/**
* Gets the distance that chico has from an heat source. It sends a sonar signal and calculates
* the elapsed time between the send of the signal and the time when the signal comes back to chico.
* It then converts the time into centimeters.
*
* Returns the distance in centimeters.
*/
int getDistance() {
DDRA |= 0b00000001; //output
PORTA &= 0b11111110; // make sure pin A0 is LOW
_delay_us(2);
PORTA |= 0b00000001; // pulse HIGH
_delay_us(5);
PORTA &= 0b11111110; //pin A0 LOW
DDRA &= 0b11111110; //input
usart_fprintf_P(USART_0, PSTR("1\n"));
unsigned long count = 0;
while(!bit_is_set(PINA, PA0)) {
_delay_us(5);
count++;
if(count > 200000){
usart_fprintf_P(USART_0, PSTR("NOOOO CHICO!!!!!\n"));
return -1;
}
}
unsigned long start = time_in_microseconds();
usart_fprintf_P(USART_0, PSTR("2\n"));
loop_until_bit_is_clear(PINA, PA0);
unsigned long end = time_in_microseconds();
usart_fprintf_P(USART_0, PSTR("3\n"));
long elapsedTime = end - start;
int distance = elapsedTime/29/2;
usart_fprintf_P(USART_0, PSTR("Dist: %lu \n"), end);
return distance;
}
/*!\brief Time delay in milliseconds.
*
* \details delay time in milliseconds, using TIMER0.
*
* \note It does not releases CPU/microprocessor.
*
*
* @return void
*
*/
void delay_milliseconds(unsigned long milliseconds){
uint16_t start_time = (uint16_t)time_in_microseconds();
while (milliseconds > 0) {
if (((uint16_t)time_in_microseconds() - start_time) >= 1000) {
milliseconds--;
start_time += 1000;
}
}
}
int
lws_callback_as_writeable(struct lws *wsi)
{
struct lws_context_per_thread *pt = &wsi->context->pt[(int)wsi->tsi];
int n, m;
lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_WRITEABLE_CB, 1);
#if defined(LWS_WITH_STATS)
if (wsi->active_writable_req_us) {
uint64_t ul = time_in_microseconds() -
wsi->active_writable_req_us;
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_MS_WRITABLE_DELAY, ul);
lws_stats_atomic_max(wsi->context, pt,
LWSSTATS_MS_WORST_WRITABLE_DELAY, ul);
wsi->active_writable_req_us = 0;
}
#endif
n = wsi->role_ops->writeable_cb[lwsi_role_server(wsi)];
m = user_callback_handle_rxflow(wsi->protocol->callback,
wsi, (enum lws_callback_reasons) n,
wsi->user_space, NULL, 0);
return m;
}
time_t time(time_t *t)
{
time_t ret = time_in_microseconds() / 1000000;
if(t != NULL)
*t = ret;
return ret;
}
time_t time(time_t *tloc)
{
unsigned long long t = time_in_microseconds();
if (tloc)
*tloc = t / 1000000;
return 0;
}
int gettimeofday(struct timeval *tv, void *tz)
{
unsigned long long t = time_in_microseconds();
tv->tv_sec = t / 1000000;
tv->tv_usec = t % 1000000;
return 0;
}
int dsd_log_filter(int filter)
{
int i;
if (log_level & filter) {
for (i = 0; i < DSD_COUNT; i++) {
if (filter == (1 << i)) {
time_in_microseconds(i);
return 1;
}
}
}
return 0;
}
LWS_VISIBLE void lwsl_emit_stderr(int level, const char *line)
{
char buf[300];
unsigned long long now;
int n;
buf[0] = '\0';
for (n = 0; n < LLL_COUNT; n++)
if (level == (1 << n)) {
now = time_in_microseconds() / 100;
sprintf(buf, "[%llu:%04d] %s: ", (unsigned long long) now / 10000,
(int)(now % 10000), log_level_names[n]);
break;
}
fprintf(stderr, "%s%s", buf, line);
}
void
lws_latency(struct libwebsocket_context *context, struct libwebsocket *wsi,
const char *action, int ret, int completed)
{
unsigned long long u;
char buf[256];
