboCurrentIndex(m_aircraft->gvMotor2ChannelBox, config.ground.GroundVehicleThrottle2);
setComboCurrentIndex(m_aircraft->gvSteering1ChannelBox, config.ground.GroundVehicleSteering1);
setComboCurrentIndex(m_aircraft->gvSteering2ChannelBox, config.ground.GroundVehicleSteering2);
if (frameType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL) {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW DIFFERENTIAL SHOULD BEHAVE
// If the vehicle type is "differential", restore the slider setting
// Find the channel number for Motor1
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
m_aircraft->differentialSteeringSlider1->setValue(getMixerVectorValue(mixerSettings,channel,MixerSettings::MIXER1VECTOR_ROLL)*100);
m_aircraft->differentialSteeringSlider2->setValue(getMixerVectorValue(mixerSettings,channel,MixerSettings::MIXER1VECTOR_PITCH)*100);
}
}
if (frameType == SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE) {
//CURRENTLY BROKEN UNTIL WE DECIDE HOW MOTORCYCLE SHOULD BEHAVE
// obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
// Q_ASSERT(obj);
// int chMixerNumber = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
// if (chMixerNumber >=0) {
// field = obj->getField(mixerVectors.at(chMixerNumber));
// int ti = field->getElementNames().indexOf("Yaw");
// m_aircraft->differentialSteeringSlider1->setValue(field->getDouble(ti)*100);
//
// ti = field->getElementNames().indexOf("Pitch");
// m_aircraft->differentialSteeringSlider2->setValue(field->getDouble(ti)*100);
// }
}
}
DWORD
WINAPI
ep_DriverService(void *arg)
{
const CONFIG_DATA *cd = GetConfigData();
SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_HIGHEST);
// Build the threadpool
POOL_DATA pd;
ZeroMemory(&pd, sizeof(POOL_DATA));
pd.hSharedDriverHandle = g_hDriver;
const DWORD dwNumChannels = NUM_EVENTTYPES-1; // -1 to ignore EVENT_NONE
THREADPOOL *tp = ThreadPoolAlloc(cd->dThreadPoolSize, dwNumChannels, PfWorkerInit, PfWorkerWork, PfWorkerDestroy, &pd, sizeof(WORKER_DATA), THREAD_PRIORITY_NORMAL);
if (!tp) Die("Unable to allocate threadpool");
// Create the read file event for use with overlapped I/O
HANDLE hReadFileEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
if (hReadFileEvent == NULL) Die("Unable to create read file event");
// Allocate memory for the buffer to be read from the kernel
PROCFILTER_REQUEST *req = (PROCFILTER_REQUEST*)_malloca(PROCFILTER_REQUEST_SIZE);
while (true) {
if (WaitForSingleObject(g_hStopTheadEvent, 0) == WAIT_OBJECT_0) break;
// Read request from driver using synch/asynch calls according to https://support.microsoft.com/en-us/kb/156932
DWORD dwBytesRead = 0;
OVERLAPPED overlapped;
ZeroMemory(&overlapped, sizeof(OVERLAPPED));
ResetEvent(hReadFileEvent);
overlapped.hEvent = hReadFileEvent;
BOOL rc = ReadFile(g_hDriver, req, PROCFILTER_REQUEST_SIZE, &dwBytesRead, &overlapped);
DWORD dwErrorCode = GetLastError();
if (rc) {
// Successfully completed a synchronous read, do nothing
} else if (dwErrorCode == ERROR_IO_PENDING) {
// Successfully completed an asynchronous read, so wait for it
DWORD dwNumberOfBytesTransferred = 0;
if (!GetOverlappedResult(g_hDriver, &overlapped, &dwNumberOfBytesTransferred, TRUE)) {
dwErrorCode = GetLastError();
if (dwErrorCode == ERROR_OPERATION_ABORTED || dwErrorCode == ERROR_INVALID_HANDLE) break;
// Cancel the pending IO to ensure the IO operation does not complete after this function ends
// and the result is stored to an invalid location
