SOL_API bool
sol_oic_map_loop_next(struct sol_oic_repr_field *repr, struct sol_oic_map_reader *iterator, enum sol_oic_map_loop_reason *reason)
{
CborError err;
SOL_NULL_CHECK_GOTO(repr, err);
SOL_NULL_CHECK_GOTO(iterator, err);
sol_oic_repr_field_clear(repr);
if (cbor_value_at_end((CborValue *)iterator))
return false;
if (!cbor_value_is_valid((CborValue *)iterator))
goto err;
err = sol_oic_cbor_repr_map_get_next_field((CborValue *)iterator, repr);
if (err != CborNoError)
goto err;
return true;
err:
if (reason)
*reason = SOL_OIC_MAP_LOOP_ERROR;
return false;
}
static struct sol_mainloop_source *
event_create_source(sd_event *event)
{
struct sol_mainloop_source *source;
struct source_ctx *ctx;
ctx = malloc(sizeof(*ctx));
SOL_NULL_CHECK(ctx, NULL);
ctx->event = sd_event_ref(event);
ctx->fd_handler = sol_fd_add(sd_event_get_fd(event),
SOL_FD_FLAGS_IN | SOL_FD_FLAGS_HUP | SOL_FD_FLAGS_ERR,
on_sd_event_fd, ctx);
SOL_NULL_CHECK_GOTO(ctx->fd_handler, error_fd);
source = sol_mainloop_source_add(&source_type, ctx);
SOL_NULL_CHECK_GOTO(source, error_source);
return source;
error_source:
sol_fd_del(ctx->fd_handler);
error_fd:
sd_event_unref(ctx->event);
free(ctx);
return NULL;
}
static struct server_data *
server_ref(int32_t opt_port)
{
struct server_data *idata, *sdata = NULL;
uint16_t i, port;
port = validate_port(opt_port);
if (!servers) {
servers = calloc(1, sizeof(struct sol_ptr_vector));
SOL_NULL_CHECK(servers, NULL);
sol_ptr_vector_init(servers);
}
SOL_PTR_VECTOR_FOREACH_IDX (servers, idata, i) {
if (idata->port == port) {
sdata = idata;
break;
}
}
if (!sdata) {
int r;
sdata = calloc(1, sizeof(struct server_data));
SOL_NULL_CHECK_GOTO(sdata, err_sdata);
r = sol_ptr_vector_append(servers, sdata);
SOL_INT_CHECK_GOTO(r, < 0, err_vec);
sdata->server = sol_http_server_new(port);
SOL_NULL_CHECK_GOTO(sdata->server, err_server);
sdata->port = port;
}
static struct sol_mqtt_message *
sol_mqtt_message_new(const char *topic, const struct sol_buffer *payload, sol_mqtt_qos qos, bool retain)
{
struct sol_mqtt_message *message;
SOL_NULL_CHECK(topic, NULL);
SOL_NULL_CHECK(payload, NULL);
message = calloc(1, sizeof(struct sol_mqtt_message));
SOL_NULL_CHECK(message, NULL);
message->topic = sol_util_memdup(topic, strlen(topic) + 1);
SOL_NULL_CHECK_GOTO(message->topic, topic_error);
message->payload = sol_buffer_copy(payload);
SOL_NULL_CHECK_GOTO(message->payload, payload_error);
message->qos = qos;
message->retain = retain;
return message;
payload_error:
free(message->topic);
topic_error:
free(message);
return NULL;
}
int
process_subprocess_open(struct sol_flow_node *node, void *data, const struct sol_flow_node_options *options)
{
struct subprocess_data *mdata = data;
struct sol_flow_node_type_process_subprocess_options *opts =
(struct sol_flow_node_type_process_subprocess_options *)options;
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options,
SOL_FLOW_NODE_TYPE_PROCESS_SUBPROCESS_OPTIONS_API_VERSION,
-EINVAL);
mdata->node = node;
sol_vector_init(&mdata->write_data, sizeof(struct write_data));
if (pipe2(mdata->pipes.out, O_NONBLOCK | O_CLOEXEC) < 0) {
SOL_WRN("Failed to create out pipe");
return -errno;
}
if (pipe2(mdata->pipes.in, O_NONBLOCK | O_CLOEXEC) < 0) {
SOL_WRN("Failed to create in pipe");
goto in_err;
}
if (pipe2(mdata->pipes.err, O_NONBLOCK | O_CLOEXEC) < 0) {
SOL_WRN("Failed to create err pipe");
goto err_err;
}
mdata->command = strdup(opts->command);
SOL_NULL_CHECK_GOTO(mdata->command, flags_err);
if (opts->start) {
if (setup_watches(mdata) < 0)
goto watch_err;
mdata->fork_run = sol_platform_linux_fork_run(on_fork, on_fork_exit, mdata);
SOL_NULL_CHECK_GOTO(mdata->fork_run, err);
}
return 0;
err:
sol_fd_del(mdata->watches.in);
sol_fd_del(mdata->watches.err);
watch_err:
free(mdata->command);
flags_err:
close(mdata->pipes.err[0]);
close(mdata->pipes.err[1]);
err_err:
close(mdata->pipes.in[0]);
close(mdata->pipes.in[1]);
in_err:
close(mdata->pipes.out[0]);
close(mdata->pipes.out[1]);
return -errno;
}
int
int_generator_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct int_generator_data *mdata = data;
const struct sol_flow_node_type_test_int_generator_options *opts =
(const struct sol_flow_node_type_test_int_generator_options *)options;
const char *it;
char *tail;
int32_t *val;
if (opts->sequence == NULL || *opts->sequence == '\0') {
SOL_ERR("Option 'sequence' is either NULL or empty.");