u = time_in_microseconds();
if (!action) {
wsi->latency_start = u;
if (!wsi->action_start)
wsi->action_start = u;
return;
}
if (completed) {
if (wsi->action_start == wsi->latency_start)
sprintf(buf,
"Completion first try lat %lluus: %p: ret %d: %s\n",
u - wsi->latency_start,
(void *)wsi, ret, action);
else
sprintf(buf,
"Completion %lluus: lat %lluus: %p: ret %d: %s\n",
u - wsi->action_start,
u - wsi->latency_start,
(void *)wsi, ret, action);
wsi->action_start = 0;
} else
sprintf(buf, "lat %lluus: %p: ret %d: %s\n",
u - wsi->latency_start, (void *)wsi, ret, action);
if (u - wsi->latency_start > context->worst_latency) {
context->worst_latency = u - wsi->latency_start;
strcpy(context->worst_latency_info, buf);
}
lwsl_latency("%s", buf);
}
time_t time(time_t *t)
{
time_t ret = time_in_microseconds() / 1000000;
*t = ret;
return ret;
}
LWS_VISIBLE int
lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
{
struct lws_context *context = wsi->context;
struct lws_vhost *vh;
struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
int n;
char buf[256];
(void)buf;
if (!LWS_SSL_ENABLED(wsi->vhost))
return 0;
switch (wsi->mode) {
case LWSCM_SSL_INIT:
case LWSCM_SSL_INIT_RAW:
if (wsi->ssl)
lwsl_err("%s: leaking ssl\n", __func__);
if (accept_fd == LWS_SOCK_INVALID)
assert(0);
if (context->simultaneous_ssl_restriction &&
context->simultaneous_ssl >=
context->simultaneous_ssl_restriction) {
lwsl_notice("unable to deal with SSL connection\n");
return 1;
}
if (lws_tls_server_new_nonblocking(wsi, accept_fd)) {
if (accept_fd != LWS_SOCK_INVALID)
compatible_close(accept_fd);
goto fail;
}
if (context->simultaneous_ssl_restriction &&
++context->simultaneous_ssl ==
context->simultaneous_ssl_restriction)
/* that was the last allowed SSL connection */
lws_gate_accepts(context, 0);
#if defined(LWS_WITH_STATS)
context->updated = 1;
#endif
/*
* we are not accepted yet, but we need to enter ourselves
* as a live connection. That way we can retry when more
* pieces come if we're not sorted yet
*/
if (wsi->mode == LWSCM_SSL_INIT)
wsi->mode = LWSCM_SSL_ACK_PENDING;
else
wsi->mode = LWSCM_SSL_ACK_PENDING_RAW;
if (insert_wsi_socket_into_fds(context, wsi)) {
lwsl_err("%s: failed to insert into fds\n", __func__);
goto fail;
}
lws_set_timeout(wsi, PENDING_TIMEOUT_SSL_ACCEPT,
context->timeout_secs);
lwsl_debug("inserted SSL accept into fds, trying SSL_accept\n");
/* fallthru */
case LWSCM_SSL_ACK_PENDING:
case LWSCM_SSL_ACK_PENDING_RAW:
if (lws_change_pollfd(wsi, LWS_POLLOUT, 0)) {
lwsl_err("%s: lws_change_pollfd failed\n", __func__);
goto fail;
}
lws_latency_pre(context, wsi);
if (wsi->vhost->allow_non_ssl_on_ssl_port) {
n = recv(wsi->desc.sockfd, (char *)pt->serv_buf,
context->pt_serv_buf_size, MSG_PEEK);
/*
* optionally allow non-SSL connect on SSL listening socket
* This is disabled by default, if enabled it goes around any
* SSL-level access control (eg, client-side certs) so leave
* it disabled unless you know it's not a problem for you
*/
if (n >= 1 && pt->serv_buf[0] >= ' ') {
/*
* TLS content-type for Handshake is 0x16, and
* for ChangeCipherSpec Record, it's 0x14
*
* A non-ssl session will start with the HTTP
* method in ASCII. If we see it's not a legit
* SSL handshake kill the SSL for this
* connection and try to handle as a HTTP
* connection upgrade directly.
