int main()
{
//initialize pids
init_pids();
//initialize pwm
pwm1.period_ms(100);
pwm2.period_ms(100);
pwm3.period_ms(100);
pwm4.period_ms(100);
pwm1.write(0.00f);
pwm2.write(0.00f);
pwm3.write(0.00f);
pwm4.write(0.00f);
bool connection=0;
setup();//Prepare Mpu6050 For Communication
if(MPU6050.testConnection())
{
pc.printf("MPU6050 connected...\r\n");
connection=1;
// myledR=1;
myledG=0;//connection led
}
else
{
pc.printf("MPU6050 not connected...\r\n");
connection=0;
//myledR=1;
myledG=0;
}
while (connection)
{
if(MPU6050.testConnection())
{
getRawValues();
//transCeiver();
// ...add orientation data to the transmit buffer
txData[0] =rx;
txData[1] =ry;
txData[2] =rz;
txData[3] =heightF;
// If the transmit buffer is full
//pc.printf("Function executed \r\n");
my_nrf24l01p.disable();
my_nrf24l01p.setTransmitMode();
my_nrf24l01p.enable();
// Send the transmitbuffer via the nRF24L01+
//wait(0.2f);
txDatacnt=my_nrf24l01p.write(NRF24L01P_PIPE_P0, txData, sizeof(txData));
my_nrf24l01p.disable();
my_nrf24l01p.setReceiveMode();
my_nrf24l01p.enable();
if (my_nrf24l01p.readable())
{
// ...read the data into the receive buffer
rxDataCnt = my_nrf24l01p.read(NRF24L01P_PIPE_P0, rxData, sizeof(rxData));
recvd=rxData[0];
// Display the receive buffer contents via the host serial link
switch(recvd)
{
case 'F':
myledR=1;
setpP-=1;
setpR=0;
// pc.printf("moving forward... \r\n");
rxData[0]='0';
break;
case 'B':
myledR=1;
setpP+=1;
setpR=0;
//pc.printf("moving Backward...\r\n");
rxData[0]='0';
break;
case 'S':
myledR=1;
setpP=0;
setpR=0;
//pc.printf("stoping... \r\n");
rxData[0]='0';
break;
case 'R':
setpP=0;
setpR-=1;
//pc.printf("Rolling...right \r\n");
rxData[0]='0';
break;
case 'L':
myledR=1;
setpP=0;
setpR+=1;
//pc.printf("Rolling...left \r\n");
rxData[0]='0';
break;
//default :
//pc.printf("Waiting... \r");
//pc.printf("Waiting... %c\r",recvd);
//break;
}
// pc.printf("recvd %c\r\n",recvd);
}
//calculate orientation and determine motor power
ACCEL_YANGLE=ry;ACCEL_XANGLE=rx;
rollF=pid_out(&roll,ACCEL_YANGLE,setpR);
pitchF=pid_out(&pitch,ACCEL_XANGLE,setpP);
pwmsignals((float)heightF,(float)rollF,(float)yawF,(float)pitchF);//call function for esc
// pc.printf("Motor1:%.2f\tMotor2:%.2f\tMotor3:%.2f\tMotor4:%.2f\r",motor1power,motor2power,motor3power,motor4power);
//writing current orientation
pc.printf("\rPitch %.4f\tRoll %.2f\tZ_angle %.4f\t\r",rx,ry,rz);
}
else
{
pc.printf("No connection..\r\n");
}
}
}
bool Mineserver::init()
{
// expand '~', '~user' in next vars
bool error = false;
const char* const vars[] =
{
"system.path.data",
"system.path.plugins",
"system.path.home",
"system.pid_file",
};
for (size_t i = 0; i < sizeof(vars) / sizeof(vars[0]); i++)
{
ConfigNode::Ptr node = config()->mData(vars[i]);
if (!node)
{
LOG2(ERROR, std::string("Variable is missing: ") + vars[i]);
error = true;
continue;
}
if (node->type() != CONFIG_NODE_STRING)
{
LOG2(ERROR, std::string("Variable is not string: ") + vars[i]);
error = true;
continue;
}
const std::string newvalue = relativeToAbsolute(node->sData());
node->setData(newvalue);
LOG2(INFO, std::string(vars[i]) + " = \"" + newvalue + "\"");
}
if (error)
{
return false;
}
const std::string str = config()->sData("system.path.home");
#ifdef WIN32
if (_chdir(str.c_str()) != 0)
#else
if (chdir(str.c_str()) != 0)
#endif
{
LOG2(ERROR, "Failed to change working directory to: " + str);
return false;
}
// Write PID to file
std::ofstream pid_out((config()->sData("system.pid_file")).c_str());
if (!pid_out.fail())
{
#ifdef WIN32
pid_out << _getpid();
#else
pid_out << getpid();
#endif
}
pid_out.close();
// screen::init() needs m_plugin
m_plugin = new Plugin;
init_plugin_api();