return -EINVAL;
}
it = opts->sequence;
if (opts->interval.val < 0)
SOL_WRN("Option 'interval' < 0, setting it to 0.");
mdata->interval = opts->interval.val >= 0 ? opts->interval.val : 0;
mdata->next_index = 0;
sol_vector_init(&mdata->values, sizeof(int32_t));
do {
val = sol_vector_append(&mdata->values);
SOL_NULL_CHECK_GOTO(val, no_memory);
errno = 0;
*val = strtol(it, &tail, 10);
if (errno) {
SOL_WRN("Failed do convert option 'sequence' to int %s: %d", it, errno);
goto error;
}
if (it == tail) {
SOL_WRN("Failed to convert option 'sequence' to int %s", it);
errno = -EINVAL;
goto error;
}
it = tail;
} while (*tail != '\0');
mdata->timer = sol_timeout_add(mdata->interval, timer_tick, node);
SOL_NULL_CHECK_GOTO(mdata->timer, error);
return 0;
no_memory:
errno = -ENOMEM;
error:
sol_vector_clear(&mdata->values);
return errno;
}
SOL_API struct sol_mavlink *
sol_mavlink_connect(const char *addr, const struct sol_mavlink_config *config, const void *data)
{
struct sol_mavlink *mavlink;
struct sol_str_slice address;
int port;
int (*init) (struct sol_mavlink *mavlink);
SOL_NULL_CHECK(addr, NULL);
init = sol_mavlink_parse_addr_protocol(addr, &address, &port);
SOL_NULL_CHECK(init, NULL);
mavlink = calloc(1, sizeof(*mavlink));
SOL_NULL_CHECK(mavlink, NULL);
mavlink->address = &address;
SOL_NULL_CHECK_GOTO(mavlink->address, err);
mavlink->port = port;
SOL_NULL_CHECK_GOTO(mavlink->port, err);
mavlink->config = config;
mavlink->data = data;
memset(&mavlink->curr_position, 0, sizeof(mavlink->curr_position));
memset(&mavlink->home_position, 0, sizeof(mavlink->home_position));
if (init(mavlink) < 0) {
SOL_ERR("Could not initialize mavlink connection.");
goto err;
}
mavlink->watch = sol_fd_add(mavlink->fd, SOL_FD_FLAGS_IN,
sol_mavlink_fd_handler, mavlink);
SOL_NULL_CHECK_GOTO(mavlink->watch, err);
if (!setup_data_stream(mavlink)) {
SOL_ERR("Could not setup data stream");
goto err;
}
return mavlink;
err:
sol_mavlink_free(mavlink);
return NULL;
}
void *
sol_worker_thread_impl_new(const struct sol_worker_thread_config *config)
{
static sol_atomic_uint thr_cnt = SOL_ATOMIC_INIT(0u);
struct sol_worker_thread_glib *thread;
char name[16];
thread = calloc(1, sizeof(*thread));
SOL_NULL_CHECK(thread, NULL);
thread->config = *config;
g_mutex_init(&thread->lock);
snprintf(name, 16, "thr-%u",
sol_atomic_fetch_add(&thr_cnt, 1, SOL_ATOMIC_RELAXED));
thread->thread = g_thread_new(name, sol_worker_thread_do, thread);
SOL_NULL_CHECK_GOTO(thread->thread, error_thread);
return thread;
error_thread:
free(thread);
return NULL;
}
static int
http_composed_client_open(struct sol_flow_node *node, void *data,
const struct sol_flow_node_options *options)
{
struct http_composed_client_data *cdata = data;
const struct http_composed_client_type *self;
const struct http_composed_client_options *opts;
const struct http_composed_client_port_out *out;
opts = (struct http_composed_client_options *)options;
if (opts->url) {
cdata->url = strdup(opts->url);
SOL_NULL_CHECK(cdata->url, -ENOMEM);
}
self = (const struct http_composed_client_type *)
sol_flow_node_get_type(node);
sol_ptr_vector_init(&cdata->pending_conns);
cdata->inputs_len = self->ports_in.len - INPUT_FIXED_PORTS_LEN;
cdata->inputs = calloc(cdata->inputs_len, sizeof(struct sol_flow_packet *));
SOL_NULL_CHECK_GOTO(cdata->inputs, err);
out = sol_vector_get(&self->ports_out, 0);
cdata->composed_type = out->base.packet_type;
return 0;
err:
free(cdata->url);
return -ENOMEM;
}
int
boolean_generator_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct boolean_generator_data *mdata = data;
const struct sol_flow_node_type_test_boolean_generator_options *opts =
(const struct sol_flow_node_type_test_boolean_generator_options *)options;
if (opts->sequence == NULL || *opts->sequence == '\0') {
SOL_ERR("Option 'sequence' is either NULL or empty.");
return -1;
}
mdata->it = mdata->sequence = strdup(opts->sequence);
SOL_NULL_CHECK(mdata->sequence, -errno);
if (opts->interval.val < 0)
SOL_WRN("Option 'interval' < 0, setting it to 0.");
mdata->interval = opts->interval.val >= 0 ? opts->interval.val : 0;
mdata->timer = sol_timeout_add(mdata->interval, timer_tick, node);
SOL_NULL_CHECK_GOTO(mdata->timer, error);
return 0;
error:
free(mdata->sequence);
return -ENOMEM;
}
int
boolean_generator_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct boolean_generator_data *mdata = data;
