Type Parser::parse_y_symbol(char& c, std::string& str)
{
Type token = lexer->get_token(c, str);
if(token == HASH)
{
token = lexer->get_token(c, str);
if(token == MINUS)
{
token = lexer->get_token(c, str);
}
if(token != DEC && token != HEX)
print_fatal("Syntax error: expected hex or dec but got %s\n", str.c_str());
}
else if(token == REGISTER)
{
token = lexer->get_token(c, str);
if(token == RIGHT_SQ_BRACKET)
return token;
if(token == COMMA)
{
check_next_token(INSTRUCTION, c, str);
check_next_token(WHITESPACE, c, str);
check_next_token(HASH, c, str);
check_next_token(DEC, c, str);
}
else
print_fatal("Syntax error: expected ']' or ',' but got %s\n", str.c_str());
}
else
print_fatal("Syntax error: expected hash or register but got %s\n", str.c_str());
return lexer->get_token(c, str);
}
UrRealtimeCommunication::UrRealtimeCommunication(
std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max) {
robot_state_ = new RobotStateRT(msg_cond);
bzero((char *) &serv_addr_, sizeof(serv_addr_));
sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd_ < 0) {
print_fatal("ERROR opening socket");
}
server_ = gethostbyname(host.c_str());
if (server_ == NULL) {
print_fatal("ERROR, no such host");
}
serv_addr_.sin_family = AF_INET;
bcopy((char *) server_->h_addr, (char *)&serv_addr_.sin_addr.s_addr, server_->h_length);
serv_addr_.sin_port = htons(30003);
flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
fcntl(sockfd_, F_SETFL, O_NONBLOCK);
connected_ = false;
keepalive_ = false;
safety_count_ = safety_count_max + 1;
safety_count_max_ = safety_count_max;
}
UrRealtimeCommunication::UrRealtimeCommunication(
std::condition_variable& msg_cond, const std::string& host,
const unsigned int port /*=30003*/,
unsigned int safety_count_max/*=12*/) {
robot_state_ = new RobotStateRT(msg_cond);
memset((char *) &serv_addr_, 0, sizeof(serv_addr_));
sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd_ < 0) {
print_fatal("ERROR opening socket");
}
server_ = gethostbyname(host.c_str());
if (server_ == NULL) {
print_fatal("ERROR, no such host");
}
serv_addr_.sin_family = AF_INET;
memcpy((char *)&serv_addr_.sin_addr.s_addr, (char *)server_->h_addr, server_->h_length);
serv_addr_.sin_port = htons(port);
flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
SetNonBlocking(sockfd_, true);
connected_ = false;
keepalive_ = false;
safety_count_ = safety_count_max + 1;
safety_count_max_ = safety_count_max;
}
void Lexer::initialize_set(char* filename, std::set <uint64_t>* s)
{
FILE* file = fopen(filename, "r+");
if(!file)
{
print_fatal("Couldn't open set file!\n");
}
print_log("Set file opened\n");
char* line = NULL;
size_t line_len = 0;
while(getline(&line, &line_len, file) != -1)
{
line_len = strlen(line);
if(line[line_len-1] == '\n')
line[--line_len] = '\0';
unsigned it = 0;
uint64_t hash = 0;
while(it < line_len)
{
hash <<= 8;
hash += line[it++];
}
if(s->find(hash) != s->end())
{
print_fatal("TWO STRINGS WITH SAME HASH!\n");
}
s->insert(hash);
line = NULL;
line_len = 0;
}
print_log("Filled set\n");
fclose(file);
}
bool UrRealtimeCommunication::start() {
fd_set writefds;
struct timeval timeout;
keepalive_ = true;
print_debug("Realtime port: Connecting...");
connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_));
FD_ZERO(&writefds);
FD_SET(sockfd_, &writefds);
timeout.tv_sec = 10;
timeout.tv_usec = 0;
select(sockfd_ + 1, NULL, &writefds, NULL, &timeout);
int flag_len;
getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, (char*) &flag_, &flag_len);
if (flag_ < 0) {
print_fatal("Error connecting to RT port 30003");
return false;
}
sockaddr_in name;
socklen_t namelen = sizeof(name);
int err = getsockname(sockfd_, (sockaddr*) &name, &namelen);
if (err < 0) {
print_fatal("Could not get local IP");
CloseSocket(sockfd_);
return false;