if (config()->bData("system.interface.use_cli"))
{
// Init our Screen
screen()->init(VERSION);
}
LOG2(INFO, "Welcome to Mineserver v" + VERSION);
MapGen* mapgen = new MapGen;
MapGen* nethergen = new NetherGen;
MapGen* heavengen = new HeavenGen;
MapGen* biomegen = new BiomeGen;
MapGen* eximgen = new EximGen;
m_mapGenNames.push_back(mapgen);
m_mapGenNames.push_back(nethergen);
m_mapGenNames.push_back(heavengen);
m_mapGenNames.push_back(biomegen);
m_mapGenNames.push_back(eximgen);
m_saveInterval = m_config->iData("map.save_interval");
m_only_helmets = m_config->bData("system.armour.helmet_strict");
m_pvp_enabled = m_config->bData("system.pvp.enabled");
m_damage_enabled = m_config->bData("system.damage.enabled");
const char* key = "map.storage.nbt.directories"; // Prefix for worlds config
if (m_config->has(key) && (m_config->type(key) == CONFIG_NODE_LIST))
{
std::list<std::string> tmp = m_config->mData(key)->keys();
int n = 0;
for (std::list<std::string>::const_iterator it = tmp.begin(); it != tmp.end(); ++it)
{
m_map.push_back(new Map());
Physics* phy = new Physics;
phy->map = n;
m_physics.push_back(phy);
int k = m_config->iData((std::string(key) + ".") + (*it));
if ((uint32_t)k >= m_mapGenNames.size())
{
std::ostringstream s;
s << "Error! Mapgen number " << k << " in config. " << m_mapGenNames.size() << " Mapgens known";
LOG2(INFO, s.str());
}
// WARNING: if k is too big this will be an access error! -- louisdx
MapGen* m = m_mapGenNames[k];
m_mapGen.push_back(m);
n++;
}
}
else
{
LOG2(WARNING, "Cannot find map.storage.nbt.directories.*");
}
if (m_map.size() == 0)
{
LOG2(ERROR, "No worlds in Config!");
return false;
}
m_chat = new Chat;
m_furnaceManager = new FurnaceManager;
m_packetHandler = new PacketHandler;
m_inventory = new Inventory(m_config->sData("system.path.data") + '/' + "recipes", ".recipe", "ENABLED_RECIPES.cfg");
m_mobs = new Mobs;
return true;
}
int Mineserver::run(int argc, char *argv[])
{
uint32 starttime = (uint32)time(0);
uint32 tick = (uint32)time(0);
// Init our Screen
screen()->init(VERSION);
screen()->log("Welcome to Mineserver v" + VERSION);
updatePlayerList();
initConstants();
std::string file_config;
file_config.assign(CONFIG_FILE);
std::string file_commands;
file_commands.assign(COMMANDS_FILE);
if (argc > 1)
{
file_config.assign(argv[1]);
}
// Initialize conf
Mineserver::get()->conf()->load(file_config);
Mineserver::get()->conf()->load(file_commands, COMMANDS_NAME_PREFIX);
// Write PID to file
std::ofstream pid_out((Mineserver::get()->conf()->sValue("pid_file")).c_str());
if (!pid_out.fail())
{
#ifdef WIN32
pid_out << _getpid();
#else
pid_out << getpid();
#endif
}
pid_out.close();
// Load MOTD
Mineserver::get()->chat()->checkMotd(Mineserver::get()->conf()->sValue("motd_file"));
// Set physics enable state according to config
Mineserver::get()->physics()->enabled = (Mineserver::get()->conf()->bValue("liquid_physics"));
// Initialize map
Mineserver::get()->map()->init();
if (Mineserver::get()->conf()->bValue("map_generate_spawn"))
{
Mineserver::get()->screen()->log("Generating spawn area...");
int size = Mineserver::get()->conf()->iValue("map_generate_spawn_size");
bool show_progress = Mineserver::get()->conf()->bValue("map_generate_spawn_show_progress");
#ifdef WIN32
DWORD t_begin,t_end;
#else
clock_t t_begin,t_end;
#endif
for (int x=-size;x<=size;x++)
{
#ifdef WIN32
if(show_progress)
{
t_begin = timeGetTime();
}
#else
if(show_progress)
{
t_begin = clock();
}
#endif
for (int z = -size; z <= size; z++)
{
Mineserver::get()->map()->loadMap(x, z);
}
if(show_progress)
{
#ifdef WIN32
t_end = timeGetTime ();