const struct sol_flow_node_type_test_boolean_generator_options *opts =
(const struct sol_flow_node_type_test_boolean_generator_options *)options;
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options,
SOL_FLOW_NODE_TYPE_TEST_BOOLEAN_GENERATOR_OPTIONS_API_VERSION,
-EINVAL);
if (opts->sequence == NULL || *opts->sequence == '\0') {
SOL_ERR("Option 'sequence' is either NULL or empty.");
return -EINVAL;
}
mdata->it = mdata->sequence = strdup(opts->sequence);
SOL_NULL_CHECK(mdata->sequence, -errno);
if (opts->interval < 0)
SOL_WRN("Option 'interval' < 0, setting it to 0.");
mdata->interval = opts->interval >= 0 ? opts->interval : 0;
mdata->timer = sol_timeout_add(mdata->interval, timer_tick, node);
SOL_NULL_CHECK_GOTO(mdata->timer, error);
return 0;
error:
free(mdata->sequence);
return -ENOMEM;
}
static int
_populate_values(void *data, const char *sequence)
{
struct int_validator_data *mdata = data;
char *tail;
const char *it;
int32_t *val;
sol_vector_init(&mdata->values, sizeof(int32_t));
it = sequence;
do {
val = sol_vector_append(&mdata->values);
SOL_NULL_CHECK_GOTO(val, no_memory);
errno = 0;
*val = strtol(it, &tail, 10);
if (errno) {
SOL_WRN("Failed do convert option 'sequence' to int %s: %d", it, errno);
return -errno;
}
if (it == tail) {
SOL_WRN("Failed to convert option 'sequence' to int %s", it);
return -EINVAL;
}
it = tail;
} while (*tail != '\0');
return 0;
no_memory:
sol_vector_clear(&mdata->values);
return -ENOMEM;
}
static void
on_feed_done_cb(void *data, struct sol_message_digest *md, struct sol_blob *input)
{
struct update_get_hash_handle *handle = data;
char buf[CHUNK_SIZE], *blob_backend = NULL;
struct sol_blob *blob = NULL;
size_t size;
bool last;
int r;
size = fread(buf, 1, sizeof(buf), handle->file);
if (ferror(handle->file)) {
SOL_WRN("Could not read file for feed hash algorithm");
goto err;
}
last = feof(handle->file);
/* TODO Maybe this is a bug on sol_message_digest? Keeps calling on_feed_done
* after send last chunk */
if (!size && last && input) {
SOL_WRN("Nothing more to feed hash algorithm, ignoring on_feed_done request");
return;
}
blob_backend = malloc(size);
SOL_NULL_CHECK_GOTO(blob_backend, err);
blob = sol_blob_new(&SOL_BLOB_TYPE_DEFAULT, NULL, blob_backend, size);
SOL_NULL_CHECK_GOTO(blob, err);
memcpy(blob_backend, buf, size);
r = sol_message_digest_feed(md, blob, last);
SOL_INT_CHECK_GOTO(r, < 0, err);
sol_blob_unref(blob);
return;
err:
SOL_WRN("Could not feed data to check update file hash");
free(blob_backend);
sol_blob_unref(blob);
sol_message_digest_del(md);
handle->cb((void *)handle->user_data, -EINVAL, NULL);
delete_handle(handle);
}
struct sol_str_slice
sol_file_reader_get_all(const struct sol_file_reader *fr)
{
return (struct sol_str_slice) {
.len = fr->st.st_size,
.data = fr->contents,
};
}
const struct stat *
sol_file_reader_get_stat(const struct sol_file_reader *fr)
{
return &fr->st;
}
struct sol_blob_file_reader {
struct sol_blob base;
struct sol_file_reader *fr;
};
static void
_sol_blob_type_file_reader_close(struct sol_blob *blob)
{
struct sol_blob_file_reader *b = (struct sol_blob_file_reader *)blob;
sol_file_reader_close(b->fr);
free(blob);
}
static const struct sol_blob_type _SOL_BLOB_TYPE_FILE_READER = {
#ifndef SOL_NO_API_VERSION
.api_version = SOL_BLOB_TYPE_API_VERSION,
.sub_api = 1,
#endif
.free = _sol_blob_type_file_reader_close
};
SOL_API struct sol_blob *
sol_file_reader_to_blob(struct sol_file_reader *fr)
{
struct sol_blob_file_reader *b;
struct sol_str_slice c = sol_file_reader_get_all(fr);
b = calloc(1, sizeof(struct sol_blob_file_reader));
SOL_NULL_CHECK_GOTO(b, error);
sol_blob_setup(&b->base, &_SOL_BLOB_TYPE_FILE_READER, c.data, c.len);
b->fr = fr;
return &b->base;
error:
sol_file_reader_close(fr);
return NULL;
}
int
string_generator_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct string_generator_data *mdata = data;
const struct sol_flow_node_type_test_string_generator_options *opts =
(const struct sol_flow_node_type_test_string_generator_options *)options;
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options,
SOL_FLOW_NODE_TYPE_TEST_STRING_GENERATOR_OPTIONS_API_VERSION,
-EINVAL);
sol_vector_init(&mdata->values, sizeof(struct sol_str_slice));
if (opts->sequence == NULL || *opts->sequence == '\0') {
SOL_ERR("Option 'sequence' is either NULL or empty.");