}
char str[18];
inet_ntop(AF_INET, &name.sin_addr, str, 18);
local_ip_ = str;
comThread_ = std::thread(&UrRealtimeCommunication::run, this);
return true;
}
Instruction* Parser::parse_start_symbol(Type token, char& c, std::string& str)
{
Instruction* instruction = new Instruction();
if(token == HEX || token == DEC)
{
check_next_token(WHITESPACE, c, str);
check_next_token(LESS_THAN, c, str);
check_next_token(STRING, c, str);
check_next_token(AT, c, str);
token = lexer->get_token(c, str);
if(token == AT)
{
token = lexer->get_token(c, str);
}
parse_x_symbol(token, c, str);
check_next_token(COLON, c, str);
check_next_token(NEWLINE, c, str);
return NULL;
}
else if(token == WHITESPACE)
{
check_next_token(HEX, c, str);
sscanf(str.c_str(), " %x", &instruction->address);
check_next_token(COLON, c, str);
check_next_token(WHITESPACE, c, str);
check_next_token(HEX, c, str);
sscanf(str.c_str(), " %x", &instruction->opcode);
check_next_token(WHITESPACE, c, str);
token = parse_instruction_symbol(c, str, *instruction);
if(token == WHITESPACE)
{
parse_comment_symbol(c, str);
check_next_token(NEWLINE, c, str);
}
else if(token != NEWLINE)
{
print_fatal("Syntax error: expected newline after instruction, got: %s\n", str.c_str());
}
print_log("Got instruction, addr: %x \t opcode: %x \t %s\n", instruction->address, instruction->opcode, instruction->name.c_str());
return instruction;
}
else if(token != NEWLINE)
{
print_fatal("Syntax error: expected starting symbol, got: %s\n", str.c_str());
return NULL;
}
return NULL;
//print_log("Syntax accepted, back to starting symbol\n");
}
void Parser::parse_x_symbol(Type token, char& c, std::string& str)
{
if(token != STRING)
print_fatal("Syntax error: expected string but got %s\n", str.c_str());
token = lexer->get_token(c, str);
if(token == MINUS || token == PLUS)
{
check_next_token(HEX, c, str);
check_next_token(MORE_THAN, c, str);
}
else if(token != MORE_THAN)
{
print_fatal("Syntax error: expected '>' but got %s which is %s\n", str.c_str(), type_to_string(token));
}
}
void
free_object (object *obj)
{
if (NULL == obj)
{
return;
}
else if (SCM_VOID == obj->type)
free (obj);
else if (SCM_ERROR == obj->type)
{
free (((error_object *) obj)->msg);
free (obj);
}
else if (SCM_ATOM == obj->type)
{
free (((atom_object *) obj)->name);
free (obj);
}
else if (SCM_BOOL == obj->type)
{
free (obj);
}
else if (SCM_VARIABLE == obj->type)
{
free (((variable_object *) obj)->name);
free_object (((variable_object *) obj)->value);
free (obj);
}
else if (SCM_NUMBER == obj->type)
{
free (obj);
}
else if (SCM_STRING == obj->type)
{
free (((string_object *) obj)->str);
free (obj);
}
else if (SCM_PAIR == obj->type)
{
free_object (car (obj));
free_object (cdr (obj));
free (obj);
}
else if (SCM_FUNC == obj->type)
{
free (obj);
}
else if (SCM_LAMBDA == obj->type)
{
free_object (((lambda_object *) obj)->args);
free_object (((lambda_object *) obj)->sexp);
free (obj);
}
else
{
print_fatal (ETYPE);
exit (1);
}
}
bool UrCommunication::start() {
keepalive_ = true;
uint8_t buf[512];
unsigned int bytes_read;
std::string cmd;
bzero(buf, 512);
print_debug("Acquire firmware version: Connecting...");
if (connect(pri_sockfd_, (struct sockaddr *) &pri_serv_addr_,
sizeof(pri_serv_addr_)) < 0) {
print_fatal("Error connecting to get firmware version");
return false;
}
print_debug("Acquire firmware version: Got connection");
bytes_read = read(pri_sockfd_, buf, 512);
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf, bytes_read);
//wait for some traffic so the UR socket doesn't die in version 3.1.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
char tmp[64];
sprintf(tmp, "Firmware version detected: %.7f", robot_state_->getVersion());
print_debug(tmp);
close(pri_sockfd_);
print_debug(