*/
wsi->use_ssl = 0;
lws_tls_server_abort_connection(wsi);
wsi->ssl = NULL;
if (lws_check_opt(context->options,
LWS_SERVER_OPTION_REDIRECT_HTTP_TO_HTTPS))
wsi->redirect_to_https = 1;
goto accepted;
}
if (!n) /*
* connection is gone, or nothing to read
* if it's gone, we will timeout on
* PENDING_TIMEOUT_SSL_ACCEPT
*/
break;
if (n < 0 && (LWS_ERRNO == LWS_EAGAIN ||
LWS_ERRNO == LWS_EWOULDBLOCK)) {
/*
* well, we get no way to know ssl or not
* so go around again waiting for something
* to come and give us a hint, or timeout the
* connection.
*/
if (lws_change_pollfd(wsi, 0, LWS_POLLIN)) {
lwsl_info("%s: change_pollfd failed\n",
__func__);
return -1;
}
lwsl_info("SSL_ERROR_WANT_READ\n");
return 0;
}
}
/* normal SSL connection processing path */
#if defined(LWS_WITH_STATS)
if (!wsi->accept_start_us)
wsi->accept_start_us = time_in_microseconds();
#endif
#if !defined(LWS_WITH_XRADIO)
errno = 0;
#endif
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN, 1);
n = lws_tls_server_accept(wsi);
lws_latency(context, wsi,
"SSL_accept LWSCM_SSL_ACK_PENDING\n", n, n == 1);
lwsl_info("SSL_accept says %d\n", n);
switch (n) {
case LWS_SSL_CAPABLE_DONE:
break;
case LWS_SSL_CAPABLE_ERROR:
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_FAILED, 1);
lwsl_info("SSL_accept failed socket %u: %d\n",
wsi->desc.sockfd, n);
goto fail;
default: /* MORE_SERVICE */
return 0;
}
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_ACCEPTED, 1);
#if defined(LWS_WITH_STATS)
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_MS_SSL_CONNECTIONS_ACCEPTED_DELAY,
time_in_microseconds() - wsi->accept_start_us);
wsi->accept_start_us = time_in_microseconds();
#endif
accepted:
/* adapt our vhost to match the SNI SSL_CTX that was chosen */
vh = context->vhost_list;
while (vh) {
if (!vh->being_destroyed &&
vh->ssl_ctx == lws_tls_ctx_from_wsi(wsi)) {
lwsl_info("setting wsi to vh %s\n", vh->name);
wsi->vhost = vh;
break;
}
vh = vh->vhost_next;
}
/* OK, we are accepted... give him some time to negotiate */
lws_set_timeout(wsi, PENDING_TIMEOUT_ESTABLISH_WITH_SERVER,
context->timeout_secs);
if (wsi->mode == LWSCM_SSL_ACK_PENDING_RAW)
wsi->mode = LWSCM_RAW;
else
wsi->mode = LWSCM_HTTP_SERVING;
#if defined(LWS_WITH_HTTP2)
if (lws_h2_configure_if_upgraded(wsi))
goto fail;
#endif
lwsl_debug("accepted new SSL conn\n");
break;
}
return 0;
fail:
return 1;
}
LWS_VISIBLE int
lws_server_socket_service_ssl(struct lws *wsi, lws_sockfd_type accept_fd)
{
struct lws_context *context = wsi->context;
struct lws_vhost *vh;
struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
int n, m;
#if !defined(USE_WOLFSSL) && !defined(LWS_WITH_MBEDTLS)
BIO *bio;
#endif
char buf[256];
(void)buf;
if (!LWS_SSL_ENABLED(wsi->vhost))
return 0;
switch (wsi->mode) {
case LWSCM_SSL_INIT:
case LWSCM_SSL_INIT_RAW:
if (wsi->ssl)
lwsl_err("%s: leaking ssl\n", __func__);
if (accept_fd == LWS_SOCK_INVALID)
assert(0);
if (context->simultaneous_ssl_restriction &&