CancelIo(g_hDriver);
Die("GetOverlappedResult() failure in reader: %d", dwErrorCode);
}
dwErrorCode = GetLastError();
dwBytesRead = dwNumberOfBytesTransferred;
} else if (dwErrorCode == ERROR_OPERATION_ABORTED || dwErrorCode == ERROR_INVALID_HANDLE) {
break;
} else {
Die("Unable to read data from driver: %d / %ls", dwErrorCode, ErrorText(dwErrorCode));
}
LogDebugFmt("Read event from driver: PID:%u Event:%u", req->dwProcessId, req->dwEventType);
ULONG64 ulStartPerformanceCount = GetPerformanceCount();
// Validate the size of data read
if (dwBytesRead < sizeof(PROCFILTER_REQUEST) || dwBytesRead > PROCFILTER_REQUEST_SIZE) {
Die("Read invalid size from driver device: %u < %u || %u > %u ReadFile:%hs ErrorCode:%d",
dwBytesRead, sizeof(PROCFILTER_REQUEST), dwBytesRead, PROCFILTER_REQUEST_SIZE, rc ? "TRUE" : "FALSE", dwErrorCode);
}
if (dwBytesRead != req->dwRequestSize) {
Die("Read partial packet from driver device: Read:%u PacketSize:%u", dwBytesRead, req->dwRequestSize);
}
// Post a copy of the retrieved data to a worker thread
LogDebug("Posting work task to worker");
// Allocate memory for the task data, the structure of which includes only the header portion of the procfilter request,
// so allocate only the exact size needed
WORKER_TASK_DATA *wtd = (WORKER_TASK_DATA*)malloc(sizeof(WORKER_TASK_DATA) + (dwBytesRead - sizeof(PROCFILTER_REQUEST)));
if (!wtd) Die("Memory allocation failure for ProcFilter request");
memcpy(&wtd->peProcFilterRequest, req, dwBytesRead);
wtd->ulStartPerformanceCount = ulStartPerformanceCount;
LogDebugFmt("Posting to threadpool: PID:%u Event:%u", req->dwProcessId, req->dwEventType);
if (ThreadPoolPost(tp, req->dwEventType, false, g_hStopTheadEvent, wtd)) {
LogDebug("Posted work task to worker");
} else {
LogDebugFmt("Failed to post task to worker");
free(wtd);
}
}
_freea(req);
ThreadPoolFree(tp);
CloseHandle(hReadFileEvent);
// Driver closing is done here since this thread could terminate due to an error situation
// and if closing were done elsewhere (such as service exit) the driver device would be kept open, consequently
// blocking process creation events until service shutdown
CloseHandle(g_hDriver);
g_hDriver = INVALID_HANDLE_VALUE;
return 0;
}
void
LoadKernelDriver()
{
CONFIG_DATA *cd = GetConfigData();
// Open the service control manager
g_hSCM = OpenSCManager(0, 0, SC_MANAGER_ALL_ACCESS);
if (!g_hSCM) Die("Unable to open the service control manager");
// Stop the old driver service if its running
g_hDriverService = OpenService(g_hSCM, PROCFILTER_DRIVER_SERVICE_NAME, SERVICE_START | SERVICE_STOP | DELETE | SERVICE_QUERY_STATUS);
if (g_hDriverService) {
if (!ServiceStop(g_hDriverService, 2 * 60 * 1000)) Die("Unable to stop previously running driver service");
LogDebugFmt("Opened driver service");
} else {
Die("Unable to open old driver service: %u", GetLastError());
}
// Service handle opened and the driver is to be started
// Start the driver service
BOOL rc = StartService(g_hDriverService, 0, NULL);
DWORD dwErrorCode = GetLastError();
if (!rc) Die("Unable to start driver service: %u", dwErrorCode);
// It's running, so open it
g_hDriver = CreateFileW(PROCFILTER_DEVICE_PATH, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_FLAG_OVERLAPPED, NULL);
if (g_hDriver == INVALID_HANDLE_VALUE) {
DWORD dwErrorCode = GetLastError();
LogCriticalFmt("Error opening driver: 0x%08X", dwErrorCode);
Die("Error opening driver service %ls: %ls", cd->szProcFilterDriver, ErrorText(dwErrorCode));
