bool send_address(uint8_t address, uint8_t write)
{
int c = 0;
begin:
uart_send("START");
// Set the START flag
SEND_AND_WAIT(1, 1 << TWSTA);
if (TW_STATUS != TW_START && TW_STATUS != TW_REP_START) {
DUMP_ERROR();
return false;
}
if (write == TW_WRITE) {
uart_send("SLA+W");
} else {
uart_send("SLA+R");
}
// Write the address + write byte
TWDR = (address << 1) | write;
SEND_AND_WAIT(1, 0);
uint8_t ack;
uint8_t nack;
if (write == TW_WRITE) {
ack = TW_MT_SLA_ACK;
nack = TW_MT_SLA_NACK;
} else {
ack = TW_MR_SLA_ACK;
nack = TW_MR_SLA_NACK;
}
if (TW_STATUS == nack) {
c++;
if (c > 3) {
DUMP_ERROR();
return false;
} else {
goto begin;
}
} else if (TW_STATUS != ack) {
DUMP_ERROR();
return false;
}
return true;
}
bool twi_get(uint8_t address, uint8_t* data)
{
if (!send_address(address, TW_WRITE)) {
uart_send("Send address failed");
return false;
}
uart_send("Send GET");
// Send a GET packet
TWDR = 1;
SEND_AND_WAIT(1, 0);
if (TW_STATUS != TW_MT_DATA_ACK) {
DUMP_ERROR();
return false;
}
uart_send("Switch to MR");
if (!send_address(address, TW_READ)) {
uart_send("MR send_address failed");
STOP();
return false;
}
SEND_AND_WAIT(0, 0);
if (TW_STATUS != TW_MR_DATA_ACK && TW_STATUS != TW_MR_DATA_NACK) {
DUMP_ERROR();
return false;
}
uart_send("Read packet");
// Read the data packet
*data = TWDR;
char val[20];
sprintf(val, "--read = %x", *data);
uart_send(val);
STOP();
return true;
}
int
auks_cred_repo_load_cache(auks_cred_repo_t * cr)
{
int fstatus = AUKS_ERROR;
unsigned int loaded_ccache = 0;
char str_error[STR_ERROR_SIZE];
char *cachedir;
DIR *dir;
struct dirent entry;
struct dirent *cookie;
char filename[AUKS_CRED_FILE_MAX_LENGTH + 1];
size_t filename_maxlength = AUKS_CRED_FILE_MAX_LENGTH;
auks_cred_t cred;
cachedir = cr->cachedir;
/* cache dir validity check */
if (cachedir == NULL) {
auks_log2("load : no cache directory defined in this repo");
fstatus = AUKS_ERROR_CRED_REPO_CACHEDIR_IS_NULL;
goto exit;
}
/* open cache directory */
dir = opendir(cachedir);
if (dir == NULL) {
DUMP_ERROR(errno, str_error, STR_ERROR_SIZE);
auks_log2("load : unable to open cache directory %s : %s",
cachedir, str_error);
fstatus = AUKS_ERROR_CRED_REPO_CACHEDIR_OPEN;
goto exit;
}
while (1) {
/* lookup */
fstatus = readdir_r(dir, &entry, &cookie);
if (fstatus != 0) {
DUMP_ERROR(errno, str_error,
STR_ERROR_SIZE);
auks_log2("load : an error occured while processing"
" cache directory : %s",str_error);
break;
} else if (fstatus == 0 && cookie == NULL) {
/* no more entry to process */
auks_log3("load : no more entry to process in cache "
"directory");
break;
}
/* look for auks cred cache patterned file */
if (fnmatch(AUKS_CRED_CACHE_FILE_MOTIF,entry.d_name,
FNM_PATHNAME | FNM_PERIOD) != 0 ) {
auks_log3("load : '%s' is not an auks cred cache",
entry.d_name);
continue;
}
auks_log3("load : entry %s is an auks cred cache",entry.d_name);
/* build auks cred cache filename */
fstatus = snprintf(filename,filename_maxlength,"%s/%s",
cr->cachedir,entry.d_name);
if ( fstatus >= filename_maxlength || fstatus < 0) {
auks_log2("load : unable to build auks cred"
" cache filename");
continue;
}
/* init auks cred from file */
fstatus = auks_cred_extract(&cred,filename);
if (fstatus) {
auks_log2("load : unable to init auks cred from"
" auks cache '%s'",filename);
goto cred_loop;
}
auks_log3("load : auks cred successfully initialized from auks "
"cache '%s'",filename);
/* add auks cred to repo */
fstatus = auks_cred_repo_add(cr,&cred);
if (fstatus) {