context->simultaneous_ssl >= context->simultaneous_ssl_restriction) {
lwsl_notice("unable to deal with SSL connection\n");
return 1;
}
errno = 0;
wsi->ssl = SSL_new(wsi->vhost->ssl_ctx);
if (wsi->ssl == NULL) {
lwsl_err("SSL_new failed: %d (errno %d)\n",
lws_ssl_get_error(wsi, 0), errno);
lws_ssl_elaborate_error();
if (accept_fd != LWS_SOCK_INVALID)
compatible_close(accept_fd);
goto fail;
}
#if defined (LWS_HAVE_SSL_SET_INFO_CALLBACK)
if (wsi->vhost->ssl_info_event_mask)
SSL_set_info_callback(wsi->ssl, lws_ssl_info_callback);
#endif
if (context->simultaneous_ssl_restriction &&
++context->simultaneous_ssl == context->simultaneous_ssl_restriction)
/* that was the last allowed SSL connection */
lws_gate_accepts(context, 0);
#if defined(LWS_WITH_STATS)
context->updated = 1;
#endif
#if !defined(LWS_WITH_MBEDTLS)
SSL_set_ex_data(wsi->ssl,
openssl_websocket_private_data_index, wsi);
#endif
SSL_set_fd(wsi->ssl, accept_fd);
#ifdef USE_WOLFSSL
#ifdef USE_OLD_CYASSL
CyaSSL_set_using_nonblock(wsi->ssl, 1);
#else
wolfSSL_set_using_nonblock(wsi->ssl, 1);
#endif
#else
#if defined(LWS_WITH_MBEDTLS)
lws_plat_set_socket_options(wsi->vhost, accept_fd);
#else
SSL_set_mode(wsi->ssl, SSL_MODE_ACCEPT_MOVING_WRITE_BUFFER);
bio = SSL_get_rbio(wsi->ssl);
if (bio)
BIO_set_nbio(bio, 1); /* nonblocking */
else
lwsl_notice("NULL rbio\n");
bio = SSL_get_wbio(wsi->ssl);
if (bio)
BIO_set_nbio(bio, 1); /* nonblocking */
else
lwsl_notice("NULL rbio\n");
#endif
#endif
/*
* we are not accepted yet, but we need to enter ourselves
* as a live connection. That way we can retry when more
* pieces come if we're not sorted yet
*/
if (wsi->mode == LWSCM_SSL_INIT)
wsi->mode = LWSCM_SSL_ACK_PENDING;
else
wsi->mode = LWSCM_SSL_ACK_PENDING_RAW;
if (insert_wsi_socket_into_fds(context, wsi)) {
lwsl_err("%s: failed to insert into fds\n", __func__);
goto fail;
}
lws_set_timeout(wsi, PENDING_TIMEOUT_SSL_ACCEPT,
context->timeout_secs);
lwsl_debug("inserted SSL accept into fds, trying SSL_accept\n");
/* fallthru */
case LWSCM_SSL_ACK_PENDING:
case LWSCM_SSL_ACK_PENDING_RAW:
if (lws_change_pollfd(wsi, LWS_POLLOUT, 0)) {
lwsl_err("%s: lws_change_pollfd failed\n", __func__);
goto fail;
}
lws_latency_pre(context, wsi);
if (wsi->vhost->allow_non_ssl_on_ssl_port) {
n = recv(wsi->desc.sockfd, (char *)pt->serv_buf,
context->pt_serv_buf_size, MSG_PEEK);
/*
* optionally allow non-SSL connect on SSL listening socket
* This is disabled by default, if enabled it goes around any
* SSL-level access control (eg, client-side certs) so leave
* it disabled unless you know it's not a problem for you
*/
if (n >= 1 && pt->serv_buf[0] >= ' ') {
/*
* TLS content-type for Handshake is 0x16, and
* for ChangeCipherSpec Record, it's 0x14
*
* A non-ssl session will start with the HTTP
* method in ASCII. If we see it's not a legit
* SSL handshake kill the SSL for this
* connection and try to handle as a HTTP
* connection upgrade directly.