}
// Send the driver its configuration
PROCFILTER_CONFIGURATION yc;
ZeroMemory(&yc, sizeof(PROCFILTER_CONFIGURATION));
yc.dwProcFilterRequestSize = sizeof(PROCFILTER_REQUEST);
yc.dwProcMaxFilterRequestSize = PROCFILTER_REQUEST_SIZE;
yc.bDenyProcessCreationOnFailedScan = cd->bDenyProcessCreationOnFailedScan;
// Always force thread/image events on in debug builds
#if defined(_DEBUG)
yc.bWantThreadEvents = true;
yc.bWantImageLoadEvents = true;
#else
yc.bWantThreadEvents = ApiWantThreadEvents();
yc.bWantImageLoadEvents = cd->bScanFileOnImageLoad || cd->bScanMemoryOnImageLoad || ApiWantImageLoadEvents();
#endif
// Create the event to be signalled when device configuration succeeds
HANDLE hControlDeviceEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
if (!hControlDeviceEvent) Die("Unable to create event for DeviceIoControl()");
OVERLAPPED overlapped;
ZeroMemory(&overlapped, sizeof(OVERLAPPED));
overlapped.hEvent = hControlDeviceEvent;
rc = DeviceIoControl(g_hDriver, IOCTL_PROCFILTER_CONFIGURE, &yc, sizeof(PROCFILTER_CONFIGURATION), NULL, 0, NULL, &overlapped);
if (!rc && GetLastError() == ERROR_IO_PENDING) {
DWORD dwBytesRead = 0;
if (!GetOverlappedResult(g_hDriver, &overlapped, &dwBytesRead, TRUE)) {
Die("GetOverlappedResult() failure for DeviceIoControl(): %d", GetLastError());
}
} else if (!rc) {
Die("DeviceIoControl() failure: %d", GetLastError());
}
CloseHandle(hControlDeviceEvent);
LogWarning("Started driver");
}
// Getter for the logging configuration data
HRESULT CFrameProcessor_J1939::FPJ1_GetConfigData(xmlNodePtr pNodePtr)
{
return GetConfigData(pNodePtr);
}
// Getter for the logging configuration data
HRESULT CFrameProcessor_J1939::FPJ1_GetConfigData(BYTE** ppvConfigData, UINT& unLength)
{
return GetConfigData(ppvConfigData, unLength);
}
//
// Perform the scanning as specified in the various input parameters
//
void
Scan(DWORD dwEventType, int dScanContext, PROCFILTER_EVENT *e, YARASCAN_CONTEXT *ctx, HANDLE hDriver, HANDLE hWriteCompletionEvent, DWORD dwProcessId, DWORD dwParentProcessId, WCHAR *lpszFileName, void *lpImageBase, void *lpvScanDataArray)
{
if (!lpszFileName) return;
LONG64 llStart = GetPerformanceCount();
CONFIG_DATA *cd = GetConfigData();
bool bScanFile = false;
bool bScanMemory = false;
bool bBlock = false;
bool bLog = false;
bool bQuarantine = false;
// Pull the scan parameters out of config
if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_CREATE) {
bScanFile = cd->bScanFileOnProcessCreate;
bScanMemory = cd->bScanMemoryOnProcessCreate;
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_TERMINATE) {
bScanFile = cd->bScanFileOnProcessTerminate;
bScanMemory = cd->bScanMemoryOnProcessTerminate;
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_PERIODIC_SCAN) {
bScanFile = cd->bScanFileOnPeriodic;
bScanMemory = cd->bScanMemoryOnPeriodic;
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_IMAGE_LOAD) {
bScanFile = cd->bScanFileOnImageLoad;
bScanMemory = cd->bScanMemoryOnImageLoad;
} else {
Die("Invalid context passed to Scan(): %d", dScanContext);
}
// Initialize the API event with the passed-in parameters
ApiEventReinit(e, PROCFILTER_EVENT_YARA_SCAN_INIT);
e->dwProcessId = dwProcessId;
e->dwParentProcessId = dwParentProcessId;
e->lpszFileName = lpszFileName;
e->dScanContext = dScanContext;
e->bScanFile = bScanFile;
e->bScanMemory = bScanMemory;
e->lpvScanData = lpvScanDataArray;
