void
mtx_common_init(std::string const &program_name) {
init_common_output(true);
s_program_name = program_name;
#if defined(SYS_WINDOWS)
fix_windows_errormode();
#endif
matroska_init();
atexit(mtx_common_cleanup);
srand(time(nullptr));
init_debugging();
init_hacks();
init_locales();
mm_file_io_c::setup();
g_cc_local_utf8 = charset_converter_c::init("");
init_common_output(false);
stereo_mode_c::init();
}
static status_t
packagefs_std_ops(int32 op, ...)
{
switch (op) {
case B_MODULE_INIT:
{
init_debugging();
PRINT("package_std_ops(): B_MODULE_INIT\n");
status_t error = StringPool::Init();
if (error != B_OK) {
ERROR("Failed to init StringPool\n");
exit_debugging();
return error;
}
if (!StringConstants::Init()) {
ERROR("Failed to init string constants\n");
StringPool::Cleanup();
exit_debugging();
return error;
}
error = GlobalFactory::CreateDefault();
if (error != B_OK) {
ERROR("Failed to init GlobalFactory\n");
StringConstants::Cleanup();
StringPool::Cleanup();
exit_debugging();
return error;
}
error = PackageFSRoot::GlobalInit();
if (error != B_OK) {
ERROR("Failed to init PackageFSRoot\n");
GlobalFactory::DeleteDefault();
StringConstants::Cleanup();
StringPool::Cleanup();
exit_debugging();
return error;
}
return B_OK;
}
case B_MODULE_UNINIT:
{
PRINT("package_std_ops(): B_MODULE_UNINIT\n");
PackageFSRoot::GlobalUninit();
GlobalFactory::DeleteDefault();
StringConstants::Cleanup();
StringPool::Cleanup();
exit_debugging();
return B_OK;
}
default:
return B_ERROR;
}
}
static status_t
checksumfs_std_ops(int32 operation, ...)
{
switch (operation) {
case B_MODULE_INIT:
init_debugging();
PRINT("checksumfs_std_ops(): B_MODULE_INIT\n");
return B_OK;
case B_MODULE_UNINIT:
PRINT("checksumfs_std_ops(): B_MODULE_UNINIT\n");
exit_debugging();
return B_OK;
default:
return B_BAD_VALUE;
}
}
static void init(void)
{
int i;
char *s;
char *error;
struct rlimit rlim;
getrlimit(RLIMIT_NOFILE, &rlim);
max_fds=(int) rlim.rlim_max;
fds=(struct fadv_info *) malloc(max_fds * sizeof(struct fadv_info));
assert(fds != NULL);
_original_open = (int (*)(const char *, int, mode_t)) dlsym(RTLD_NEXT, "open");
_original_open64 = (int (*)(const char *, int, mode_t)) dlsym(RTLD_NEXT, "open64");
_original_creat = (int (*)(const char *, int, mode_t)) dlsym(RTLD_NEXT, "creat");
_original_creat64 = (int (*)(const char *, int, mode_t)) dlsym(RTLD_NEXT, "creat64");
_original_openat = (int (*)(int, const char *, int, mode_t)) dlsym(RTLD_NEXT, "openat");
_original_openat64 = (int (*)(int, const char *, int, mode_t)) dlsym(RTLD_NEXT, "openat64");
_original_dup = (int (*)(int)) dlsym(RTLD_NEXT, "dup");
_original_dup2 = (int (*)(int, int)) dlsym(RTLD_NEXT, "dup2");
_original_close = (int (*)(int)) dlsym(RTLD_NEXT, "close");
_original_fopen = (FILE *(*)(const char *, const char *)) dlsym(RTLD_NEXT, "fopen");
_original_fopen64 = (FILE *(*)(const char *, const char *)) dlsym(RTLD_NEXT, "fopen64");
_original_fclose = (int (*)(FILE *)) dlsym(RTLD_NEXT, "fclose");
if ((error = dlerror()) != NULL) {
fprintf(stderr, "%s\n", error);
exit(EXIT_FAILURE);
}
if((s = getenv(env_nr_fadvise)) != NULL)
nr_fadvise = atoi(s);
if(nr_fadvise <= 0)
nr_fadvise = 1;
PAGESIZE = getpagesize();
for(i = 0; i < max_fds; i++)
fds[i].fd = -1;
init_mutex();
init_debugging();
handle_stdout();
}
// netfs_mount
static
int
netfs_mount(nspace_id nsid, const char *device, ulong flags,
void *parameters, size_t len, void **data, vnode_id *rootID)
{
status_t error = B_OK;
init_debugging();
#ifdef DEBUG_OBJECT_TRACKING
ObjectTracker::InitDefault();
#endif
// create and init the volume manager
VolumeManager* volumeManager = new(std::nothrow) VolumeManager(nsid, flags);
Volume* rootVolume = NULL;
if (volumeManager) {
error = volumeManager->MountRootVolume(device,
(const char*)parameters, len, &rootVolume);
if (error != B_OK) {
delete volumeManager;
volumeManager = NULL;
}
} else
error = B_NO_MEMORY;
VolumePutter _(rootVolume);
// set results
if (error == B_OK) {
*data = volumeManager;
*rootID = rootVolume->GetRootID();
} else {
#ifdef DEBUG_OBJECT_TRACKING
ObjectTracker::ExitDefault();
#endif
exit_debugging();