Mineserver::get()->screen()->log(dtos((x+size+1)*(size*2+1)) + "/" + dtos((size*2+1)*(size*2+1)) + " done. " + dtos((t_end-t_begin)/(size*2+1)) + "ms per chunk");
#else
t_end = clock();
Mineserver::get()->screen()->log(dtos((x+size+1)*(size*2+1)) + "/" + dtos((size*2+1)*(size*2+1)) + " done. " + dtos(((t_end-t_begin)/(CLOCKS_PER_SEC/1000))/(size*2+1)) + "ms per chunk");
#endif
}
}
#ifdef _DEBUG
Mineserver::get()->screen()->log("Spawn area ready!");
#endif
}
// Initialize packethandler
Mineserver::get()->packetHandler()->init();
// Load ip from config
std::string ip = Mineserver::get()->conf()->sValue("ip");
// Load port from config
int port = Mineserver::get()->conf()->iValue("port");
// Initialize plugins
Mineserver::get()->plugin()->init();
#ifdef WIN32
WSADATA wsaData;
int iResult;
// Initialize Winsock
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if(iResult != 0)
{
printf("WSAStartup failed with error: %d\n", iResult);
Mineserver::get()->screen()->end();
return EXIT_FAILURE;
}
#endif
struct sockaddr_in addresslisten;
int reuse = 1;
m_eventBase = (event_base*)event_init();
#ifdef WIN32
m_socketlisten = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
#else
m_socketlisten = socket(AF_INET, SOCK_STREAM, 0);
#endif
if(m_socketlisten < 0)
{
Mineserver::get()->screen()->log(LOG_ERROR, "Failed to create listen socket");
Mineserver::get()->screen()->end();
return 1;
}
memset(&addresslisten, 0, sizeof(addresslisten));
addresslisten.sin_family = AF_INET;
addresslisten.sin_addr.s_addr = inet_addr(ip.c_str());
addresslisten.sin_port = htons(port);
setsockopt(m_socketlisten, SOL_SOCKET, SO_REUSEADDR, (char*)&reuse, sizeof(reuse));
//Bind to port
if(bind(m_socketlisten, (struct sockaddr*)&addresslisten, sizeof(addresslisten)) < 0)
{
Mineserver::get()->screen()->log(LOG_ERROR, "Failed to bind");
return 1;
}
if(listen(m_socketlisten, 5) < 0)
{
Mineserver::get()->screen()->log(LOG_ERROR, "Failed to listen to socket");
Mineserver::get()->screen()->end();
return 1;
}
setnonblock(m_socketlisten);
event_set(&m_listenEvent, m_socketlisten, EV_WRITE|EV_READ|EV_PERSIST, accept_callback, NULL);
event_add(&m_listenEvent, NULL);
if(ip == "0.0.0.0")
{
// Print all local IPs
char name[255];
gethostname ( name, sizeof(name));
struct hostent* hostinfo = gethostbyname(name);
Mineserver::get()->screen()->log("Listening on: ");
int ipIndex = 0;
while(hostinfo && hostinfo->h_addr_list[ipIndex])
{
std::string ip(inet_ntoa(*(struct in_addr*)hostinfo->h_addr_list[ipIndex++]));
Mineserver::get()->screen()->log(" " + ip + ":" + dtos(port));
}
}
else
{
std::string myip(ip);
Mineserver::get()->screen()->log("Listening on " + myip + ":" + dtos(port));
}
//std::cout << std::endl;
timeval loopTime;
loopTime.tv_sec = 0;
loopTime.tv_usec = 200000; //200ms
m_running = true;
event_base_loopexit(m_eventBase, &loopTime);
// Create our Server Console user so we can issue commands
User* serverUser = new User(-1, SERVER_CONSOLE_UID);
serverUser->changeNick("[Server]");
while(m_running && event_base_loop(m_eventBase, 0) == 0)
{
// Append current command and check if user entered return
if(Mineserver::get()->screen()->hasCommand())
{
// Now handle this command as normal
Mineserver::get()->chat()->handleMsg(serverUser, Mineserver::get()->screen()->getCommand().c_str());
}
if(time(0)-starttime > 10)
{
starttime = (uint32)time(0);
//If users, ping them
if(User::all().size() > 0)
{
//0x00 package
uint8 data = 0;
User::all()[0]->sendAll(&data, 1);
//Send server time
Packet pkt;
pkt << (sint8)PACKET_TIME_UPDATE << (sint64)Mineserver::get()->map()->mapTime;
User::all()[0]->sendAll((uint8*)pkt.getWrite(), pkt.getWriteLen());
}
// TODO: Run garbage collection for chunk storage dealie?
