bool signalOtherInstance()
{
const char *fname = getPIDFile().c_str();
pid_t pid = readPID( fname );
std::cout << "read pid: " << pid << std::endl;
return ( pid > 0 && kill(pid, SIGUSR1) == 0 );
}
int _tmain(int argc, _TCHAR* argv[])
{
TCHAR dllPath[MAX_PATH];
DWORD length = GetCurrentDirectory(MAX_PATH, dllPath);
dllPath[length++] = '\\';
dllPath[length++] = '\0';
_tcscat_s(dllPath, MAX_PATH - length, _T("Injection.Dummy.dll"));
printf("PID: ");
int processID = readPID();
if (processID == 0)
{
return 0;
}
HANDLE hProcess = OpenProcess(PROCESS_ALL_ACCESS, FALSE, processID);
if (!hProcess)
{
return 0;
}
LPVOID memoryAddress = VirtualAllocEx(hProcess, 0, sizeof(dllPath), MEM_COMMIT | MEM_RESERVE, PAGE_READWRITE);
if (!memoryAddress)
{
return 0;
}
SIZE_T writen = 0;
if (WriteProcessMemory(hProcess, memoryAddress, dllPath, sizeof(dllPath), &writen) == FALSE)
{
return 0;
}
HMODULE kernel32 = GetModuleHandleA("kernel32.dll");
FARPROC loadLibraryW = GetProcAddress(kernel32, "LoadLibraryW");
DWORD threadID = 0;
HANDLE hTread = CreateRemoteThread(hProcess, NULL, 0, (LPTHREAD_START_ROUTINE)loadLibraryW, memoryAddress, 0, &threadID);
if (!hTread)
{
// check same architecture type
DWORD errorCode = GetLastError();
return 0;
}
return 0;
}
void readEEPROM() {
readPID(XAXIS, ROLL_PID_GAIN_ADR);
readPID(YAXIS, PITCH_PID_GAIN_ADR);
readPID(ZAXIS, YAW_PID_GAIN_ADR);
readPID(ATTITUDE_XAXIS_PID_IDX, LEVELROLL_PID_GAIN_ADR);
readPID(ATTITUDE_YAXIS_PID_IDX, LEVELPITCH_PID_GAIN_ADR);
readPID(HEADING_HOLD_PID_IDX, HEADING_PID_GAIN_ADR);
readPID(ATTITUDE_GYRO_XAXIS_PID_IDX, LEVEL_GYRO_ROLL_PID_GAIN_ADR);
readPID(ATTITUDE_GYRO_YAXIS_PID_IDX, LEVEL_GYRO_PITCH_PID_GAIN_ADR);
rotationSpeedFactor = readFloat(ROTATION_SPEED_FACTOR_ARD);
// Leaving separate PID reads as commented for now
// Previously had issue where EEPROM was not reading right data
#if defined AltitudeHoldBaro || defined AltitudeHoldRangeFinder
readPID(BARO_ALTITUDE_HOLD_PID_IDX, ALTITUDE_PID_GAIN_ADR);
PID[BARO_ALTITUDE_HOLD_PID_IDX].windupGuard = readFloat(ALTITUDE_WINDUP_ADR);
#if defined AltitudeHoldBaro
baroSmoothFactor = readFloat(ALTITUDE_SMOOTH_ADR);
#endif
altitudeHoldBump = readFloat(ALTITUDE_BUMP_ADR);
altitudeHoldPanicStickMovement = readFloat(ALTITUDE_PANIC_ADR);
minThrottleAdjust = readFloat(ALTITUDE_MIN_THROTTLE_ADR);
maxThrottleAdjust = readFloat(ALTITUDE_MAX_THROTTLE_ADR);
readPID(ZDAMPENING_PID_IDX, ZDAMP_PID_GAIN_ADR);
#endif
// Mag calibration
#ifdef HeadingMagHold
magBias[XAXIS] = readFloat(XAXIS_MAG_BIAS_ADR);
magBias[YAXIS] = readFloat(YAXIS_MAG_BIAS_ADR);
magBias[ZAXIS] = readFloat(ZAXIS_MAG_BIAS_ADR);
#endif
// Battery Monitor
#ifdef BattMonitor
batteryMonitorAlarmVoltage = readFloat(BATT_ALARM_VOLTAGE_ADR);
batteryMonitorThrottleTarget = readFloat(BATT_THROTTLE_TARGET_ADR);
batteryMonitorGoingDownTime = readFloat(BATT_DOWN_TIME_ADR);
#endif
windupGuard = readFloat(WINDUPGUARD_ADR);
// AKA - added so that each PID has its own windupGuard, will need to be removed once each PID's range is established and put in the EEPROM
byte i;
for (i = XAXIS; i < LAST_PID_IDX; i++ ) {
#if defined AltitudeHoldBaro
if (i != BARO_ALTITUDE_HOLD_PID_IDX) {
PID[i].windupGuard = windupGuard;
}
#else
PID[i].windupGuard = windupGuard;
#endif
}
minArmedThrottle = readFloat(MINARMEDTHROTTLE_ADR);
aref = readFloat(AREF_ADR);
flightMode = readFloat(FLIGHTMODE_ADR);
accelOneG = readFloat(ACCEL_1G_ADR);
headingHoldConfig = readFloat(HEADINGHOLD_ADR);
#if defined (UseGPSNavigator)
missionNbPoint = readFloat(GPS_MISSION_NB_POINT_ADR);
readPID(GPSROLL_PID_IDX, GPSROLL_PID_GAIN_ADR);
readPID(GPSPITCH_PID_IDX, GPSPITCH_PID_GAIN_ADR);
readPID(GPSYAW_PID_IDX, GPSYAW_PID_GAIN_ADR);
for (byte location = 0; location < MAX_WAYPOINTS; location++) {
waypoint[location].longitude = readLong(WAYPOINT_ADR[location].longitude);
waypoint[location].latitude = readLong(WAYPOINT_ADR[location].latitude);
waypoint[location].altitude = readLong(WAYPOINT_ADR[location].altitude);
}
#endif
// Camera Control
#ifdef CameraControl
cameraMode = readFloat(CAMERAMODE_ADR);
mCameraPitch = readFloat(MCAMERAPITCH_ADR);
mCameraRoll = readFloat(MCAMERAROLL_ADR);
mCameraYaw = readFloat(MCAMERAYAW_ADR);
servoCenterPitch = readFloat(SERVOCENTERPITCH_ADR);
servoCenterRoll = readFloat(SERVOCENTERROLL_ADR);
servoCenterYaw = readFloat(SERVOCENTERYAW_ADR);
servoMinPitch = readFloat(SERVOMINPITCH_ADR);
servoMinRoll = readFloat(SERVOMINROLL_ADR);
servoMinYaw = readFloat(SERVOMINYAW_ADR);
servoMaxPitch = readFloat(SERVOMAXPITCH_ADR);
servoMaxRoll = readFloat(SERVOMAXROLL_ADR);
servoMaxYaw = readFloat(SERVOMAXYAW_ADR);
#ifdef CameraTXControl
servoTXChannels = readFloat(SERVOTXCHANNELS_ADR);
servoActualCenter = readFloat(SERVOCENTERPITCH_ADR);
#endif
#endif
}