"Switching to secondary interface for masterboard data: Connecting...");
fd_set writefds;
struct timeval timeout;
connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
sizeof(sec_serv_addr_));
FD_ZERO(&writefds);
FD_SET(sec_sockfd_, &writefds);
timeout.tv_sec = 10;
timeout.tv_usec = 0;
select(sec_sockfd_ + 1, NULL, &writefds, NULL, &timeout);
unsigned int flag_len;
getsockopt(sec_sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len);
if (flag_ < 0) {
print_fatal("Error connecting to secondary interface");
return false;
}
print_debug("Secondary interface: Got connection");
comThread_ = std::thread(&UrCommunication::run, this);
return true;
}
void Parser::open_file(char* filepath)
{
input_file = fopen(filepath, "r");
if(input_file == NULL)
{
print_fatal("Error while reading file: %s\n", filepath);
}
print_log("File \"%s\" opened\n", filepath);
}
void Parser::check_next_token(Type token, char& c, std::string& str)
{
Type read_token = lexer->get_token(c, str);
if(read_token == HEX_OR_INSTRUCTION && (token == HEX || token == INSTRUCTION))
return;
if(read_token == DEC && token == HEX)
return;
if(read_token != token)
{
print_fatal("Syntax error: expected %s but got %s which is %s\n", type_to_string(token), str.c_str(), type_to_string(read_token));
}
}
UrCommunication::UrCommunication(std::condition_variable& msg_cond,
std::string host) {
robot_state_ = new RobotState(msg_cond);
bzero((char *) &pri_serv_addr_, sizeof(pri_serv_addr_));
bzero((char *) &sec_serv_addr_, sizeof(sec_serv_addr_));
pri_sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (pri_sockfd_ < 0) {
print_fatal("ERROR opening socket pri_sockfd");
}
sec_sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sec_sockfd_ < 0) {
print_fatal("ERROR opening socket sec_sockfd");
}
server_ = gethostbyname(host.c_str());
if (server_ == NULL) {
print_fatal("ERROR, unknown host");
}
pri_serv_addr_.sin_family = AF_INET;
sec_serv_addr_.sin_family = AF_INET;
bcopy((char *) server_->h_addr, (char *)&pri_serv_addr_.sin_addr.s_addr, server_->h_length);
bcopy((char *) server_->h_addr, (char *)&sec_serv_addr_.sin_addr.s_addr, server_->h_length);
pri_serv_addr_.sin_port = htons(30001);
sec_serv_addr_.sin_port = htons(30002);
flag_ = 1;
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);
connected_ = false;
keepalive_ = false;
}
void Parser::parse_comment_symbol(char& c, std::string& str)
{
Type token = lexer->get_token(c, str);
if(token == DOUBLE_SLASH)
{
check_next_token(WHITESPACE, c, str);
check_next_token(HASH, c, str);
token = lexer->get_token(c, str);
if(token == MINUS)
check_next_token(DEC, c, str);
else if(token != DEC)
print_fatal("Syntax error: expected DEC in comment but got %s\n", str.c_str());
}
else if(token == SEMICOLON)
{
check_next_token(WHITESPACE, c, str);
check_next_token(STRING, c, str);
}
else
{
print_fatal("Syntax error: expected comment but got %s\n", str.c_str());
}
}
void
print (object *obj)
{
if (NULL == obj)
{
printf ("()");
return;
}
if (SCM_VOID == obj->type);
else if (SCM_ERROR == obj->type)
printf ("ERROR: %s", ((error_object *) obj)->msg);
else if (SCM_ATOM == obj->type)
printf ("%s", ((atom_object *) obj)->name);
else if (SCM_BOOL == obj->type)
printf ("%s", ((bool_object *) obj)->value ? "#t" : "#f");
else if (SCM_VARIABLE == obj->type)
print (((variable_object *) obj)->value);
else if (SCM_NUMBER == obj->type)
printf ("%lf", ((number_object *) obj)->num);
else if (SCM_STRING == obj->type)
printf ("\"%s\"", ((string_object *) obj)->str);
else if (SCM_PAIR == obj->type)
{
printf ("(");
print (car (obj));
printf (" . ");
print (cdr (obj));
printf (")");
}
else if (SCM_FUNC == obj->type)
{
printf ("#<procedure builtin>");
}
else if (SCM_LAMBDA == obj->type)
{
printf ("#<procedure lambda ");
print (((lambda_object *) obj)->args);
printf (">");
}
else
