int main()
{
using std::cout;
Tv s42;
cout << "Początkowe ustawienia telewizora 42\":\n";
s42.settings();
s42.onoff();
s42.chanup();
cout << "\nNowe ustawienia telewizora 42\":\n";
s42.settings();
Remote grey;
grey.set_chan(s42, 10);
grey.volup(s42);
grey.volup(s42);
cout << "\nUstawienia telewizora 42\" po użyciu pilota:\n";
s42.settings();
Tv s58(Tv::On);
s58.set_mode();
grey.set_chan(s58, 28);
cout << "\nUstawienia telewizora 58\"\n";
s58.settings();
return 0;
}
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
Remote w;
QFile st(QDir::currentPath()+ "/remote.ini");
if(!st.open(QIODevice::ReadOnly | QIODevice::Text))
{
cout<<"Need remote.ini to start";
QString settingsFile = (QDir::currentPath()+ "/remote.ini");
QSettings *settings =new QSettings(settingsFile,QSettings::IniFormat);
settings->setValue("sshServer", "192.168.1.1");
settings->setValue("sshUser", "user");
settings->setValue("sshPwd", "123");
settings->setValue("sshCommand", "free_port.sh");
settings->sync();
delete (settings);
}
st.close();
w.setStyleSheet("background-image: url(:/suspects.png)");
w.show();
return a.exec();
}
void StateRoom::accessRoom()
{
INetworkRelay *network = this->_world->getSharedObject<INetworkRelay>("NetworkRelay");
if (network) {
Remote *remote = NULL;
if (this->_textboxRoom->getString() != "")
this->_textboxRoom->setString("defaulte");
if (!(remote = network->getRemote(0)))
throw RTException("Invalid remote");
IBuffer *buffer = network->getTCPBuffer();
*buffer << static_cast<char>(INetworkRelay::CHANGE_ROOM_QUERY);
*buffer << this->_textboxRoom->getString();
remote->sendTCP(buffer);
Thread<INetworkRelay> *thread = new Thread<INetworkRelay>();
thread->start(network, &INetworkRelay::start, Any());
while (42) {
LockVector<IBuffer *> &recv_buffer = remote->getRecvBufferTCP();
auto guard = create_lock(recv_buffer);
for (auto it = recv_buffer.begin(); it != recv_buffer.end();)
{
if (this->parsePacket(recv_buffer, it))
return ;
}
}
} else {
throw RTException("Invalid network");
}
}
int main()
{
using std::cout;
Tv s27;
cout << "Initial settings for 27\" TV:\n";
s27.settings();
s27.onoff();
s27.chanup();
cout << "\nAdjusted settings for 27\" TV:\n";
s27.settings();
Remote grey;
grey.set_chan(s27, 10);
grey.volup(s27);
grey.volup(s27);
cout << "\n27\" settings after using remote:\n";
s27.settings();
Tv s32(Tv::On);
s32.set_mode();
grey.set_chan(s32,28);
cout << "\n32\" settings:\n";
s32.settings();
return 0;
}
int main()
{
using std::cout;
Tv s42;
cout << "Initial setting for 42\" TV:\n";
s42.settings();
s42.onoff();
s42.chanup();
cout << "\nAdjusted settings for 42\" TV:\n";
s42.settings();
Remote grey;
grey.set_chan(s42, 10);
grey.volup(s42);
grey.volup(s42);
cout << "\n42\" settings after using remote:\n";
s42.settings();
Tv s58(Tv::On);
s58.set_mode();
grey.set_chan(s58,28);
cout << "\n58\" settings:\n";
s58.settings();
return 0;
}
volatile char timerRemoteStart(char key, char first)
{
menu.message(TEXT("Started Remote"));
remote.set(REMOTE_PROGRAM);
remote.set(REMOTE_START);
menu.spawn((void*)timerStatusRemote);
return FN_JUMP;
}
ListView::Row Manager::makeRow(const Remote &remote) const
{
const auto_string &name = make_autostring(remote.name());
const auto_string &url = make_autostring(remote.url());
return {name, url, isRemoteEnabled(remote) ?