}
//Every second
if(time(0)-tick > 0)
{
tick = (uint32)time(0);
//Loop users
for(unsigned int i = 0; i < User::all().size(); i++)
{
User::all()[i]->pushMap();
User::all()[i]->popMap();
//Minecart hacks!!
/*
if(User::all()[i]->attachedTo)
{
Packet pkt;
pkt << PACKET_ENTITY_VELOCITY << (sint32)User::all()[i]->attachedTo << (sint16)10000 << (sint16)0 << (sint16)0;
//pkt << PACKET_ENTITY_RELATIVE_MOVE << (sint32)User::all()[i]->attachedTo << (sint8)100 << (sint8)0 << (sint8)0;
User::all()[i]->sendAll((uint8*)pkt.getWrite(), pkt.getWriteLen());
}
*/
}
map()->mapTime+=20;
if (map()->mapTime >= 24000)
{
map()->mapTime = 0;
}
map()->checkGenTrees();
// Check for Furnace activity
Mineserver::get()->furnaceManager()->update();
}
// Physics simulation every 200ms
Mineserver::get()->physics()->update();
// Underwater check / drowning
int i = 0;
int s = User::all().size();
for(i=0;i<s;i++)
{
User::all()[i]->isUnderwater();
}
// event_set(&m_listenEvent, m_socketlisten, EV_WRITE|EV_READ|EV_PERSIST, accept_callback, NULL);
// event_add(&m_listenEvent, NULL);
event_base_loopexit(m_eventBase, &loopTime);
}
#ifdef WIN32
closesocket(m_socketlisten);
#else
close(m_socketlisten);
#endif
// Remove the PID file
#ifdef WIN32
_unlink((Mineserver::get()->conf()->sValue("pid_file")).c_str());
#else
unlink((Mineserver::get()->conf()->sValue("pid_file")).c_str());
#endif
// End our NCurses session
screen()->end();
/* Free memory */
delete m_map;
delete m_chat;
delete m_plugin;
delete m_screen;
delete m_physics;
delete m_conf;
delete m_furnaceManager;
delete m_packetHandler;
delete m_mapGen;
delete m_logger;
return EXIT_SUCCESS;
}
Mineserver::Mineserver(int args, char **argarray)
: argv(argarray),
argc(args),
m_socketlisten (0),
m_saveInterval (0),
m_lastSave (std::time(NULL)),
m_pvp_enabled (false),
m_damage_enabled(false),
m_only_helmets (false),
m_running (false),
m_eventBase (NULL),
// core modules
m_config (new Config()),
m_screen (new CliScreen()),
m_logger (new Logger()),
m_plugin (NULL),
m_chat (NULL),
m_furnaceManager(NULL),
m_packetHandler (NULL),
m_inventory (NULL),
m_mobs (NULL)
{
pthread_mutex_init(&m_validation_mutex,NULL);
ServerInstance = this;
InitSignals();
std::srand((uint32_t)std::time(NULL));
initPRNG();
std::string cfg;
std::vector<std::string> overrides;
for (int i = 1; i < argc; i++)
{
const std::string arg(argv[i]);
switch (arg[0])
{
case '-': // option
// we have only '-h' and '--help' now, so just return with help
printHelp(0);
throw CoreException();
case '+': // override
overrides.push_back(arg.substr(1));
break;
default: // otherwise, it is config file
if (!cfg.empty())
throw CoreException("Only single CONFIG_FILE argument is allowed!");
cfg = arg;
break;
}
}
const std::string path_exe = "./";
// If config file is provided as an argument
if (!cfg.empty())
{
std::cout << "Searching for configuration file..." << std::endl;
if (fileExists(cfg))
{
const std::pair<std::string, std::string> fullpath = pathOfFile(cfg);
cfg = fullpath.first + PATH_SEPARATOR + fullpath.second;
this->config()->config_path = fullpath.first;
}
else
{
std::cout << "Config not found...\n";;
cfg.clear();
}
}
if (cfg.empty())
{
if (fileExists(path_exe + PATH_SEPARATOR + CONFIG_FILE))
{
cfg = path_exe + PATH_SEPARATOR + CONFIG_FILE;
this->config()->config_path = path_exe;
}
else
{
std::cout << "Config not found\n";
}
}
// load config
Config &configvar = *this->config();
if (!configvar.load(cfg))
{
throw CoreException("Could not load config!");
}
m_plugin = new Plugin();
LOG2(INFO, "Using config: " + cfg);
if (overrides.size())
{
std::stringstream override_config;