*/
wsi->use_ssl = 0;
SSL_shutdown(wsi->ssl);
SSL_free(wsi->ssl);
wsi->ssl = NULL;
if (lws_check_opt(context->options,
LWS_SERVER_OPTION_REDIRECT_HTTP_TO_HTTPS))
wsi->redirect_to_https = 1;
goto accepted;
}
if (!n) /*
* connection is gone, or nothing to read
* if it's gone, we will timeout on
* PENDING_TIMEOUT_SSL_ACCEPT
*/
break;
if (n < 0 && (LWS_ERRNO == LWS_EAGAIN ||
LWS_ERRNO == LWS_EWOULDBLOCK)) {
/*
* well, we get no way to know ssl or not
* so go around again waiting for something
* to come and give us a hint, or timeout the
* connection.
*/
m = SSL_ERROR_WANT_READ;
goto go_again;
}
}
/* normal SSL connection processing path */
#if defined(LWS_WITH_STATS)
if (!wsi->accept_start_us)
wsi->accept_start_us = time_in_microseconds();
#endif
errno = 0;
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_ACCEPT_SPIN, 1);
n = SSL_accept(wsi->ssl);
lws_latency(context, wsi,
"SSL_accept LWSCM_SSL_ACK_PENDING\n", n, n == 1);
lwsl_info("SSL_accept says %d\n", n);
if (n == 1)
goto accepted;
m = lws_ssl_get_error(wsi, n);
#if defined(LWS_WITH_MBEDTLS)
if (m == SSL_ERROR_SYSCALL && errno == 11)
m = SSL_ERROR_WANT_READ;
#endif
if (m == SSL_ERROR_SYSCALL || m == SSL_ERROR_SSL)
goto failed;
go_again:
if (m == SSL_ERROR_WANT_READ || SSL_want_read(wsi->ssl)) {
if (lws_change_pollfd(wsi, 0, LWS_POLLIN)) {
lwsl_info("%s: WANT_READ change_pollfd failed\n", __func__);
goto fail;
}
lwsl_info("SSL_ERROR_WANT_READ\n");
break;
}
if (m == SSL_ERROR_WANT_WRITE || SSL_want_write(wsi->ssl)) {
lwsl_debug("%s: WANT_WRITE\n", __func__);
if (lws_change_pollfd(wsi, 0, LWS_POLLOUT)) {
lwsl_info("%s: WANT_WRITE change_pollfd failed\n", __func__);
goto fail;
}
break;
}
failed:
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_FAILED, 1);
wsi->socket_is_permanently_unusable = 1;
lwsl_info("SSL_accept failed socket %u: %s\n", wsi->desc.sockfd,
lws_ssl_get_error_string(m, n, buf, sizeof(buf)));
lws_ssl_elaborate_error();
goto fail;
accepted:
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_C_SSL_CONNECTIONS_ACCEPTED, 1);
#if defined(LWS_WITH_STATS)
lws_stats_atomic_bump(wsi->context, pt,
LWSSTATS_MS_SSL_CONNECTIONS_ACCEPTED_DELAY,
time_in_microseconds() - wsi->accept_start_us);
wsi->accept_start_us = time_in_microseconds();
#endif
/* adapt our vhost to match the SNI SSL_CTX that was chosen */
vh = context->vhost_list;
while (vh) {
if (!vh->being_destroyed && wsi->ssl &&
vh->ssl_ctx == SSL_get_SSL_CTX(wsi->ssl)) {
lwsl_info("setting wsi to vh %s\n", vh->name);
wsi->vhost = vh;
break;
}
vh = vh->vhost_next;
}
/* OK, we are accepted... give him some time to negotiate */
lws_set_timeout(wsi, PENDING_TIMEOUT_ESTABLISH_WITH_SERVER,
context->timeout_secs);
if (wsi->mode == LWSCM_SSL_ACK_PENDING_RAW)
wsi->mode = LWSCM_RAW;
else
wsi->mode = LWSCM_HTTP_SERVING;