AUTO_STR("Enabled") : AUTO_STR("Disabled")};
}
bool Manager::apply()
{
if(!m_changes)
return true;
Transaction *tx = m_reapack->setupTransaction();
if(!tx)
return false;
bool syncAll = false;
if(m_autoInstall) {
m_config->install.autoInstall = m_autoInstall.value();
syncAll = m_autoInstall.value();
}
if(m_bleedingEdge)
m_config->install.bleedingEdge = m_bleedingEdge.value();
if(m_promptObsolete)
m_config->install.promptObsolete = m_promptObsolete.value();
for(const auto &pair : m_mods) {
Remote remote = pair.first;
const RemoteMods &mods = pair.second;
if(m_uninstall.find(remote) != m_uninstall.end())
continue;
if(mods.enable) {
m_reapack->setRemoteEnabled(*mods.enable, remote);
if(*mods.enable && !syncAll)
tx->synchronize(remote);
}
if(mods.autoInstall) {
remote.setAutoInstall(*mods.autoInstall);
m_config->remotes.add(remote);
const bool isEnabled = mods.enable.value_or(remote.isEnabled());
if(isEnabled && *mods.autoInstall && !syncAll)
tx->synchronize(remote);
}
}
for(const Remote &remote : m_uninstall)
m_reapack->uninstall(remote);
if(syncAll)
m_reapack->synchronizeAll();
tx->runTasks();
m_config->write();
reset();
return true;
}
bool Manager::isRemoteEnabled(const Remote &remote) const
{
const auto it = m_mods.find(remote);
if(it == m_mods.end())
return remote.isEnabled();
else
return it->second.enable.value_or(remote.isEnabled());
}
tribool Manager::remoteAutoInstall(const Remote &remote) const
{
const auto it = m_mods.find(remote);
if(it == m_mods.end())
return remote.autoInstall();
else
return it->second.autoInstall.value_or(remote.autoInstall());
}
void RemoteServer::loadRemotes()
{
QStringList theFiles = KGlobal::dirs()->findAllResources("data", "remotes/*.remote.xml");
for(QStringList::iterator i = theFiles.begin(); i != theFiles.end(); ++i)
{ kdDebug() << "Found data file: " << *i << endl;
Remote *p = new Remote();
p->loadFromFile(*i);
theRemotes.insert(p->id(), p);
}
}
virtual void onConsoleCommand(ConsoleWindow* con, const std::string& str)
{
if (_remote.getHostPeer() == NULL)
{
String cmd = str.c_str();
if (StringUtil::startsWith(cmd, "connect"))
{
String addr = cmd.substr(8);
if (_remote.connect(addr))
{
DataValue params = DataValue::fromJson("{ client:'nit-rsh', version:'1.0', log:true }");
_remote.request(_remote.getHostPeer(), _channelID, RQ_ATTACH, params);
_lastAddr = addr;
}
return;
}
else
{
if (!_lastAddr.empty())
{
if (_remote.connect(_lastAddr))
{
DataValue params = DataValue::fromJson("{ client:'nit-rsh', version:'1.0', log:true }");
_remote.request(_remote.getHostPeer(), _channelID, RQ_ATTACH, params);
}
}
if (_remote.getHostPeer() == NULL)
LOG(0, "*** not connected\n");
}
}
if (!str.empty())
{
Ref<RemotePeer> peer = _remote.getHostPeer();
if (peer)
{
if (str == "bye")
peer->disconnect();
else
_remote.notify(peer, _channelID, NT_COMMAND, DataValue(str.c_str(), (int) str.length()));
}
}
}
ConsoleApp(ConsoleWindow* cw)
{
_console = cw;
cw->setListener(this);
_channelID = 0xdeb6;
EventChannel* ch = _remote.getChannel(0);
ch->bind(EVT::REMOTE_CONNECT, this, &ConsoleApp::onRemoteConnect);
ch->bind(EVT::REMOTE_DISCONNECT, this, &ConsoleApp::onRemoteDisconnect);
ch = _remote.openChannel(_channelID, "nit.RemoteDebugClient");
ch->bind(EVT::REMOTE_NOTIFY, this, &ConsoleApp::onRemoteNotify);
ch->bind(EVT::REMOTE_RESPONSE, this, &ConsoleApp::onRemoteResponse);
}
bool Manager::isRemoteEnabled(const Remote &remote) const
{
const auto it = m_enableOverrides.find(remote);
if(it == m_enableOverrides.end())
return remote.isEnabled();
else
return it->second;
}
bool RemoteModel::refresh(const QString &workingDirectory, QString *errorMessage)
{
// Run branch command with verbose.