return -EINVAL;
}
mdata->sequence = strdup(opts->sequence);
SOL_NULL_CHECK_GOTO(mdata->sequence, no_memory);
if (opts->interval < 0)
SOL_WRN("Option 'interval' < 0, setting it to 0.");
mdata->interval = opts->interval >= 0 ? opts->interval : 0;
mdata->next_index = 0;
mdata->values = sol_str_slice_split(sol_str_slice_from_str
(mdata->sequence), opts->separator, SIZE_MAX);
mdata->timer = sol_timeout_add(mdata->interval, timer_tick, node);
SOL_NULL_CHECK_GOTO(mdata->timer, error);
return 0;
no_memory:
errno = -ENOMEM;
error:
sol_vector_clear(&mdata->values);
return errno;
}
SOL_API bool
sol_spi_transfer(struct sol_spi *spi, const uint8_t *tx_user, uint8_t *rx, size_t count, void (*transfer_cb)(void *cb_data, struct sol_spi *spi, const uint8_t *tx, uint8_t *rx, ssize_t status), const void *cb_data)
{
uint8_t *tx = (uint8_t *)tx_user;
SOL_NULL_CHECK(spi, false);
SOL_EXP_CHECK(spi->transfer.timeout, false);
spi->transfer.intern_allocated_buffer_flags = 0;
if (tx == NULL) {
tx = calloc(count, sizeof(uint8_t));
SOL_NULL_CHECK(tx, false);
spi->transfer.intern_allocated_buffer_flags = INTERN_ALLOCATED_TX_BUFFER;
}
if (rx == NULL) {
rx = calloc(count, sizeof(uint8_t));
SOL_NULL_CHECK_GOTO(rx, rx_alloc_fail);
spi->transfer.intern_allocated_buffer_flags = INTERN_ALLOCATED_RX_BUFFER;
}
spi->transfer.tx = tx;
spi->transfer.rx = rx;
spi->transfer.count = count;
spi->transfer.status = -1;
spi->transfer.cb = transfer_cb;
spi->transfer.cb_data = cb_data;
spi->transfer.timeout = sol_timeout_add(0, spi_timeout_cb, spi);
SOL_NULL_CHECK_GOTO(spi->transfer.timeout, timeout_fail);
return true;
timeout_fail:
if (spi->transfer.intern_allocated_buffer_flags & INTERN_ALLOCATED_RX_BUFFER)
free(rx);
rx_alloc_fail:
if (spi->transfer.intern_allocated_buffer_flags & INTERN_ALLOCATED_TX_BUFFER)
free(tx);
return false;
}
int
float_validator_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct float_validator_data *mdata = data;
const struct sol_flow_node_type_test_float_validator_options *opts =
(const struct sol_flow_node_type_test_float_validator_options *)options;
const char *it;
char *tail;
double *val;
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options,
SOL_FLOW_NODE_TYPE_TEST_FLOAT_VALIDATOR_OPTIONS_API_VERSION,
-EINVAL);
mdata->done = false;
if (opts->sequence == NULL || *opts->sequence == '\0') {
SOL_ERR("Option 'sequence' is either NULL or empty.");
return -EINVAL;
}
sol_vector_init(&mdata->values, sizeof(double));
it = opts->sequence;
do {
val = sol_vector_append(&mdata->values);
SOL_NULL_CHECK_GOTO(val, no_memory);
*val = sol_util_strtod_n(it, &tail, -1, false);
if (errno) {
SOL_WRN("Failed do convert option 'sequence' to double %s: %d", it, errno);
goto error;
}
if (it == tail) {
SOL_WRN("Failed to convert option 'sequence' to double %s", it);
errno = EINVAL;
goto error;
}
it = tail;
} while (*tail != '\0');
return 0;
no_memory:
errno = ENOMEM;
error:
sol_vector_clear(&mdata->values);
return -errno;
}
static int
file_reader_load(struct file_reader_data *mdata)
{
struct sol_file_reader *reader;
struct sol_str_slice slice;
if (!mdata->path)
return 0;
reader = sol_file_reader_open(mdata->path);
if (!reader) {
sol_flow_send_error_packet(mdata->node, errno,
"Could not load \"%s\": %s", mdata->path, sol_util_strerrora(errno));
return -errno;
}
slice = sol_file_reader_get_all(reader);
SOL_DBG("loaded path=\"%s\", data=%p, len=%zd", mdata->path, slice.data, slice.len);
mdata->reader_blob = sol_blob_new(&file_reader_blob_type, NULL,
reader, sizeof(reader));
SOL_NULL_CHECK_GOTO(mdata->reader_blob, err_reader);
mdata->content_blob = sol_blob_new(SOL_BLOB_TYPE_NOFREE,
mdata->reader_blob,
slice.data, slice.len);
SOL_NULL_CHECK_GOTO(mdata->content_blob, err_content);
return sol_flow_send_blob_packet(mdata->node,
SOL_FLOW_NODE_TYPE_FILE_READER__OUT__OUT,
mdata->content_blob);
err_content:
sol_blob_unref(mdata->reader_blob);
err_reader:
sol_file_reader_close(reader);
return -ENOMEM;
}
static int
child_read(struct sol_blob **p_blob, bool *eof, int fd)
{
struct sol_buffer buf = SOL_BUFFER_INIT_EMPTY;
struct timespec start = sol_util_timespec_get_current();
size_t size;
void *v;
int ret = 0;
*eof = false;
do {
struct timespec now = sol_util_timespec_get_current();
struct timespec elapsed;
ssize_t r;
sol_util_timespec_sub(&now, &start, &elapsed);
if (elapsed.tv_sec > 0 ||
elapsed.tv_nsec > (time_t)CHUNK_MAX_TIME_NS)