}
return error;
}
int setup()
{
init_debugging();
int result, numSensors, i;
const char *err;
//handles *Handles;
//Declare an InterfaceKit handle
// Setup the IFKit
CPhidgetInterfaceKit_create(&ifKit);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, IKInputChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, IKSensorChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, IKOutputChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)ifKit, -1);
//get the program to wait for an interface kit device to be attached
SetupLog("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached interface kit device
IKDisplayProperties(ifKit);
// Setup motoControl
CPhidgetMotorControl_create(&motoControl);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)motoControl, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)motoControl, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)motoControl, ErrorHandler, NULL);
CPhidgetMotorControl_set_OnInputChange_Handler (motoControl, MCInputChangeHandler, NULL);
CPhidgetMotorControl_set_OnVelocityChange_Handler (motoControl, MCVelocityChangeHandler, NULL);
CPhidgetMotorControl_set_OnCurrentChange_Handler (motoControl, MCCurrentChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)motoControl, -1);
SetupLog("Waiting for MotorControl to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)motoControl, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
MCDisplayProperties(motoControl);
CPhidgetMotorControl_setAcceleration (motoControl, 0, 50.00);
CPhidgetMotorControl_setAcceleration (motoControl, 1, 50.00);
// Setup AdvancedServo
CPhidgetAdvancedServo_create(&servo);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)servo, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)servo, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)servo, ErrorHandler, NULL);
CPhidgetAdvancedServo_set_OnPositionChange_Handler(servo, ASPositionChangeHandler, NULL);
CPhidget_open((CPhidgetHandle)servo, -1);
SetupLog("Waiting for Phidget to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)servo, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached device
ASDisplayProperties(servo);
CPhidgetAdvancedServo_setEngaged(servo, 0, 1);
state.ServoPosition = 0;
sensor.RightWhisker = 0;
sensor.LeftWhisker = 0;
sensor.FrontFacingIR = 0;
sensor.TopIR = 0;
state.AverageBaseLight = (float)10000;
sensor.TopLeftLight = 0;
sensor.TopRightLight = 0;
state.flashWasOn = 0;
state.wasOnBlackInLastIteration = 0;
sensor.SpinSensor = 10.0;
state.expectedMovement = None;
state.expectedFor = 0;
state.exitTrialCounter = 0;
state.stuckCounter = 0;
state.previousState = 2;
gettimeofday(&state.lastFlashSighted, NULL);
//#ifdef FREQUENCY
//state.frequency = FREQUENCY;
//#endif
#ifndef NO_POWERLIB
power_button_reset();
while(power_button_get_value()==0)
{
sleep(1);
}
#endif
return 0;
}
// main
int
main(int argc, char** argv)
{
kArgC = argc;
kArgV = argv;
// init debugging
init_debugging();
struct DebuggingExiter {
DebuggingExiter() {}
~DebuggingExiter() { exit_debugging(); }
} _;
// parse arguments
int argi = 1;
for (; argi < argc; argi++) {
const char* arg = argv[argi];
int32 argLen = strlen(arg);
if (argLen == 0) {
print_usage();
return 1;
}
if (arg[0] != '-')
break;
if (strcmp(arg, "-h") == 0 || strcmp(arg, "--help") == 0) {
print_usage(false);
return 0;
} else if (strcmp(arg, "--debug") == 0) {
gServerSettings.SetEnterDebugger(true);
}
}
// get file system, if any
bool dispatcher = true;
const char* fileSystem = NULL;
if (argi < argc) {
fileSystem = argv[argi++];
dispatcher = false;
}
// get the port, if any
int32 port = -1;
if (argi < argc) {
port = atol(argv[argi++]);
if (port <= 0) {
print_usage();
return 1;
}
}
if (argi < argc) {
print_usage();
return 1;
}
// create and init the application
status_t error = B_OK;
UserlandFSServer* server
= new(std::nothrow) UserlandFSServer(kServerSignature);
if (!server) {
fprintf(stderr, "Failed to create server.\n");
return 1;
}
error = server->Init(fileSystem, port);
// run it, if everything went fine
if (error == B_OK)
server->Run();
delete server;
return 0;
}
