int main()
{
My_unique_ptr<BigBoss*> bestSoldiers = { new BigBoss, new SolidSnake, new LiquidSnake };
conversation(bestSoldiers[0]);
conversation(bestSoldiers[1]);
conversation(bestSoldiers[2]);
std::cout << " ---------------------------------------------------------------------- " << std::endl;
return 0;
}
int pam_sm_authenticate( pam_handle_t * pamh,
int flags,
int argc, char const ** argv )
{
int retval = PAM_AUTH_ERR;
char const * username = NULL;
char const * password = NULL;
// Parse arguments
int argmask = _pam_parse( argc, argv );
// Get the username
retval = pam_get_user( pamh, &username, NULL );
if( (retval != PAM_SUCCESS) || (!username) )
{
return PAM_SERVICE_ERR;
}
// If we've been told to use the first pass, we don't converse with
// the user for a password.
if( ! argmask & CPAMARG_USEFIRSTPASS )
{
// Converse just to be sure we have a password
retval = conversation( pamh );
if( retval != PAM_SUCCESS )
{
return PAM_CONV_ERR;
}
}
// Check if we got a password. If use_authtok wasn't specified,
// then we've already asked once and needn't do so again.
retval = pam_get_item( pamh, PAM_AUTHTOK, (void const **) & password );
if( retval != PAM_SUCCESS )
{
return -2;
}
Curl curl;
if( username != NULL && password != NULL &&
curl.checkAuthorized( username, password ) )
{
return PAM_SUCCESS;
}
else
{
return PAM_AUTH_ERR;
}
return PAM_USER_UNKNOWN;
}
int main() {
// Initialise Arduino functionality
init();
// Attach USB for applicable processors
#ifdef USBCON
USBDevice.attach();
#endif
Serial.begin(9600); // Serial0: communication with the PC
Serial3.begin(9600); // Serial3: communication with the other Arduino
uint32_t shared_key = key_set_up();
conversation(shared_key);
Serial.end();
Serial3.end();
return 0;
}
void speechCallback(
const speech_msgs::SpeechConstPtr& speech
)
{
cout << "speech callback" << endl;
//1.開始
//2.okao内のトラッキングIDと結びついた名前（OKAO_ID）を調べる
//3.もし、主人の名前があったら、4へ。なければ1へ（ループ）
//4.speech内のトラッキングIDを取得
//5.トラッキングIDとOKAO_IDを照合する
//6.OKAO_IDに発言を記録する
//8.主人以外の人物の記録が終わったら、1へ。終わってなければ6へ。
//人物を検出しているかどうか
cout << "human size: "<< human_last.size() <<endl;
if(human_last.size())
{
bool master_is_looking = false;
map<long long, int> tracking_to_okao;
//発見した人物を記録し、主人を探す
for(int i = 0; i<human_last.size(); ++i)
{
tracking_to_okao[ human_last[i].body.tracking_id ]
= human_last[i].max_okao_id;
cout << "now looking okao_id: " << human_last[i].max_okao_id << endl;
if( human_last[i].max_okao_id == MASTER )
master_is_looking = true;
}
//主人がいるなら記録開始
// if( master_is_looking )
//{
speech_msgs::Speech sp_msg;
float point_p = 0;
cout<< "now looking master!" <<endl;
int speech_okao_id;
//string to long long
long long speech_tracking_id = boost::lexical_cast<
long long>(speech->TrackingID);
cout << "now speech tracking_id: " << speech_tracking_id << endl;
map< long long, int >::iterator tracking_id_find
= tracking_to_okao.find( speech_tracking_id );
speech_okao_id = tracking_id_find->second;
sp_msg.okao_id = speech_okao_id;
if(speech->positive_point == 1){
point_p = 40;
}
else if(speech->positive_point == -1){
point_p = -40;
}
//speech->positive_point = -20;
cout << "point: " << speech->positive_point << endl;
if(mood.count(TIDtoName(speech_okao_id)) == 0){
mood[TIDtoName(speech_okao_id)] = point_p;
}
else{
float point = mood[TIDtoName(speech_okao_id)];
point += point_p;
mood[TIDtoName(speech_okao_id)] = point;
}