break;
r = sol_util_fill_buffer(fd, &buf, CHUNK_READ_SIZE);
if (r == 0) {
*eof = true;
break;
} else if (r < 0) {
/* Not a problem if failed because buffer could not be increased */
if (r != -ENOMEM)
ret = -errno;
break;
}
} while (1);
if (ret < 0 && ret != -EAGAIN) {
sol_buffer_fini(&buf);
return ret;
}
v = sol_buffer_steal(&buf, &size);
*p_blob = sol_blob_new(&SOL_BLOB_TYPE_DEFAULT, NULL, v, size);
SOL_NULL_CHECK_GOTO(*p_blob, blob_error);
return 0;
blob_error:
sol_buffer_fini(&buf);
return -ENOMEM;
}
static int
new_bootstrap_client_info(struct sol_lwm2m_bootstrap_client_info **bs_cinfo,
const struct sol_network_link_addr *cliaddr, const struct sol_str_slice client_name)
{
*bs_cinfo = calloc(1, sizeof(struct sol_lwm2m_bootstrap_client_info));
SOL_NULL_CHECK(bs_cinfo, -ENOMEM);
memcpy(&(*bs_cinfo)->cliaddr, cliaddr, sizeof(struct sol_network_link_addr));
(*bs_cinfo)->name = sol_str_slice_to_str(client_name);
SOL_NULL_CHECK_GOTO((*bs_cinfo)->name, err_no_name);
return 0;
err_no_name:
free(*bs_cinfo);
return -ENOMEM;
}
SOL_API int
sol_network_init(void)
{
struct sol_network_link *iface;
struct sol_network_link_addr *addr;
iface = sol_vector_append(&links);
SOL_NULL_CHECK(iface, -ENOMEM);
sol_vector_init(&iface->addrs, sizeof(struct sol_network_link_addr));
addr = sol_vector_append(&iface->addrs);
SOL_NULL_CHECK_GOTO(addr, addr_append_error);
if (!get_local_address(addr))
goto get_address_error;
SOL_SET_API_VERSION(iface->api_version = SOL_NETWORK_LINK_API_VERSION; )
int
test_result_open(
struct sol_flow_node *node,
void *data,
const struct sol_flow_node_options *options)
{
struct test_result_data *d = data;
const struct sol_flow_node_type_test_result_options *opts =
(const struct sol_flow_node_type_test_result_options *)options;
d->timer = sol_timeout_add(opts->timeout.val, on_timeout, node);
SOL_NULL_CHECK_GOTO(d->timer, error);
node_count++;
d->done = false;
return 0;
error:
return -ENOMEM;
}
int
process_subprocess_start_process(struct sol_flow_node *node, void *data, uint16_t port, uint16_t conn_id,
const struct sol_flow_packet *packet)
{
struct subprocess_data *mdata = data;
if (mdata->fork_run)
return 0;
if (setup_watches(mdata) < 0)
return -1;
mdata->fork_run = sol_platform_linux_fork_run(on_fork, on_fork_exit, mdata);
SOL_NULL_CHECK_GOTO(mdata->fork_run, fork_err);
return 0;
fork_err:
sol_fd_del(mdata->watches.err);
mdata->watches.err = NULL;
sol_fd_del(mdata->watches.in);
mdata->watches.in = NULL;
return -1;
}
SOL_API char *
sol_util_load_file_fd_string(int fd, size_t *size)
{
int r;
size_t size_read;
char *data = NULL;
struct sol_buffer buf = SOL_BUFFER_INIT_EMPTY;
r = sol_util_load_file_fd_buffer(fd, &buf);
SOL_INT_CHECK_GOTO(r, < 0, err);
r = sol_buffer_trim(&buf);
SOL_INT_CHECK_GOTO(r, < 0, err);
data = sol_buffer_steal(&buf, &size_read);
SOL_NULL_CHECK_GOTO(data, err);
if (size)
*size = size_read;
return data;
err:
if (size)
*size = 0;
return NULL;
}
SOL_API struct sol_mavlink *
sol_mavlink_connect(const char *addr, const struct sol_mavlink_config *config, const void *data)
{
struct sol_mavlink *mavlink;
struct sol_str_slice address;
int port;
int (*init) (struct sol_mavlink *mavlink);
SOL_NULL_CHECK(addr, NULL);
SOL_NULL_CHECK(config, NULL);
#ifndef SOL_NO_API_VERSION
if (SOL_UNLIKELY(config->api_version !=
SOL_MAVLINK_CONFIG_API_VERSION)) {
SOL_ERR("Unexpected API version (config is %" PRIu16 ", expected %" PRIu16 ")",
config->api_version, SOL_MAVLINK_CONFIG_API_VERSION);
return NULL;
}
SOL_NULL_CHECK(config->handlers, NULL);
if (SOL_UNLIKELY(config->handlers->api_version !=
SOL_MAVLINK_HANDLERS_API_VERSION)) {
SOL_ERR("Unexpected API version (config is %" PRIu16 ", expected %" PRIu16 ")",
config->handlers->api_version, SOL_MAVLINK_HANDLERS_API_VERSION);
return NULL;
}
#else
SOL_NULL_CHECK(config->handlers, NULL);
#endif
init = sol_mavlink_parse_addr_protocol(addr, &address, &port);
SOL_NULL_CHECK(init, NULL);
mavlink = calloc(1, sizeof(*mavlink));
SOL_NULL_CHECK(mavlink, NULL);
mavlink->address = &address;
SOL_NULL_CHECK_GOTO(mavlink->address, err);
mavlink->port = port;
SOL_NULL_CHECK_GOTO(mavlink->port, err);
mavlink->config = config;
mavlink->data = data;
memset(&mavlink->curr_position, 0, sizeof(mavlink->curr_position));
memset(&mavlink->home_position, 0, sizeof(mavlink->home_position));
if (init(mavlink) < 0) {