for (size_t i = 0; i < overrides.size(); i++)
{
LOG2(INFO, "Overriden: " + overrides[i]);
override_config << overrides[i] << ';' << std::endl;
}
// override config
if (!configvar.load(override_config))
throw CoreException("Error when parsing overrides: maybe you forgot to doublequote string values?");
}
memset(&m_listenEvent, 0, sizeof(event));
initConstants();
// Write PID to file
std::ofstream pid_out((config()->sData("system.pid_file")).c_str());
if (!pid_out.fail())
{
pid_out << getpid();
}
pid_out.close();
init_plugin_api();
if (config()->bData("system.interface.use_cli"))
{
// Init our Screen
screen()->init(VERSION);
}
LOG2(INFO, "Welcome to Mineserver v" + VERSION);
LOG2(INFO, "Using zlib "+std::string(ZLIB_VERSION)+" libevent "+std::string(event_get_version()));
LOG2(INFO, "Generating RSA key pair for protocol encryption");
//Protocol encryption
srand(microTime());
if((rsa = RSA_generate_key(1024, 17, 0, 0)) == NULL)
{
LOG2(INFO, "KEY GENERATION FAILED!");
exit(1);
}
LOG2(INFO, "RSA key pair generated.");
/* Get ASN.1 format public key */
x=X509_new();
pk=EVP_PKEY_new();
EVP_PKEY_assign_RSA(pk,rsa);
X509_set_version(x,0);
X509_set_pubkey(x,pk);
int len;
unsigned char *buf;
buf = NULL;
len = i2d_X509(x, &buf);
//Glue + jesus tape, dont ask - Fador
publicKey = std::string((char *)(buf+28),len-36);
OPENSSL_free(buf);
/* END key fetching */
const std::string temp_nums="abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890=-";
const std::string temp_hex="0123456789abcdef";
for(int i = 0; i < 4; i++)
{
encryptionBytes += (char)(temp_nums[rand()%temp_nums.size()]);
}
for(int i = 0; i < 16; i++)
{
serverID += (char)(temp_hex[rand()%temp_hex.size()]);
}
LOG2(INFO, "ServerID: " + serverID);
if(!m_config->bData("system.user_validation"))
{
serverID = "-";
}
MapGen* mapgen = new MapGen();
MapGen* nethergen = new NetherGen();
MapGen* heavengen = new HeavenGen();
MapGen* biomegen = new BiomeGen();
MapGen* eximgen = new EximGen();
m_mapGenNames.push_back(mapgen);
m_mapGenNames.push_back(nethergen);
m_mapGenNames.push_back(heavengen);
m_mapGenNames.push_back(biomegen);
m_mapGenNames.push_back(eximgen);
m_saveInterval = m_config->iData("map.save_interval");
m_only_helmets = m_config->bData("system.armour.helmet_strict");
m_pvp_enabled = m_config->bData("system.pvp.enabled");
m_damage_enabled = m_config->bData("system.damage.enabled");
const char* key = "map.storage.nbt.directories"; // Prefix for worlds config
if (m_config->has(key) && (m_config->type(key) == CONFIG_NODE_LIST))
{
std::list<std::string> tmp = m_config->mData(key)->keys();
int n = 0;
for (std::list<std::string>::const_iterator it = tmp.begin(); it != tmp.end(); ++it)
{
m_map.push_back(new Map());
Physics* phy = new Physics;
phy->map = n;
m_physics.push_back(phy);
RedstoneSimulation* red = new RedstoneSimulation;
red->map = n;
m_redstone.push_back(red);
int k = m_config->iData((std::string(key) + ".") + (*it));
if ((uint32_t)k >= m_mapGenNames.size())
{
std::ostringstream s;
s << "Error! Mapgen number " << k << " in config. " << m_mapGenNames.size() << " Mapgens known";
LOG2(INFO, s.str());
}
// WARNING: if k is too big this will be an access error! -- louisdx
MapGen* m = m_mapGenNames[k];
m_mapGen.push_back(m);
n++;
}
}
else
{
LOG2(WARNING, "Cannot find map.storage.nbt.directories.*");
}
if (m_map.size() == 0)
throw CoreException("No worlds in Config");
m_chat = new Chat;
m_furnaceManager = new FurnaceManager;
m_packetHandler = new PacketHandler;
m_inventory = new Inventory(m_config->sData("system.path.data") + '/' + "recipes", ".recipe", "ENABLED_RECIPES.cfg");
m_mobs = new Mobs;
} // End Mineserver constructor