auks_log2("load : unable to add cred from auks cache"
" '%s' to the tree : %s",
filename,auks_strerror(fstatus));
} else {
auks_log3("load : auks cred cache '%s' successfully"
" loaded",filename);
loaded_ccache += 1;
}
auks_cred_free_contents(&cred);
cred_loop:
memset(filename,'\0',filename_maxlength);
continue;
}
auks_log("%u cred(s) loaded from cachedir %s",loaded_ccache,cachedir);
fstatus = AUKS_SUCCESS;
closedir(dir);
exit:
return fstatus;
}
CameraManager::CameraManager()
{
Json::Value root;
Json::Reader reader;
std::string fileContents;
if (!readFile(&fileContents, FILE_NAME))
{
DUMP_ERROR("Could not open file.");
exit(0);
}
if (!reader.parse(fileContents, root))
{
DUMP_ERROR("Error Parsing file.");
exit(0);
}
float h = CGKAppGetScreenHeight();
float w = CGKAppGetScreenWidth();
float asp = w/h;
for (int i = 0; i < root.size(); i++)
{
CGKOpenGLCamera* cam = new CGKOpenGLCamera();
if (!cam)
{
DUMP_ERROR("could not allocate [cam]");
exit(0);
}
CGKVector3f eye;
CGKVector3f focus;
CGKVector3f up;
eye[0] = root[i]["eye"][0].asFloat();
eye[1] = root[i]["eye"][1].asFloat();
eye[2] = root[i]["eye"][2].asFloat();
focus[0] = root[i]["focus"][0].asFloat();
focus[1] = root[i]["focus"][1].asFloat();
focus[2] = root[i]["focus"][2].asFloat();
up[0] = root[i]["up"][0].asFloat();
up[1] = root[i]["up"][1].asFloat();
up[2] = root[i]["up"][2].asFloat();
float fovy = M_PI/180.0*root[i]["fovy"].asFloat();
float near = root[i]["near"].asFloat();
float far = root[i]["far"].asFloat();
cam->SetView(eye, focus, up);
cam->SetPerspective(fovy, asp, near, far);
int id = root[i]["id"].asInt();
this->cameras[id] = cam;
}
// set main camera
if (this->cameras.size())
{
this->mainCamera = this->cameras.begin()->second;
}
else
{
this->mainCamera = new CGKOpenGLCamera();
}
}
int
auks_cred_repo_remove_nolock(auks_cred_repo_t * cr, uid_t uid)
{
int fstatus = AUKS_ERROR;
char str_error[STR_ERROR_SIZE];
str_error[0] = '\0';
char uid_str[UID_STR_LENGTH];
char filename[AUKS_CRED_FILE_MAX_LENGTH + 1];
/* if not in read-only mode, */
/* try to unlink corresponding auks cred cache */
if (cr->read_only) {
auks_log3("remove : read-only mode, skipping");
fstatus = AUKS_ERROR_CRED_REPO_READONLY ;
goto exit;
}
/* set reference value */
if ( snprintf(uid_str, UID_STR_LENGTH, "%u", uid) >= UID_STR_LENGTH ) {
auks_log2("add : unable to build uid='%u' str representation",
uid);
fstatus = AUKS_ERROR_LIBRARY_UID_TO_STR;
goto exit;
}
/* try to remove cred from library */
fstatus = xlibrary_remove_item(&(cr->library), uid_str);
if (fstatus) {
auks_log2("remove : unable to remove '%u' cred "
"from the library",uid);
fstatus = AUKS_ERROR_LIBRARY_UID_NOT_FOUND;
} else {
auks_log3("remove : '%u' cred successfully removed "
"from the library",uid);
fstatus = AUKS_SUCCESS;
}
if (fstatus != AUKS_SUCCESS)
goto exit;
/* build auks cred cache file name */
fstatus = auks_cred_repo_auks_credfile(cr,uid,filename,
AUKS_CRED_FILE_MAX_LENGTH);
if ( fstatus !=AUKS_SUCCESS )
goto exit;
auks_log3("remove : '%d' auks cred cache is '%s'",uid, filename);
/* unlink auks cred cache */
fstatus = unlink(filename);
if (fstatus) {
DUMP_ERROR(errno,str_error,STR_ERROR_SIZE);
auks_log2("remove : unable to unlink '%d' auks cred "
"cache '%s' : %s",uid, filename, str_error);
fstatus = AUKS_ERROR_CRED_REPO_UNLINK ;
} else {
auks_log3("remove : '%d' auks cred cache '%s' successfully "
"removed from cache directory",uid, filename);
fstatus = AUKS_SUCCESS ;
}
exit:
return fstatus;
}