window_mood[speech->hour][speech->minute][speech->second][TIDtoName(speech_okao_id)] = point_p;
zmq_positive(speech_tracking_id,mood[TIDtoName(speech_okao_id)]);
browser(speech,speech_okao_id);
if(speech->sentence == "おしゃべりしよう" || speech->sentence == "お話ししよう"){
if(conv == 0){
conv = 1;
conversation("start");
//cout << "お話開始" << endl;
//robot_browser("いいですよ",1);
}
}
else if(speech->sentence == "おしゃべり終わり" || speech->sentence == "おしゃべり終了"){
if(conv == 1){
conv = 0;
conversation("end");
//robot_browser("終了しますね",1);
}
}
else if(conv == 1){
conversation(speech->sentence);
}
else
extract(speech,speech_okao_id);
cout << "now speech okao_id: " << speech_okao_id << endl;
cout << "all words: "<< speech->sentence <<endl;
for( int w_id = 0 ; w_id < speech->word_num ; ++w_id )
{
if(wordcheck(speech->words[w_id].word,speech->words[w_id].part[0])){
WordProp wp_tmp;
wp_tmp.freq = 0;
wp_tmp.num = 0;
map< string, WordProp >::iterator it_words_wp
= words_wp.find( speech->words[ w_id ].word );
if( it_words_wp != words_wp.end() )
{
wp_tmp = it_words_wp->second;
}
++wp_tmp.freq;
wp_tmp.num = speech->word_num;
Situation st_tmp;
st_tmp.okao_id = speech_okao_id;
sp_msg.words.push_back( speech->words[w_id] );
//すべての人物をpush_backする
map< long long, int >::iterator it_okao
= tracking_to_okao.begin();
while(it_okao != tracking_to_okao.end() )
{
st_tmp.people.push_back( it_okao->second );
++it_okao;
}
wp_tmp.situations.push_back( st_tmp );
words_wp[ speech->words[ w_id ].word ] = wp_tmp;
}
}
//}
}
}
PAM_EXTERN
int pam_sm_authenticate (pam_handle_t *pamh, int flags,
int argc, const char **argv)
{
return conversation (pamh);
}
PAM_EXTERN
int pam_sm_authenticate(pam_handle_t *pamh, int flags,
int argc, const char **argv)
{
const char *username;
const char *password;
int retval = PAM_AUTH_ERR;
/* parse arguments */
ctrl = _pam_parse(argc, argv);
/* Get the username */
retval = pam_get_user(pamh, &username, NULL);
if ((retval != PAM_SUCCESS) || (!username)) {
if (ctrl & PAM_DEBUG_ARG)
_pam_log(LOG_DEBUG,"can not get the username");
return PAM_SERVICE_ERR;
}
/* Converse just to be sure we have the password */
retval = conversation(pamh);
if (retval != PAM_SUCCESS) {
_pam_log(LOG_ERR, "could not obtain password for `%s'",
username);
return -2;
}
/* Get the password */
retval = pam_get_item(pamh, PAM_AUTHTOK, (const void **)&password);
if (retval != PAM_SUCCESS) {
_pam_log(LOG_ERR, "Could not retrive user's password");
return -2;
}
if (ctrl & PAM_DEBUG_ARG)
_pam_log(LOG_INFO, "Verify user `%s' with password `%s'",
username, password);
/* Now use the username to look up password in the database file */
retval = user_lookup(username, password);
switch (retval) {
case -2:
/* some sort of system error. The log was already printed */
return PAM_SERVICE_ERR;
case -1:
/* incorrect password */
_pam_log(LOG_WARNING,
"user `%s' denied access (incorrect password)",
username);
return PAM_AUTH_ERR;
case 1:
/* the user does not exist in the database */
if (ctrl & PAM_DEBUG_ARG)
_pam_log(LOG_NOTICE, "user `%s' not found in the database",
username);
return PAM_USER_UNKNOWN;
case 0:
/* Otherwise, the authentication looked good */
_pam_log(LOG_NOTICE, "user '%s' granted acces", username);
return PAM_SUCCESS;
default:
/* we don't know anything about this return value */
_pam_log(LOG_ERR,
"internal module error (retval = %d, user = `%s'",
retval, username);
return PAM_SERVICE_ERR;
}
/* should not be reached */
return PAM_IGNORE;
}