{
print_fatal (ETYPE);
exit (1);
}
}
object *
copy_object (object *obj)
{
object *ret = NULL;
if (NULL == obj)
return NULL;
else if (SCM_VOID == obj->type)
ret = SCM_void ();
else if (SCM_ERROR == obj->type)
ret = SCM_error (((error_object *) obj)->error,
((error_object *) obj)->msg);
else if (SCM_ATOM == obj->type)
ret = SCM_atom (((atom_object *) obj)->name);
else if (SCM_BOOL == obj->type)
ret = SCM_bool (((bool_object *) obj)->value);
else if (SCM_VARIABLE == obj->type)
ret = SCM_variable (((variable_object *) obj)->name,
copy_object (((variable_object *) obj)->value));
else if (SCM_NUMBER == obj->type)
ret = SCM_number_from_double (((number_object *) obj)->num);
else if (SCM_STRING == obj->type)
ret = SCM_string (((string_object *) obj)->str);
else if (SCM_PAIR == obj->type)
ret = SCM_cons (copy_object (car (obj)), copy_object (cdr (obj)));
else if (SCM_FUNC == obj->type)
ret = SCM_func (((func_object *) obj)->fn);
else if (SCM_LAMBDA == obj->type)
ret = SCM_lambda (copy_object (((lambda_object *) obj)->args),
copy_object (((lambda_object *) obj)->sexp));
else
{
print_fatal (ETYPE);
exit (1);
}
return ret;
}
void UrRealtimeCommunication::run() {
uint8_t buf[2048];
int bytes_read;
memset(buf, 0, 2048);
struct timeval timeout;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(sockfd_, &readfds);
print_debug("Realtime port: Got connection");
connected_ = true;
while (keepalive_) {
while (connected_ && keepalive_) {
timeout.tv_sec = 0; //do this each loop as selects modifies timeout
timeout.tv_usec = 500000; // timeout of 0.5 sec
select(sockfd_ + 1, &readfds, NULL, NULL, &timeout);
bytes_read = recv(sockfd_, (char*) buf, 2048, 0);
if (bytes_read > 0) {
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
robot_state_->unpack(buf);
if (safety_count_ == safety_count_max_) {
setSpeed(0., 0., 0., 0., 0., 0.);
}
safety_count_ += 1;
} else {
connected_ = false;
CloseSocket(sockfd_);
}
}
if (keepalive_) {
//reconnect
ofLog()<<"Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds..."<<endl;
sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd_ < 0) {
print_fatal("ERROR opening socket");
}
flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
SetNonBlocking(sockfd_, true);
while (keepalive_ && !connected_) {
std::this_thread::sleep_for(std::chrono::seconds(10));
fd_set writefds;
connect(sockfd_, (struct sockaddr *) &serv_addr_,
sizeof(serv_addr_));
FD_ZERO(&writefds);
FD_SET(sockfd_, &writefds);
select(sockfd_ + 1, NULL, &writefds, NULL, NULL);
int flag_len;
getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, (char*)&flag_, &flag_len);
if (flag_ < 0) {
print_error("Error re-connecting to RT port 30003. Is controller started? Will try to reconnect in 10 seconds...");
} else {
connected_ = true;
print_info("Realtime port: Reconnected");
}
}
}
}
setSpeed(0., 0., 0., 0., 0., 0.);
CloseSocket(sockfd_);
}
Type Parser::parse_operands_symbol(char& c, std::string& str)
{
Type token = lexer->get_token(c, str);
for(int i = 0; i < 4; ++i)
{
if(token == REGISTER)
{
token = lexer->get_token(c, str);
}
else if(token == HASH)
{
token = lexer->get_token(c, str);
if(token == MINUS)
token = lexer->get_token(c, str);
if(token != DEC && token != HEX)
print_fatal("Syntax error: expected hex or dec but got %s\n", str.c_str());
token = lexer->get_token(c, str);
}
else if(token == LEFT_SQ_BRACKET)
{
check_next_token(REGISTER, c, str);
token = lexer->get_token(c, str);
if(token == COMMA)
{
token = parse_y_symbol(c, str);
}
if(token != RIGHT_SQ_BRACKET)
print_fatal("Syntax error: expected ',' or ']' but got %s\n", str.c_str());
token = lexer->get_token(c, str);
if(token == EXCLAMATION)
token = lexer->get_token(c, str);
}
else if(token == HEX || token == DEC)
{
parse_z_symbol(c, str);
token = lexer->get_token(c, str);