QStringList remoteArgs;
remoteArgs << QLatin1String("-v");
QString output;
if (!m_client->synchronousRemoteCmd(workingDirectory, remoteArgs, &output, errorMessage))
return false;
// Parse output
m_workingDirectory = workingDirectory;
m_remotes.clear();
const QStringList lines = output.split(QLatin1Char('\n'));
for (int r = 0; r < lines.count(); ++r) {
Remote newRemote;
if (newRemote.parse(lines.at(r)))
m_remotes.push_back(newRemote);
}
reset();
return true;
}
inline std::string metadata_action(const Remote &remote, Delegate func)
{
try
{
return func(remote.media_info());
}
catch(const std::exception &e)
{
std::cerr << e.what() << std::endl;
return "";
}
}
int main(int argc, char *argv[])
{
qInstallMessageHandler(myMessageHandler);
QApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
QApplication a(argc, argv);
qsrand(QTime(0,0,0).msecsTo(QTime::currentTime()));
qApp->setStyle(QStyleFactory::create("fusion"));
QFont font = qApp->font();
font.setPixelSize(13);
qApp->setFont(font);
QPalette palette;
qApp->setPalette(palette);
Remote u;
if(u.Start(a.arguments()))
return a.exec();
else
return 0;
}
volatile char timerStatusRemote(char key, char first)
{
static uint32_t startTime = 0;
static uint8_t toggle = 0;
if(first)
{
startTime = 0;
}
if(clock.Ms() > startTime + 100)
{
startTime = clock.Ms();
lcd.cls();
if(toggle == 0)
remote.request(REMOTE_BATTERY);
else if(toggle == 1)
remote.send(REMOTE_BATTERY, REMOTE_TYPE_NOTIFY_SET);
else if(toggle == 2)
remote.request(REMOTE_START);
else
remote.request(REMOTE_STATUS);
if(++toggle >= 10) toggle = 2;
displayTimerStatus(1);
menu.setTitle(TEXT("Remote"));
if(remote.running)
menu.setBar(TEXT("RETURN"), TEXT("STOP"));
else
menu.setBar(TEXT("RETURN"), BLANK_STR);
lcd.update();
}
if(!remote.connected) return FN_CANCEL;
switch(key)
{
case FR_KEY:
remote.set(REMOTE_STOP);
break;
case FL_KEY:
case LEFT_KEY:
remote.send(REMOTE_BATTERY, REMOTE_TYPE_NOTIFY_UNSET);
toggle = 0;
return FN_CANCEL;
}
return FN_CONTINUE;
}
volatile char cableReleaseRemote(char key, char first)
{
static char status; //, cable;
if(first)
{
status = 0;
lcd.cls();
menu.setTitle(TEXT("BT Cable Remote"));
menu.setBar(TEXT("Bulb"), TEXT("Photo"));
lcd.update();
remote.set(REMOTE_BULB_END);
}
if(key == FL_KEY)
{
if(status != 1)
{
status = 1;
lcd.eraseBox(8, 18, 8 + 6 * 11, 26);
lcd.writeString(8, 18, TEXT("(BULB OPEN)"));
remote.set(REMOTE_BULB_START);
lcd.update();
} else
{
status = 0;
lcd.eraseBox(8, 18, 8 + 6 * 11, 26);
remote.set(REMOTE_BULB_END);
lcd.update();
}
}
else if(key == FR_KEY && status != 1)
{
status = 0;
lcd.eraseBox(8, 18, 8 + 6 * 11, 26);
remote.set(REMOTE_CAPTURE);
lcd.update();
}
else if(key != 0)
{
status = 0;
lcd.eraseBox(8, 18, 8 + 6 * 11, 26);
remote.set(REMOTE_BULB_END);
lcd.update();
}
if(key == LEFT_KEY || !remote.connected)