SOL_ERR("Could not initialize mavlink connection.");
goto err;
}
mavlink->watch = sol_fd_add(mavlink->fd, SOL_FD_FLAGS_IN,
sol_mavlink_fd_handler, mavlink);
SOL_NULL_CHECK_GOTO(mavlink->watch, err);
if (!setup_data_stream(mavlink)) {
SOL_ERR("Could not setup data stream");
goto err;
}
return mavlink;
err:
sol_mavlink_free(mavlink);
return NULL;
}
static const struct sol_flow_node_type *
_resolver_conffile_get_module(const char *type)
{
struct resolver_conffile_dlopen *entry;
const struct sol_flow_node_type *ret;
struct sol_str_slice module_name;
char path[PATH_MAX];
char *name;
int r;
if (!resolver_conffile_dlopens) {
resolver_conffile_dlopens = g_hash_table_new_full(
g_str_hash,
g_str_equal,
NULL,
(GDestroyNotify)resolver_conffile_dlopen_free);
SOL_NULL_CHECK(resolver_conffile_dlopens, NULL);
atexit(resolver_conffile_clear_data);
}
module_name = get_module_for_type(type);
if (module_name.len == 0) {
SOL_DBG("Invalid empty name");
return NULL;
}
name = strndup(module_name.data, module_name.len);
SOL_NULL_CHECK(name, NULL);
/* the hash entry keys are the type part only */
entry = g_hash_table_lookup(resolver_conffile_dlopens, name);
if (entry) {
free(name);
goto found;
}
entry = calloc(1, sizeof(*entry));
if (!entry) {
SOL_DBG("Could not alloc memory for entry");
free(name);
return NULL;
}
entry->name = name;
r = snprintf(path, sizeof(path), "%s/%s.so",
FLOWMODULESDIR, name);
if (r < 0 || r >= (int)sizeof(path))
goto error;
entry->handle = dlopen(path, RTLD_LAZY | RTLD_LOCAL | RTLD_NODELETE);
if (!entry->handle) {
SOL_DBG("could not load module '%s': %s", path, dlerror());
goto error;
}
entry->foreach = dlsym(entry->handle, "sol_flow_foreach_module_node_type");
if (!entry->foreach) {
SOL_DBG("could not find symbol "
"sol_flow_foreach_module_node_type() "
"in module '%s': %s", path, dlerror());
goto error;
}
g_hash_table_insert(resolver_conffile_dlopens,
entry->name, entry);
found:
ret = resolve_module_type_by_component(type, entry->foreach);
SOL_NULL_CHECK_GOTO(ret, wipe_entry);
return ret;
error:
resolver_conffile_dlopen_free(entry);
return NULL;
wipe_entry:
g_hash_table_remove(resolver_conffile_dlopens, entry->name);
return NULL;
}
SOL_API struct sol_lwm2m_bootstrap_server *
sol_lwm2m_bootstrap_server_new(uint16_t port, const char **known_clients,
uint16_t num_sec_modes, ...)
{
struct sol_lwm2m_bootstrap_server *server;
struct sol_network_link_addr servaddr = { .family = SOL_NETWORK_FAMILY_INET6,
.port = port };
int r;
struct sol_lwm2m_security_psk **known_psks = NULL, *cli_psk;
struct sol_lwm2m_security_rpk *my_rpk = NULL;
struct sol_blob **known_pub_keys = NULL, *cli_pub_key;
enum sol_lwm2m_security_mode *sec_modes;
enum sol_socket_dtls_cipher *cipher_suites;
uint16_t i, j;
va_list ap;
SOL_LOG_INTERNAL_INIT_ONCE;
SOL_NULL_CHECK(known_clients, NULL);
SOL_INT_CHECK(num_sec_modes, == 0, NULL);
va_start(ap, num_sec_modes);
cipher_suites = calloc(num_sec_modes, sizeof(enum sol_socket_dtls_cipher));
SOL_NULL_CHECK_GOTO(cipher_suites, err_va_list);
sec_modes = calloc(num_sec_modes, sizeof(enum sol_lwm2m_security_mode));
SOL_NULL_CHECK_GOTO(sec_modes, err_cipher_suites);
for (i = 0; i < num_sec_modes; i++) {
sec_modes[i] = va_arg(ap, enum sol_lwm2m_security_mode);
SOL_EXP_CHECK_GOTO(sec_mode_is_repeated(sec_modes[i], sec_modes, i), err_sec_modes);
switch (sec_modes[i]) {
case SOL_LWM2M_SECURITY_MODE_PRE_SHARED_KEY:
known_psks = va_arg(ap, struct sol_lwm2m_security_psk **);
SOL_NULL_CHECK_GOTO(known_psks, err_sec_modes);
cipher_suites[i] = SOL_SOCKET_DTLS_CIPHER_PSK_AES128_CCM8;
break;
case SOL_LWM2M_SECURITY_MODE_RAW_PUBLIC_KEY:
my_rpk = va_arg(ap, struct sol_lwm2m_security_rpk *);
SOL_NULL_CHECK_GOTO(my_rpk, err_sec_modes);
known_pub_keys = va_arg(ap, struct sol_blob **);
SOL_NULL_CHECK_GOTO(known_pub_keys, err_sec_modes);
cipher_suites[i] = SOL_SOCKET_DTLS_CIPHER_ECDHE_ECDSA_AES128_CCM8;
break;
case SOL_LWM2M_SECURITY_MODE_CERTIFICATE:
SOL_WRN("Certificate security mode is not supported yet.");
goto err_sec_modes;
case SOL_LWM2M_SECURITY_MODE_NO_SEC:
SOL_WRN("Bootstrap Server MUST use DTLS.");
goto err_sec_modes;
default:
SOL_WRN("Unknown DTLS Security Mode: %d", sec_modes[i]);
goto err_sec_modes;
}
}
server = calloc(1, sizeof(struct sol_lwm2m_bootstrap_server));
SOL_NULL_CHECK_GOTO(server, err_sec_modes);
//LWM2M Bootstrap Server MUST always use DTLS
for (i = 0; i < num_sec_modes; i++) {
