void threaded_resolve(char *list[]) {
int i = 0, j, k;
char dom[MAXSTRSIZE] = "", *foo = "", buf[1024];
void *addr, *addr4;
struct addrinfo hints, *res, *p;
int status, found2;
char ipv6str[INET6_ADDRSTRLEN], ipv4str[16];
struct sockaddr_in6 *ipv6, *q;
struct sockaddr_in *ipv4, *q4;
memset(&hints, 0, sizeof hints);
hints.ai_family = dof; // AF_INET or AF_INET6 to force version
if (type == NULL)
type = foo;
i = 0;
while (list[i] != NULL && list[i][0] != 0) {
snprintf(dom, sizeof(dom), "%s.%s", list[i], domain);
#if DEBUG
printf("brute-forced domain: %s\n", dom);
#endif
// ipv6 code modded from www.kame.net
if ((status = getaddrinfo(dom, NULL, &hints, &res)) == 0) {
q = NULL;
q4 = NULL;
found2 = 0;
for (p = res; p != NULL; p = p->ai_next) {
if (do6 && p->ai_family == AF_INET6) { // IPv6
ipv6 = (struct sockaddr_in6 *) p->ai_addr;
addr = &(ipv6->sin6_addr);
// convert the IP to a string and print it:
if (q == NULL || memcmp(&ipv6->sin6_addr, &q->sin6_addr, 16) != 0) {
q = ipv6;
k = 1;
if (wcard)
for (j = 0; j < wcard; j++)
if (memcmp(addr, wildcardIpStr[j], 16) == 0)
k = 0;
if (k) {
if (found2 == 0) {
++found;
found2 = 1;
}
inet_ntop(p->ai_family, addr, ipv6str, sizeof ipv6str);
sprintf(buf, "%s => %s\n", dom, ipv6str);
printf("%s", buf);
++ipCount;
if (ucount < MAX_UNIQUE) {
if (ucount)
for (j = 0; j < ucount; j++)
if (memcmp(addr, unique[j], 16) == 0)
k = 0;
if (k) {
memcpy(unique[ucount], addr, 16);
ucount++;
}
}
}
}
} else if (do4 && p->ai_family == AF_INET) {
ipv4 = (struct sockaddr_in *) p->ai_addr;
addr4 = &(ipv4->sin_addr);
if (q4 == NULL || memcmp(&ipv4->sin_addr, &q4->sin_addr, 4) != 0) {
q4 = ipv4;
k = 1;
if (wcard4)
for (j = 0; j < wcard4; j++)
if (memcmp(wildcardIpStr4[j], addr4, 4) == 0)
k = 0;
if (k) {
if (found2 == 0) {
++found;
found2 = 1;
}
inet_ntop(p->ai_family, addr4, ipv4str, sizeof ipv4str);
sprintf(buf, "%s => %s\n", dom, ipv4str);
printf("%s", buf);
++ipCount4;
if (ucount4 < MAX_UNIQUE) {
if (ucount4)
for (j = 0; j < ucount4; j++)
if (memcmp(addr4, unique4[j], 4) == 0)
k = 0;
if (k) {
memcpy(unique4[ucount4], addr4, 4);
ucount4++;
}
}
}
}
}
}
freeaddrinfo(res); // free the linked list
} // end of if conditional
// user wants delay between DNS requests?