// Export the event to the API and handle the result flags
DWORD dwPluginResultFlags = ApiEventExport(e);
if (dwPluginResultFlags & PROCFILTER_RESULT_BLOCK_PROCESS) bBlock = true;
if (dwPluginResultFlags & PROCFILTER_RESULT_DONT_SCAN_MEMORY) bScanMemory = false;
if (dwPluginResultFlags & PROCFILTER_RESULT_FORCE_SCAN_MEMORY) bScanMemory = true;
if (dwPluginResultFlags & PROCFILTER_RESULT_DONT_SCAN_FILE) bScanFile = false;
if (dwPluginResultFlags & PROCFILTER_RESULT_FORCE_SCAN_FILE) bScanFile = true;
if (dwPluginResultFlags & PROCFILTER_RESULT_QUARANTINE) bQuarantine = true;
// Scan the file if requested
SCAN_RESULT srFileResult;
ZeroMemory(&srFileResult, sizeof(SCAN_RESULT));
if (bScanFile) {
CALLBACK_USER_DATA cud = { e, dwProcessId, lpszFileName, lpvScanDataArray, dScanContext, PROCFILTER_MATCH_FILE };
YarascanScanFile(ctx, lpszFileName, cd->dwScanFileSizeLimit, OnMatchCallback, OnMetaCallback, &cud, &srFileResult);
if (srFileResult.bScanSuccessful) {
bBlock |= srFileResult.bBlock;
bLog |= srFileResult.bLog;
bQuarantine |= srFileResult.bQuarantine;
} else {
EventWriteSCAN_FILE_FAILED(dwProcessId, lpszFileName, srFileResult.szError);
}
}
// Scan the memory if requested
SCAN_RESULT srMemoryResult;
ZeroMemory(&srMemoryResult, sizeof(SCAN_RESULT));
if (bScanMemory) {
CALLBACK_USER_DATA cud = { e, dwProcessId, lpszFileName, lpvScanDataArray, dScanContext, PROCFILTER_MATCH_MEMORY };
YarascanScanMemory(ctx, dwProcessId, OnMatchCallback, OnMetaCallback, &cud, &srMemoryResult);
if (srMemoryResult.bScanSuccessful) {
bBlock |= srMemoryResult.bBlock;
bLog |= srMemoryResult.bLog;
bQuarantine |= srMemoryResult.bQuarantine;
} else {
EventWriteSCAN_PROCESS_FAILED(dwProcessId, lpszFileName, srMemoryResult.szError);
}
}
// Export the scan results to plugins
ApiEventReinit(e, PROCFILTER_EVENT_YARA_SCAN_COMPLETE);
e->dwProcessId = dwProcessId;
e->dwParentProcessId = dwParentProcessId;
e->lpszFileName = lpszFileName;
e->dScanContext = dScanContext;
e->srFileResult = bScanFile ? &srFileResult : NULL;
e->srMemoryResult = bScanMemory ? &srMemoryResult : NULL;
e->bBlockProcess = bBlock;
e->lpvScanData = lpvScanDataArray;
dwPluginResultFlags = ApiEventExport(e);
if (dwPluginResultFlags & PROCFILTER_RESULT_BLOCK_PROCESS) bBlock = true;
if (dwPluginResultFlags & PROCFILTER_RESULT_QUARANTINE) bQuarantine = true;
WCHAR *szFileQuarantineRuleNames = bScanFile && srFileResult.bScanSuccessful ? srFileResult.szQuarantineRuleNames : NULL;
WCHAR *szMemoryQuarantineRuleNames = bScanMemory && srMemoryResult.bScanSuccessful ? srMemoryResult.szQuarantineRuleNames : NULL;
// Quarantine here
if (bQuarantine) {
char hexdigest[SHA1_HEXDIGEST_LENGTH+1] = { '\0' };
if (QuarantineFile(lpszFileName, cd->szQuarantineDirectory, cd->dwQuarantineFileSizeLimit, szFileQuarantineRuleNames, szMemoryQuarantineRuleNames, hexdigest)) {
EventWriteFILE_QUARANTINED(dwProcessId, lpszFileName, hexdigest,
(bScanFile && srFileResult.bScanSuccessful) ? srFileResult.szQuarantineRuleNames : NULL,
(bScanMemory && srMemoryResult.bScanSuccessful) ? srMemoryResult.szQuarantineRuleNames : NULL);
}
}
// Write the result back to the kernel driver, which releases the process
bool bProcessBlocked = false;
if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_CREATE || dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_TERMINATE) {
PROCFILTER_RESPONSE response;
ZeroMemory(&response, sizeof(PROCFILTER_RESPONSE));
response.dwEventType = dwEventType;
response.dwProcessId = dwProcessId;