{
remote.set(REMOTE_BULB_END);
return FN_CANCEL;
}
return FN_CONTINUE;
}
virtual void onConsoleShow(ConsoleWindow* con)
{
_logger = new ConsoleWindowLogger(con);
LogManager::getSingleton().attach(_logger);
LOG(0, "[nit-rsh] usage: connect [<ip_address>]\n");
con->setPrompt("idle> ");
SocketBase::initialize();
bool sendWhere = false;
if (sendWhere)
{
char hostname[40];
if (gethostname(hostname, sizeof(hostname)) != SOCKET_ERROR)
{
_remote.serverWhere(hostname);
}
}
}
static void got_packet(u_char *args, const pcap_pkthdr *header, const u_char *packet) {
Remote *r = reinterpret_cast<Remote *>(args);
r->onPacket(packet, *header);
}
virtual void onConsoleUpdate(ConsoleWindow* con)
{
_remote.update();
}
Remote<T> read_variable(const char *name) const
{
Remote<T> res;
read_variable(name, res.getBuffer(), sizeof(T));
return res;
}
int main(int argc, char *argv[]) {
// we need to set stdout and stderr non-buffered
// so that messages are actually displayed in the
// DARwIn-OP console of the robot window
setvbuf(stdout,NULL,_IONBF,0);
setvbuf(stderr,NULL,_IONBF,0);
int cameraWidthZoomFactor = 1;
int cameraHeightZoomFactor = 1;
if (argc >= 3) {
sscanf(argv[1], "%d", &cameraWidthZoomFactor);
sscanf(argv[2], "%d", &cameraHeightZoomFactor);
}
// Server socket
SOCKADDR_IN sin;
SOCKET sock;
socklen_t recsize = sizeof(sin);
// Client socket
SOCKADDR_IN csin;
SOCKET csock = NULL;
socklen_t crecsize;
int sock_err;
// Creation of the socket
sock = socket(AF_INET, SOCK_STREAM, 0);
// If socket is valid
if (sock != INVALID_SOCKET) {
// Configuration
sin.sin_addr.s_addr = htonl(INADDR_ANY); // Adresse IP automatic
sin.sin_family = AF_INET; // Protocole familial (IP)
sin.sin_port = htons(PORT); // Listening of the port
bzero(&sin.sin_zero, sizeof(sin.sin_zero)); // make sure the zero are correctly initialized
int opt = 1;
setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (const char *) &opt, sizeof(int));
sock_err = bind(sock, (SOCKADDR*) &sin, recsize);
// If socket works
if (sock_err != SOCKET_ERROR) {
// Starting port Listening (server mode)
sock_err = listen(sock, 1); // only one connexion
// If socket works
if (sock_err != SOCKET_ERROR) {
// Wait until a client connect
cout << "Waiting for client connection on port " << PORT << "..." << endl;
csock = accept(sock, (SOCKADDR*)&csin, &crecsize);
cout << "Client connected." << endl;
} else
perror("listen");
}
else
perror("bind");
Remote *remote = new Remote();
remote->remoteStep();
const double *acc;
const double *gyro;
const unsigned char *image;
char *receiveBuffer = (char *)malloc(1024);
char *sendBuffer = (char *)malloc(350000);
receiveBuffer[0]='\0';
sendBuffer[0]='\0';
Image rgbImage((320/cameraWidthZoomFactor), (240/cameraHeightZoomFactor), Image::RGB_PIXEL_SIZE);