if (do_a_delay)
dodelay(milliseconds);
i++;
}
return;
}
void threaded_resolve_srv(char *list[]) {
char dom[MAXSTRSIZE] = "", buf[1024];
int len, cnt, i, j, k, found = 0, found1, found4 = 0, found2;
unsigned short int *port, *prio, *weight;
unsigned char vbuf[1500], *vptr;
char dbuf[256];
struct addrinfo hints, *res, *p;
struct sockaddr_in6 *ipv6, *q;
char ipv6str[INET6_ADDRSTRLEN], ipv4str[16];
struct sockaddr_in *ipv4, *q4;
void *addr, *addr4;
if (type == NULL)
return;
memset((char *) &hints, 0, sizeof(hints));
hints.ai_family = dof;
i = 0;
while (list != NULL && list[i] != NULL && list[i][0] != 0) {
snprintf(dom, sizeof(dom), "%s.%s.%s", list[i], type, domain);
memset(vbuf, 0, 4);
#if DEBUG
printf("brute-forced domain: %s\n", dom);
#endif
if ((len = res_query(dom, ns_c_in, ns_t_srv, vbuf, sizeof(vbuf))) > 0 && (vbuf[3] & 15) == 0 && (cnt = vbuf[7]) > 0) {
vptr = vbuf + strlen(dom) + 17;
ucountsrv++;
for (j = 0; j < cnt && len - (vptr - vbuf) >= 20; j++) {
vptr += 10;
k = vptr[1] + vptr[0] * 256;
vptr += 2;
prio = (unsigned short int *) (vptr);
weight = (unsigned short int *) (vptr + 2);
port = (unsigned short int *) (vptr + 4);
dbuf[0] = 0;
dn_expand(vbuf, vbuf + len, vptr + 6, dbuf, sizeof(dbuf));
if (getaddrinfo(dbuf, NULL, &hints, &res) == 0) {
q = NULL;
q4 = NULL;
found1 = 0;
found2 = 0;
for (p = res; p != NULL; p = p->ai_next) {
if (do6 && p->ai_family == AF_INET6) { // IPv6
ipv6 = (struct sockaddr_in6 *) p->ai_addr;
addr = &(ipv6->sin6_addr);
if (q == NULL || memcmp(&ipv6->sin6_addr, &q->sin6_addr, 16) != 0) {
q = ipv6;
// convert the IP to a string and print it:
inet_ntop(p->ai_family, addr, ipv6str, sizeof ipv6str);
snprintf(buf, sizeof(buf), "%s => %s is %s port %d %s (prio %d weight %d)\n", dom, dbuf, ipv6str, htons(*port), strcmp(type, "_tcp") == 0 ? "TCP" : "UDP",
htons(*prio), htons(*weight));
printf("%s", buf);
if (found1 == 0) {
++found;
found1 = 1;
}
}
} else if (do4 && p->ai_family == AF_INET) { // IPv4
ipv4 = (struct sockaddr_in *) p->ai_addr;
addr4 = &(ipv4->sin_addr);
if (q4 == NULL || memcmp(&ipv4->sin_addr, &q4->sin_addr, 4) != 0) {
q4 = ipv4;
// convert the IP to a string and print it:
inet_ntop(p->ai_family, addr4, ipv4str, sizeof ipv4str);
snprintf(buf, sizeof(buf), "%s => %s is %s port %d %s (prio %d weight %d)\n", dom, dbuf, ipv4str, htons(*port), strcmp(type, "_tcp") == 0 ? "TCP" : "UDP",
htons(*prio), htons(*weight));
printf("%s", buf);
if (found2 == 0) {
++found4;
found2 = 1;
}
}
}
}
freeaddrinfo(res);
} else {
snprintf(buf, sizeof(buf), "%s => %s port %d %s (prio %d weight %d)\n", dom, dbuf, htons(*port), strcmp(type, "_tcp") == 0 ? "TCP" : "UDP", htons(*prio),
htons(*weight));
printf("%s", buf);
}
vptr += k;
ucountsrvs++;
}
}
//else printf("srv: %s %d len %d code %d valid\n", dom, len, (vbuf[3] & 15), vbuf[2]);
if ((vbuf[3] & 15) == 0 && vbuf[2] > 0) {
memset(vbuf, 0, 4);
if ((len = res_query(dom, ns_c_in, ns_t_any, vbuf, sizeof(vbuf))) > 0 && (vbuf[3] & 15) == 0 && (cnt = vbuf[7]) > 0) {
if ((vbuf[2] & 2) == 2)
fprintf(stderr, "Warning: truncated answer for entry \"%s\" type ANY\n", dom);
vptr = vbuf + strlen(dom) + 17;
ucountsrv++;
for (j = 0; j < cnt && len - (vptr - vbuf) >= 20; j++) {
k = vptr[11] + vptr[10] * 256;
if (vptr[2] == 0 && vptr[3] == 0x0c) {
dbuf[0] = 0;
dn_expand(vbuf, vbuf + len, vptr + 12, dbuf, sizeof(dbuf));
if (getaddrinfo(dbuf, NULL, &hints, &res) == 0) {
q = NULL;
q4 = NULL;
found1 = 0;
found2 = 0;
for (p = res; p != NULL; p = p->ai_next) {
if (do6 && p->ai_family == AF_INET6) { // IPv6
ipv6 = (struct sockaddr_in6 *) p->ai_addr;
addr = &(ipv6->sin6_addr);
if (q == NULL || memcmp(&ipv6->sin6_addr, &q->sin6_addr, 16) != 0) {
q = ipv6;
// convert the IP to a string and print it:
inet_ntop(p->ai_family, addr, ipv6str, sizeof ipv6str);
snprintf(buf, sizeof(buf), "%s => %s is %s\n", dom, dbuf, ipv6str);
printf("%s", buf);
if (found1 == 0) {
++found;
found1 = 1;
}
}
} else if (do4 && p->ai_family == AF_INET) { // IPv4
ipv4 = (struct sockaddr_in *) p->ai_addr;
addr4 = &(ipv4->sin_addr);
if (q4 == NULL || memcmp(&ipv4->sin_addr, &q4->sin_addr, 4) != 0) {
q4 = ipv4;
// convert the IP to a string and print it:
inet_ntop(p->ai_family, addr4, ipv4str, sizeof(ipv4str));
snprintf(buf, sizeof(buf), "%s => %s is %s\n", dom, dbuf, ipv4str);
printf("%s", buf);
if (found2 == 0) {
++found4;
found2 = 1;
}
}
}
}
freeaddrinfo(res);
} else {
snprintf(buf, sizeof(buf), "%s => %s\n", dom, dbuf);
printf("%s", buf);
}
}
vptr += k + 12;
ucountsrvs++;
}
}
//else printf("ptr: %s %d len %d code %d valid\n", dom, len, (vbuf[3] & 15), vbuf[2]);
}
// user wants delay between DNS requests?