// Block the process according to configuration
if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_CREATE) {
if (cd->bDenyProcessCreationOnFailedScan) {
if (bScanFile && !srFileResult.bScanSuccessful) bBlock = true;
if (bScanMemory && !srMemoryResult.bScanSuccessful) bBlock = true;
}
if (bBlock) {
response.bBlock = true;
}
}
if (DriverSendResponse(hDriver, hWriteCompletionEvent, &response)) {
if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_CREATE) bProcessBlocked = true;
}
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_IMAGE_LOAD) {
PROCFILTER_RESPONSE response;
ZeroMemory(&response, sizeof(PROCFILTER_RESPONSE));
response.dwEventType = dwEventType;
response.dwProcessId = dwProcessId;
response.lpImageBase = lpImageBase;
DriverSendResponse(hDriver, hWriteCompletionEvent, &response);
}
// Log to event log based on what was sent to the kernel (excluding the quarantining)
WCHAR *szFileLogRuleNames = bScanFile && srFileResult.bScanSuccessful ? srFileResult.szLogRuleNames : NULL;
WCHAR *szFileBlockRuleNames = bScanFile && srFileResult.bScanSuccessful ? srFileResult.szBlockRuleNames : NULL;
WCHAR *szFileMatchRuleNames = bScanFile && srFileResult.bScanSuccessful ? srFileResult.szMatchedRuleNames : NULL;
WCHAR *szMemoryLogRuleNames = bScanMemory && srMemoryResult.bScanSuccessful ? srMemoryResult.szLogRuleNames : NULL;
WCHAR *szMemoryBlockRuleNames = bScanMemory && srMemoryResult.bScanSuccessful ? srMemoryResult.szBlockRuleNames : NULL;
WCHAR *szMemoryMatchRuleNames = bScanMemory && srMemoryResult.bScanSuccessful ? srMemoryResult.szMatchedRuleNames : NULL;
// Log the actions taken according to which events happened
if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_CREATE) {
if (bLog) EventWriteEXECUTION_LOGGED(dwProcessId, lpszFileName, szFileLogRuleNames, szMemoryLogRuleNames);
if (bBlock) EventWriteEXECUTION_BLOCKED(dwProcessId, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames);
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_PROCESS_TERMINATE) {
if (bLog) EventWriteEXITING_PROCESS_SCAN_MATCHED_LOGGED_RULE(dwProcessId, lpszFileName, szFileLogRuleNames, szMemoryLogRuleNames);
if (bBlock) EventWriteEXITING_PROCESS_SCAN_MATCHED_BLOCKED_RULE(dwProcessId, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames);
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_PERIODIC_SCAN) {
if (bLog) EventWriteRUNNING_PROCESS_MATCHED_LOGGED_RULE(dwProcessId, lpszFileName, szFileLogRuleNames, szMemoryLogRuleNames);
if (bBlock) {
EventWriteRUNNING_PROCESS_MATCHED_BLOCKED_RULE(dwProcessId, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames);
if (TerminateProcessByPid(dwProcessId, true, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames)) {
bProcessBlocked = true;
}
}
} else if (dScanContext == PROCFILTER_SCAN_CONTEXT_IMAGE_LOAD) {
if (bLog || bBlock) {
WCHAR *lpszImageLoaderProcessName = NULL;
DWORD dwImageLoaderProcessNameSize = sizeof(WCHAR) * (MAX_PATH+1);
HANDLE hProcess = OpenProcess(PROCESS_QUERY_INFORMATION, FALSE, dwProcessId);
if (hProcess) {
lpszImageLoaderProcessName = (WCHAR*)_malloca(dwImageLoaderProcessNameSize);
if (!QueryFullProcessImageNameW(hProcess, PROCESS_NAME_NATIVE, lpszImageLoaderProcessName, &dwImageLoaderProcessNameSize)) {
_freea(lpszImageLoaderProcessName);
lpszImageLoaderProcessName = NULL;
}
CloseHandle(hProcess);
}
if (bLog) EventWriteLOADED_IMAGE_LOGGED(dwProcessId, lpszImageLoaderProcessName, lpszFileName, szFileLogRuleNames, szMemoryLogRuleNames);