}
else if(token == STRING || token == CONDITION)
{
token = lexer->get_token(c, str);
}
else if(token == INSTRUCTION)
{
token = lexer->get_token(c, str);
if(token == NEWLINE)
return token;
if(token != WHITESPACE)
print_fatal("Syntax error: expected WHITESPACE but got %s\n", str.c_str());
check_next_token(HASH, c, str);
check_next_token(DEC, c, str);
token = lexer->get_token(c, str);
}
else
break;
if(token == COMMA)
{
token = lexer->get_token(c, str);
if(token == WHITESPACE)
token = lexer->get_token(c, str);
}
}
return token;
}
void UrCommunication::run() {
uint8_t buf[2048];
int bytes_read;
bzero(buf, 2048);
struct timeval timeout;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(sec_sockfd_, &readfds);
connected_ = true;
while (keepalive_) {
while (connected_ && keepalive_) {
timeout.tv_sec = 0; //do this each loop as selects modifies timeout
timeout.tv_usec = 500000; // timeout of 0.5 sec
select(sec_sockfd_ + 1, &readfds, NULL, NULL, &timeout);
bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes
if (bytes_read > 0) {
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK,
(char *) &flag_, sizeof(int));
robot_state_->unpack(buf, bytes_read);
} else {
connected_ = false;
robot_state_->setDisconnected();
close(sec_sockfd_);
}
}
if (keepalive_) {
//reconnect
print_warning("Secondary port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...");
sec_sockfd_ = socket(AF_INET, SOCK_STREAM, 0);
if (sec_sockfd_ < 0) {
print_fatal("ERROR opening secondary socket");
}
flag_ = 1;
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int));
fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);
while (keepalive_ && !connected_) {
std::this_thread::sleep_for(std::chrono::seconds(10));
fd_set writefds;
connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
sizeof(sec_serv_addr_));
FD_ZERO(&writefds);
FD_SET(sec_sockfd_, &writefds);
select(sec_sockfd_ + 1, NULL, &writefds, NULL, NULL);
unsigned int flag_len;
getsockopt(sec_sockfd_, SOL_SOCKET, SO_ERROR, &flag_,
&flag_len);
if (flag_ < 0) {
print_error("Error re-connecting to port 30002. Is controller started? Will try to reconnect in 10 seconds...");
} else {
connected_ = true;
print_info("Secondary port: Reconnected");
}
}
}
}
//wait for some traffic so the UR socket doesn't die in version 3.1.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
close(sec_sockfd_);
}
/* check FLV file validity */
int check_flv_file(const flvmeta_opts * opts) {
flv_stream * flv_in;
flv_header header;
int errors, warnings;
int result;
char message[256];
uint32 prev_tag_size, tag_number;
uint32 last_timestamp, last_video_timestamp, last_audio_timestamp;
struct stat file_stats;
int have_audio, have_video;
flvmeta_opts opts_loc;
flv_info info;
int have_desync;
int have_on_metadata;
file_offset_t on_metadata_offset;
amf_data * on_metadata;
int have_on_last_second;
uint32 on_last_second_timestamp;
int have_prev_audio_tag;
flv_audio_tag prev_audio_tag;
int have_prev_video_tag;
flv_video_tag prev_video_tag;
int video_frames_number, keyframes_number;
prev_audio_tag = 0;
prev_video_tag = 0;
have_audio = have_video = 0;
tag_number = 0;
last_timestamp = last_video_timestamp = last_audio_timestamp = 0;
have_desync = 0;
have_prev_audio_tag = have_prev_video_tag = 0;
video_frames_number = keyframes_number = 0;
have_on_metadata = 0;
on_metadata_offset = 0;
on_metadata = NULL;
have_on_last_second = 0;
on_last_second_timestamp = 0;
/* file stats */
if (stat(opts->input_file, &file_stats) != 0) {
return ERROR_OPEN_READ;
}
/* open file for reading */
flv_in = flv_open(opts->input_file);
if (flv_in == NULL) {
return ERROR_OPEN_READ;
}
errors = warnings = 0;
report_start(opts);
/** check header **/
/* check signature */
result = flv_read_header(flv_in, &header);
if (result == FLV_ERROR_EOF) {