if (do_a_delay)
dodelay(milliseconds);
i++;
}
return;
}
/**
\brief Make sure the periodic communication with 2FOC board is on
\details
\pre
\return
0: everything ok.
....: failed to initialize periodic communication */
int setup_2FOC_periodic()
{
int nbytes;
int n;
// \todo use the global variable for status/error
FOC_data_t *focrxdata = NULL;
// zero contents of databuffers
for(n = 0; n < num_chan ; n++) {
*(FOC_data_array[n].setpoint) = 0;
*(FOC_data_array[n].feedback) = 0;
*(FOC_data_array[n].focstatus) = 0;
*(FOC_data_array[n].focerror) = 0;
FOC_data_array[n].dbg = 0;
}
// for each FOC axis send 'shutdown', 'switch on' and 'enable operation' commands
for (n = 0; n < num_chan; n++) {
// 0 bytes payload
txframe[n].can_dlc = 0;
// send 'shutdown' command
// all FOCs have adx 3
txframe[n].can_id = 0x83FFFF11;
nbytes = write (sock[n], &txframe[n], sizeof (struct can_frame));
if (sizeof (struct can_frame) != nbytes){
rtapi_print_msg(RTAPI_MSG_ERR,"HAL_ZED_CAN: Unable to send 'shut down' command to axis %d",n);
hal_exit(comp_id);
exit(-1);
}
dodelay(20000);
// send 'switch on' command
// txframe[n].can_id = 0x80FFFF0E | ((n+1) << 24);
// all FOC has adx 3
txframe[n].can_id = 0x83FFFF0E;
nbytes = write (sock[n], &txframe[n], sizeof (struct can_frame));
if (sizeof (struct can_frame) != nbytes){
rtapi_print_msg(RTAPI_MSG_ERR,"HAL_ZED_CAN: Unable to send 'switch on' command to axis %d",n);
hal_exit(comp_id);
exit(-1);
}
dodelay(20000);
// send 'enable operation' command
// txframe[n].can_id = 0x80FFFF0F | ((n+1) << 24);
txframe[n].can_id = 0x83FFFF0F;
nbytes = write (sock[n], &txframe[n], sizeof (struct can_frame));
if (sizeof (struct can_frame) != nbytes){
rtapi_print_msg(RTAPI_MSG_ERR,"HAL_ZED_CAN: Unable to send 'enable operation' command to axis %d",n);
hal_exit(comp_id);
exit(-1);
}
dodelay(20000);
}
rtapi_print_msg(RTAPI_MSG_INFO, "HAL_ZED_CAN: ShutDown,SwitchOn, EnableOperation sent to all channels.");
// \todo Check anything possible before waiting for alignment
// - errors of any kind
// - board switched on and operationenabled
// - correct configuration (speed loop)
// point to first axis data
focrxdata = FOC_data_array;
// wait for completion of the rotor alignment (flag in status message)
for (n = 0; n < num_chan; n++) {
int nbytes=0;
do {
// read CAN packet
nbytes = read (sock[n], &rxframe[n], sizeof (struct can_frame));
if (nbytes >= 0) {
// parse packet type
if ( 0 != ParseMessage(&(rxframe[n]), n, focrxdata) ){
//exit(-1);
}
}
}
// rotor alignment completed
while ( 0 == (*(focrxdata->focstatus) & 0x00020000 ) );
// \todo Check anything possible before living control to machinekit:
// - errors of any kind
// - correct configuration (speed loop)
// - 2FOC firmware version
// - board switched on and operationenabled
rtapi_print_msg(RTAPI_MSG_INFO, "HAL_ZED_CAN: axis %d aligment completed.",n);
// enable periodic rx & tx
FOCAxisIsOperationEnable[n] = true;
// move to next axis
focrxdata++;
}
// everityng is ok!
return 0;
}