if (bBlock) {
EventWriteLOADED_IMAGE_BLOCKED(dwProcessId, lpszImageLoaderProcessName, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames);
if (TerminateProcessByPid(dwProcessId, true, lpszFileName, szFileBlockRuleNames, szMemoryBlockRuleNames)) {
bProcessBlocked = true;
}
}
if (lpszImageLoaderProcessName) _freea(lpszImageLoaderProcessName);
}
}
// Export post-scan notice to plugins
ApiEventReinit(e, PROCFILTER_EVENT_YARA_SCAN_CLEANUP);
e->dwProcessId = dwProcessId;
e->dwParentProcessId = dwParentProcessId;
e->lpszFileName = lpszFileName;
e->dScanContext = dScanContext;
e->srFileResult = bScanFile ? &srFileResult : NULL;
e->srMemoryResult = bScanMemory ? &srMemoryResult : NULL;
e->bBlockProcess = bBlock;
e->bProcessBlocked = bProcessBlocked;
e->lpvScanData = lpvScanDataArray;
ApiEventExport(e);
// Performance data update
LONG64 llDuration = GetPerformanceCount() - llStart;
MmaUpdate(&g_Stats[dScanContext].mma, llDuration);
MmaUpdate(&g_Stats[PROCFILTER_NUM_CONTEXTS].mma, llDuration);
}
/**
Helper function to refresh the UI widget values
*/
void ConfigMultiRotorWidget::refreshAirframeWidgetsValues(SystemSettings::AirframeTypeOptions frameType)
{
int channel;
double value;
GUIConfigDataUnion config = GetConfigData();
multiGUISettingsStruct multi = config.multi;
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
if (frameType == SystemSettings::AIRFRAMETYPE_QUADP)
{
// Motors 1/2/3/4 are: N / E / S / W
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27));
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_QUADX)
{
// Motors 1/2/3/4 are: NW / NE / SE / SW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27));
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_HEXA)
{
// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_HEXAX)
{
// Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_HEXACOAX)
{
// Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSE);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_OCTO ||
frameType == SystemSettings::AIRFRAMETYPE_OCTOV ||
frameType == SystemSettings::AIRFRAMETYPE_OCTOCOAXP)
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
if (frameType == SystemSettings::AIRFRAMETYPE_OCTO) {
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == SystemSettings::AIRFRAMETYPE_OCTOV) {
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
else if (frameType == SystemSettings::AIRFRAMETYPE_OCTOCOAXP) {
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
//change channels
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( -qRound(value/1.27) );
}
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_OCTOCOAXX)
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorN);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5,multi.VTOLMotorSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7,multi.VTOLMotorSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8,multi.VTOLMotorW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW);
setYawMixLevel( -qRound(value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
else if (frameType == SystemSettings::AIRFRAMETYPE_TRI)
{
// Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1)
{
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue( qRound(2*value/1.27) );
value = getMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue( qRound(value/1.27) );
}
}
drawAirframe(frameType);
}
/**
Helper function to update the UI widget objects
*/