unsigned char jpeg_buffer[rgbImage.m_ImageSize];
int c = 0;
int n;
while(1) {
// Wait for message
n=0;
do
n += recv(csock, &receiveBuffer[n], 1024-n, 0);
while(n<3);
if (receiveBuffer[0]!='W') {
cerr << "Error: wrong TCP message received" << endl;
continue;
}
int total = (unsigned char)receiveBuffer[1]+(unsigned char)receiveBuffer[2]*256;
while(n<total)
n += recv(csock, &receiveBuffer[n], 1024-n, 0);
receiveBuffer[total]=0; // set the final 0
int receivePos = 3, sendPos = 5;
// Accelerometer
if (receiveBuffer[receivePos] == 'A') {
acc = remote->getRemoteAccelerometer();
for (c = 0; c < 3; c++)
writeINT2Buffer(sendBuffer + 4 * c + sendPos, (int)acc[c]);
sendPos += 12;
receivePos++;
}
// Gyro
if (receiveBuffer[receivePos] == 'G') {
gyro = remote->getRemoteGyro();
for (c = 0; c < 3; c++)
writeINT2Buffer(sendBuffer + 4 * c + sendPos, (int)gyro[c]);
sendPos += 12;
receivePos++;
}
// Camera
if (receiveBuffer[receivePos] == 'C') {
image = remote->getRemoteImage();
int image_buffer_position = 0;
for (int height = 120 - (120 / cameraHeightZoomFactor) ; height < 120 + (120 / cameraHeightZoomFactor); height++) {
for (int width = 160 - (160 / cameraWidthZoomFactor) ; width < 160 + (160 / cameraWidthZoomFactor); width++) {
rgbImage.m_ImageData[image_buffer_position + 2] = image[height * 320 * 4 + width * 4 + 0];
rgbImage.m_ImageData[image_buffer_position + 1] = image[height * 320 * 4 + width * 4 + 1];
rgbImage.m_ImageData[image_buffer_position + 0] = image[height * 320 * 4 + width * 4 + 2];
image_buffer_position += 3;
}
}
// Compress image to jpeg
int buffer_length = 0;
if (cameraHeightZoomFactor *cameraWidthZoomFactor < 2) // -> resolution 320x240 -> put quality at 65%
buffer_length = jpeg_utils::compress_rgb_to_jpeg(&rgbImage, jpeg_buffer, rgbImage.m_ImageSize, 65);
else // image smaller, put quality at 80%
buffer_length = jpeg_utils::compress_rgb_to_jpeg(&rgbImage, jpeg_buffer, rgbImage.m_ImageSize, 80);
writeINT2Buffer(sendBuffer + sendPos, buffer_length); // write image_buffer length
sendPos += 4;
memcpy(sendBuffer + sendPos, jpeg_buffer, buffer_length); // write image
sendPos += buffer_length;
receivePos++;
}
// LEDs
for (c = 0; c < 5; c++) {
if (receiveBuffer[receivePos] == 'L') {
unsigned char c1 = static_cast <unsigned char> (receiveBuffer[receivePos+4]);
unsigned char c2 = static_cast <unsigned char> (receiveBuffer[receivePos+3]);
unsigned char c3 = static_cast <unsigned char> (receiveBuffer[receivePos+2]);
int value = c1 + (c2 << 8) + (c3 << 16);
remote->setRemoteLED(receiveBuffer[receivePos+1], value);
receivePos += 5;
}
}
// Motors Actuator
for (c = 0; c < 20; c++) {
if (receiveBuffer[receivePos] == 'S') {
int motorNumber = (int)receiveBuffer[receivePos+1];
receivePos+= 2;
if (receiveBuffer[receivePos] == 'p') { // Position
int value = readINTFromBuffer(receiveBuffer + receivePos + 1);