if (sec_modes[i] == SOL_LWM2M_SECURITY_MODE_PRE_SHARED_KEY) {
sol_vector_init(&server->known_psks, sizeof(sol_lwm2m_security_psk));
for (j = 0; known_psks[j]; j++) {
cli_psk = sol_vector_append(&server->known_psks);
SOL_NULL_CHECK_GOTO(cli_psk, err_copy_keys);
cli_psk->id = sol_blob_ref(known_psks[j]->id);
cli_psk->key = sol_blob_ref(known_psks[j]->key);
}
} else if (sec_modes[i] == SOL_LWM2M_SECURITY_MODE_RAW_PUBLIC_KEY) {
sol_ptr_vector_init(&server->known_pub_keys);
for (j = 0; known_pub_keys[j]; j++) {
r = sol_ptr_vector_append(&server->known_pub_keys,
sol_blob_ref(known_pub_keys[j]));
SOL_INT_CHECK_GOTO(r, < 0, err_copy_keys);
}
server->rpk_pair.private_key = sol_blob_ref(my_rpk->private_key);
server->rpk_pair.public_key = sol_blob_ref(my_rpk->public_key);
}
}
static void
iio_direction_vector_reader_cb(void *data, struct sol_iio_device *device)
{
static const char *errmsg = "Could not read channel buffer values";
struct sol_flow_node *node = data;
struct iio_direction_vector_data *mdata = sol_flow_node_get_private_data(node);
struct sol_direction_vector out = {
.min = mdata->iio_base.out_range.min,
.max = mdata->iio_base.out_range.max
};
int r;
struct iio_node_type *type;
type = (struct iio_node_type *)sol_flow_node_get_type(node);
r = sol_iio_read_channel_value(mdata->channel_x, &out.x);
SOL_INT_CHECK_GOTO(r, < 0, error);
r = sol_iio_read_channel_value(mdata->channel_y, &out.y);
SOL_INT_CHECK_GOTO(r, < 0, error);
r = sol_iio_read_channel_value(mdata->channel_z, &out.z);
SOL_INT_CHECK_GOTO(r, < 0, error);
SOL_DBG("Before mount_calibration: %f-%f-%f", out.x, out.y, out.z);
// mount correction
sol_iio_mount_calibration(device, &out);
sol_flow_send_direction_vector_packet(node, type->out_port, &out);
return;
error:
sol_flow_send_error_packet_str(node, EIO, errmsg);
SOL_WRN("%s", errmsg);
}
static void
iio_double_reader_cb(void *data, struct sol_iio_device *device)
{
static const char *errmsg = "Could not read channel buffer values";
struct sol_flow_node *node = data;
struct iio_double_data *mdata = sol_flow_node_get_private_data(node);
struct sol_drange out = {
.min = mdata->iio_base.out_range.min,
.max = mdata->iio_base.out_range.max,
.step = mdata->iio_base.out_range.step
};
int r;
struct iio_node_type *type;
type = (struct iio_node_type *)sol_flow_node_get_type(node);
r = sol_iio_read_channel_value(mdata->channel_val, &out.val);
SOL_INT_CHECK_GOTO(r, < 0, error);
sol_flow_send_drange_value_packet(node, type->out_port, out.val);
return;
error:
sol_flow_send_error_packet_str(node, EIO, errmsg);
SOL_WRN("%s", errmsg);
}
static void
iio_color_reader_cb(void *data, struct sol_iio_device *device)
{
static const char *errmsg = "Could not read channel buffer values";
struct sol_flow_node *node = data;
struct iio_color_data *mdata = sol_flow_node_get_private_data(node);
struct sol_rgb out = {
.red_max = mdata->iio_base.out_range.max,
.green_max = mdata->iio_base.out_range.max,
.blue_max = mdata->iio_base.out_range.max
};
double tmp;
int r;
struct iio_node_type *type;
type = (struct iio_node_type *)sol_flow_node_get_type(node);
r = sol_iio_read_channel_value(mdata->channel_red, &tmp);
if (r < 0 || tmp < 0 || tmp > UINT32_MAX) goto error;
out.red = tmp;
r = sol_iio_read_channel_value(mdata->channel_green, &tmp);
if (r < 0 || tmp < 0 || tmp > UINT32_MAX) goto error;
out.green = tmp;
r = sol_iio_read_channel_value(mdata->channel_blue, &tmp);
if (r < 0 || tmp < 0 || tmp > UINT32_MAX) goto error;
out.blue = tmp;
sol_flow_send_rgb_packet(node, type->out_port, &out);
return;
error:
sol_flow_send_error_packet_str(node, EIO, errmsg);
SOL_WRN("%s", errmsg);
}
static bool
gyroscope_create_channels(struct iio_direction_vector_data *mdata, int device_id)
{
mdata->iio_base.device = sol_iio_open(device_id, &mdata->iio_base.config);
SOL_NULL_CHECK(mdata->iio_base.device, false);
mdata->channel_x = iio_add_channel(mdata->scale.x, mdata->offset.x, "in_anglvel_x", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_x, error);
mdata->channel_y = iio_add_channel(mdata->scale.y, mdata->offset.y, "in_anglvel_y", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_y, error);
mdata->channel_z = iio_add_channel(mdata->scale.z, mdata->offset.z, "in_anglvel_z", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_z, error);
sol_iio_device_start_buffer(mdata->iio_base.device);
return true;
error:
SOL_WRN("Could not create iio/gyroscope node. Failed to open IIO device %d",
device_id);
sol_iio_close(mdata->iio_base.device);
return false;
}
static int
gyroscope_open(struct sol_flow_node *node, void *data, const struct sol_flow_node_options *options)
{
struct iio_direction_vector_data *mdata = data;
const struct sol_flow_node_type_iio_gyroscope_options *opts;
int device_id, ret;
struct iio_node_type *type;
type = (struct iio_node_type *)sol_flow_node_get_type(node);
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options, SOL_FLOW_NODE_TYPE_IIO_GYROSCOPE_OPTIONS_API_VERSION,
-EINVAL);
opts = (const struct sol_flow_node_type_iio_gyroscope_options *)options;
mdata->iio_base.buffer_enabled = opts->buffer_size > -1;
SOL_SET_API_VERSION(mdata->iio_base.config.api_version = SOL_IIO_CONFIG_API_VERSION; )
if (opts->iio_trigger_name) {
mdata->iio_base.config.trigger_name = strdup(opts->iio_trigger_name);
SOL_NULL_CHECK(mdata->iio_base.config.trigger_name, -ENOMEM);
}
mdata->iio_base.config.buffer_size = opts->buffer_size;
mdata->iio_base.config.sampling_frequency = opts->sampling_frequency;
ret = snprintf(mdata->iio_base.config.sampling_frequency_name,
sizeof(mdata->iio_base.config.sampling_frequency_name), "%s", "in_anglvel_");
SOL_INT_CHECK_GOTO(ret, >= (int)sizeof(mdata->iio_base.config.sampling_frequency_name), err);
SOL_INT_CHECK_GOTO(ret, < 0, err);
if (mdata->iio_base.buffer_enabled) {
mdata->iio_base.config.sol_iio_reader_cb = type->reader_cb;
mdata->iio_base.config.data = node;
}
mdata->iio_base.use_device_default_scale = opts->use_device_default_scale;
mdata->iio_base.use_device_default_offset = opts->use_device_default_offset;
mdata->scale = opts->scale;
mdata->offset = opts->offset;
mdata->iio_base.out_range = opts->out_range;
device_id = sol_iio_address_device(opts->iio_device);
if (device_id < 0) {
SOL_WRN("Could not create iio/gyroscope node. Failed to open IIO device %s",
opts->iio_device);
goto err;
}
if (!gyroscope_create_channels(mdata, device_id))
goto err;
return 0;
err:
free((char *)mdata->iio_base.config.trigger_name);
return -EINVAL;
}
static bool
magnet_create_channels(struct iio_direction_vector_data *mdata, int device_id)
{
mdata->iio_base.device = sol_iio_open(device_id, &mdata->iio_base.config);
SOL_NULL_CHECK(mdata->iio_base.device, false);
mdata->channel_x = iio_add_channel(mdata->scale.x, mdata->offset.x, "in_magn_x", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_x, error);
mdata->channel_y = iio_add_channel(mdata->scale.y, mdata->offset.y, "in_magn_y", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_y, error);
mdata->channel_z = iio_add_channel(mdata->scale.z, mdata->offset.z, "in_magn_z", &mdata->iio_base);
SOL_NULL_CHECK_GOTO(mdata->channel_z, error);
sol_iio_device_start_buffer(mdata->iio_base.device);
return true;
error:
SOL_WRN("Could not create iio/magnet node. Failed to open IIO device %d",
device_id);
sol_iio_close(mdata->iio_base.device);
return false;
}
SOL_API int
sol_gatt_pending_reply(struct sol_gatt_pending *pending, int error,
struct sol_buffer *buf)
{
sd_bus_message *reply = NULL;
struct context *ctx = bluetooth_get_context();
const struct sol_gatt_attr *attr;
const char *interface;
int r;
SOL_NULL_CHECK(pending, -EINVAL);
attr = pending->attr;
if (error) {
r = error;
goto done;
}
switch (pending->type) {
case PENDING_READ:
case PENDING_WRITE:
r = sd_bus_message_new_method_return(pending->m, &reply);
SOL_INT_CHECK(r, < 0, r);
if (pending->type == PENDING_READ) {
r = -EINVAL;
SOL_NULL_CHECK_GOTO(buf, done);
r = sd_bus_message_append_array(reply, 'y', buf->data, buf->used);
SOL_INT_CHECK_GOTO(r, < 0, done);
}
break;
case PENDING_INDICATE:
case PENDING_NOTIFY:
r = -EINVAL;
pending->buf = buf;
SOL_NULL_CHECK_GOTO(pending->buf, done);
if (attr->type == SOL_GATT_ATTR_TYPE_DESCRIPTOR)
interface = "org.bluez.GattDescriptor1";
else
interface = "org.bluez.GattCharacteristic1";
r = sd_bus_emit_properties_changed(sol_bus_client_get_bus(ctx->bluez),
attr->_priv, interface, "Value", NULL);
SOL_INT_CHECK_GOTO(r, < 0, done);
break;
case PENDING_REMOTE_READ:
pending->read((void *)pending->user_data, true, pending->attr, buf);
pending->read = NULL;
destroy_pending(pending);
break;
case PENDING_REMOTE_WRITE:
pending->write((void *)pending->user_data, true, pending->attr);
pending->write = NULL;
destroy_pending(pending);
break;
}