SystemSettings::AirframeTypeOptions ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
SystemSettings::AirframeTypeOptions airframeType = SystemSettings::AIRFRAMETYPE_FIXEDWING;
QList<QString> motorList;
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
// Curve is also common to all quads:
setThrottleCurve(mixerSettings, MixerSettings::MIXER1VECTOR_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADP) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADP;
setupQuad(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_QUADX) {
airframeType = SystemSettings::AIRFRAMETYPE_QUADX;
setupQuad(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXA) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXA;
setupHexa(true);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXAX;
setupHexa(false);
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_HEXACOAX) {
airframeType = SystemSettings::AIRFRAMETYPE_HEXACOAX;
//Show any config errors in GUI
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorS" << "VTOLMotorSE";
setupMotors(motorList);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, -1},
{ 0.5, 1, 1},
{ 0.5, -1, -1},
{ 0.5, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTO) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTO;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, -1, 1},
{ 0, -1, -1},
{ -1, -1, 1},
{ -1, 0, -1},
{ -1, 1, 1},
{ 0, 1, -1},
{ 1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOV) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOV;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// IMPORTANT: Assumes evenly spaced engines
// pitch roll yaw
double mixer [8][3] = {
{ 0.33, -1, -1},
{ 1 , -1, 1},
{ -1 , -1, -1},
{ -0.33, -1, 1},
{ -0.33, 1, -1},
{ -1 , 1, 1},
{ 1 , 1, -1},
{ 0.33, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXP) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXP;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 0, -1},
{ 1, 0, 1},
{ 0, -1, -1},
{ 0, -1, 1},
{ -1, 0, -1},
{ -1, 0, 1},
{ 0, 1, -1},
{ 0, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_OCTOCOAXX) {
airframeType = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;
//Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw
double mixer [8][3] = {
{ 1, 1, -1},
{ 1, 1, 1},
{ 1, -1, -1},
{ 1, -1, 1},
{ -1, -1, -1},
{ -1, -1, 1},
{ -1, 1, -1},
{ -1, 1, 1}
};
setupMultiRotorMixer(mixer);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->itemData(m_aircraft->multirotorFrameType->currentIndex()) == SystemSettings::AIRFRAMETYPE_TRI) {
airframeType = SystemSettings::AIRFRAMETYPE_TRI;
//Show any config errors in GUI
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
setupMotors(motorList);
GUIConfigDataUnion config = GetConfigData();
config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
SetConfigData(config);
// Motor 1 to 6, Y6 Layout:
// pitch roll yaw
double mixer [8][3] = {
{ 0.5, 1, 0},
{ 0.5, -1, 0},
{ -1, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0},
{ 0, 0, 0}
};
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1) {
setMixerType(mixerSettings, channel, MixerSettings::MIXER1TYPE_SERVO);
setMixerVectorValue(mixerSettings, channel, MixerSettings::MIXER1VECTOR_YAW, 127);
}
m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
}
return airframeType;
}
// Getter for the logging configuration data
HRESULT CFrameProcessor_LIN::FPL_GetConfigData(xmlNodePtr pxmlNodePtr)
{
return GetConfigData(pxmlNodePtr);
}