remote->setRemoteMotorPosition(motorNumber, value);
receivePos += 5;
}
if (receiveBuffer[receivePos] == 'v') { // Velocity
int value = readINTFromBuffer(receiveBuffer + receivePos + 1);
remote->setRemoteMotorVelocity(motorNumber, value);
receivePos += 5;
}
if (receiveBuffer[receivePos] == 'a') { // Acceleration
int value = readINTFromBuffer(receiveBuffer + receivePos + 1);
remote->setRemoteMotorAcceleration(motorNumber, value);
receivePos += 5;
}
if (receiveBuffer[receivePos] == 'm') { // AvailableTorque
int value = readINTFromBuffer(receiveBuffer + receivePos + 1);
remote->setRemoteMotorAvailableTorque(motorNumber, value);
receivePos += 5;
}
if (receiveBuffer[receivePos] == 'c') { // ControlPID
int p = readINTFromBuffer(receiveBuffer + receivePos + 1);
int i = readINTFromBuffer(receiveBuffer + receivePos + 1 + 4);
int d = readINTFromBuffer(receiveBuffer + receivePos + 1 + 2 * 4);
remote->setRemoteMotorControlPID(motorNumber, p, i, d);
receivePos += 1 + 3 * 4; // TODO (fabien): why not use sizeof(int) ?
}
if (receiveBuffer[receivePos] == 'f') { // Torque
int value = readINTFromBuffer(receiveBuffer + receivePos + 1);
remote->setRemoteMotorTorque(motorNumber, value);
receivePos += 5;
}
}
}
// Position Sensors
for (c = 0; c < 20; c++) {
if (receiveBuffer[receivePos] == 'P') {
if ((int)receiveBuffer[receivePos+1] < 20) {
double motorPosition = remote->getRemotePositionSensor((int)receiveBuffer[receivePos+1]);
writeINT2Buffer(sendBuffer + sendPos, (int)motorPosition);
}
else
writeINT2Buffer(sendBuffer + sendPos, 0);
sendPos += 4;
receivePos += 2;
}
}
// Motors sensors torque
for (c = 0; c < 20; c++) {
if (receiveBuffer[receivePos] == 'F') {
if ((int)receiveBuffer[receivePos+1] < 20) {
double motorTorque = remote->getRemoteMotorTorque((int)receiveBuffer[receivePos+1]);
writeINT2Buffer(sendBuffer + sendPos, (int)motorTorque);
} else
writeINT2Buffer(sendBuffer + sendPos, 0);
sendPos += 4;
receivePos += 2;
}
}
if (receiveBuffer[receivePos]!=0)
cerr << "Error: received unknown message: " << receiveBuffer[receivePos] << endl;
// Terminate the buffer and send it
sendBuffer[0] = 'W';
writeINT2Buffer(sendBuffer+1, sendPos); // Write size of buffer at the beginning
sendBuffer[sendPos++] = '\0';
n=0;
do
n += send(csock, &sendBuffer[n], sendPos-n, 0);
while (n!=sendPos);
remote->remoteStep();
}
// Close client socket and server socket
cout << "Closing client socket" << endl;
closesocket(csock);
cout << "Closing server socket" << endl;
closesocket(sock);
free(receiveBuffer);
free(sendBuffer);
}
else
perror("socket");
return EXIT_SUCCESS;
}
template<class T> inline
void read(Remote<T>& buffer, RemotePtr<T> ptr, int process_index = ProcessIndexAny) const
{
this->read_bytes(buffer.getBuffer(), sizeof(T), ptr, process_index);
}