#if defined(LWS_WITH_HTTP2)
if (lws_h2_configure_if_upgraded(wsi))
goto fail;
#endif
lwsl_debug("accepted new SSL conn\n");
break;
}
return 0;
fail:
return 1;
}
LWS_VISIBLE int
lws_ssl_capable_read(struct lws *wsi, unsigned char *buf, int len)
{
struct lws_context *context = wsi->context;
struct lws_context_per_thread *pt = &context->pt[(int)wsi->tsi];
int n = 0, m;
if (!wsi->ssl)
return lws_ssl_capable_read_no_ssl(wsi, buf, len);
lws_stats_atomic_bump(context, pt, LWSSTATS_C_API_READ, 1);
errno = 0;
n = SSL_read(wsi->ssl, buf, len);
#if defined(LWS_WITH_ESP32)
if (!n && errno == ENOTCONN) {
lwsl_debug("%p: SSL_read ENOTCONN\n", wsi);
return LWS_SSL_CAPABLE_ERROR;
}
#endif
#if defined(LWS_WITH_STATS)
if (!wsi->seen_rx) {
lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_MS_SSL_RX_DELAY,
time_in_microseconds() - wsi->accept_start_us);
lws_stats_atomic_bump(wsi->context, pt, LWSSTATS_C_SSL_CONNS_HAD_RX, 1);
wsi->seen_rx = 1;
}
#endif
lwsl_debug("%p: SSL_read says %d\n", wsi, n);
/* manpage: returning 0 means connection shut down */
if (!n || (n == -1 && errno == ENOTCONN)) {
wsi->socket_is_permanently_unusable = 1;
return LWS_SSL_CAPABLE_ERROR;
}
if (n < 0) {
m = lws_ssl_get_error(wsi, n);
lwsl_debug("%p: ssl err %d errno %d\n", wsi, m, errno);
if (m == SSL_ERROR_ZERO_RETURN ||
m == SSL_ERROR_SYSCALL)
return LWS_SSL_CAPABLE_ERROR;
if (m == SSL_ERROR_WANT_READ || SSL_want_read(wsi->ssl)) {
lwsl_debug("%s: WANT_READ\n", __func__);
lwsl_debug("%p: LWS_SSL_CAPABLE_MORE_SERVICE\n", wsi);
return LWS_SSL_CAPABLE_MORE_SERVICE;
}
if (m == SSL_ERROR_WANT_WRITE || SSL_want_write(wsi->ssl)) {
lwsl_debug("%s: WANT_WRITE\n", __func__);
lwsl_debug("%p: LWS_SSL_CAPABLE_MORE_SERVICE\n", wsi);
return LWS_SSL_CAPABLE_MORE_SERVICE;
}
wsi->socket_is_permanently_unusable = 1;
return LWS_SSL_CAPABLE_ERROR;
}
lws_stats_atomic_bump(context, pt, LWSSTATS_B_READ, n);
if (wsi->vhost)
wsi->vhost->conn_stats.rx += n;
lws_restart_ws_ping_pong_timer(wsi);
/*
* if it was our buffer that limited what we read,
* check if SSL has additional data pending inside SSL buffers.
*
* Because these won't signal at the network layer with POLLIN
* and if we don't realize, this data will sit there forever
*/
if (n != len)
goto bail;
if (!wsi->ssl)
goto bail;
if (!SSL_pending(wsi->ssl))
goto bail;
if (wsi->pending_read_list_next)
return n;
if (wsi->pending_read_list_prev)
return n;
if (pt->pending_read_list == wsi)
return n;
/* add us to the linked list of guys with pending ssl */
if (pt->pending_read_list)
pt->pending_read_list->pending_read_list_prev = wsi;
wsi->pending_read_list_next = pt->pending_read_list;
wsi->pending_read_list_prev = NULL;
pt->pending_read_list = wsi;
return n;
bail:
lws_ssl_remove_wsi_from_buffered_list(wsi);
return n;
}