print_fatal("F11001", 0, "unexpected end of file in header");
goto end;
}
else if (result == FLV_ERROR_NO_FLV) {
print_fatal("F11002", 0, "FLV signature not found in header");
goto end;
}
/* version */
if (header.version != FLV_VERSION) {
sprintf(message, "header version should be 1, %d found instead", header.version);
print_error("E11003", 3, message);
}
/* video and audio flags */
if (!flv_header_has_audio(header) && !flv_header_has_video(header)) {
print_error("E11004", 4, "header signals the file does not contain video tags or audio tags");
}
else if (!flv_header_has_audio(header)) {
print_info("I11005", 4, "header signals the file does not contain audio tags");
}
else if (!flv_header_has_video(header)) {
print_warning("W11006", 4, "header signals the file does not contain video tags");
}
/* reserved flags */
if (header.flags & 0xFA) {
print_error("E11007", 4, "header reserved flags are not zero");
}
/* offset */
if (flv_header_get_offset(header) != 9) {
sprintf(message, "header offset should be 9, %d found instead", flv_header_get_offset(header));
print_error("E11008", 5, message);
}
/** check first previous tag size **/
result = flv_read_prev_tag_size(flv_in, &prev_tag_size);
if (result == FLV_ERROR_EOF) {
print_fatal("F12009", 9, "unexpected end of file in previous tag size");
goto end;
}
else if (prev_tag_size != 0) {
sprintf(message, "first previous tag size should be 0, %d found instead", prev_tag_size);
print_error("E12010", 9, message);
}
/* we reached the end of file: no tags in file */
if (flv_get_offset(flv_in) == file_stats.st_size) {
print_fatal("F10011", 13, "file does not contain tags");
goto end;
}
/** read tags **/
while (flv_get_offset(flv_in) < file_stats.st_size) {
flv_tag tag;
file_offset_t offset;
uint32 body_length, timestamp, stream_id;
int decr_timestamp_signaled;
result = flv_read_tag(flv_in, &tag);
if (result != FLV_OK) {
print_fatal("F20012", flv_get_offset(flv_in), "unexpected end of file in tag");
goto end;
}
++tag_number;
offset = flv_get_current_tag_offset(flv_in);
body_length = flv_tag_get_body_length(tag);
timestamp = flv_tag_get_timestamp(tag);
stream_id = flv_tag_get_stream_id(tag);
/* check tag type */
if (tag.type != FLV_TAG_TYPE_AUDIO
&& tag.type != FLV_TAG_TYPE_VIDEO
&& tag.type != FLV_TAG_TYPE_META
) {
sprintf(message, "unknown tag type %hhd", tag.type);
print_error("E30013", offset, message);
}
/* check consistency with global header */
if (!have_video && tag.type == FLV_TAG_TYPE_VIDEO) {
if (!flv_header_has_video(header)) {
print_warning("W11014", offset, "video tag found despite header signaling the file contains no video");
}
have_video = 1;
}
if (!have_audio && tag.type == FLV_TAG_TYPE_AUDIO) {
if (!flv_header_has_audio(header)) {
print_warning("W11015", offset, "audio tag found despite header signaling the file contains no audio");
}
have_audio = 1;
}
/* check body length */
if (body_length > (file_stats.st_size - flv_get_offset(flv_in))) {
sprintf(message, "tag body length (%d bytes) exceeds file size", body_length);
print_fatal("F20016", offset + 1, message);
goto end;
}
else if (body_length > MAX_ACCEPTABLE_TAG_BODY_LENGTH) {
sprintf(message, "tag body length (%d bytes) is abnormally large", body_length);
print_warning("W20017", offset + 1, message);
}
else if (body_length == 0) {
print_warning("W20018", offset + 1, "tag body length is zero");
}
/** check timestamp **/
decr_timestamp_signaled = 0;
/* check whether first timestamp is zero */
if (tag_number == 1 && timestamp != 0) {
sprintf(message, "first timestamp should be zero, %d found instead", timestamp);
print_error("E40019", offset + 4, message);
}
/* check whether timestamps decrease in a given stream */
if (tag.type == FLV_TAG_TYPE_AUDIO) {
if (last_audio_timestamp > timestamp) {
sprintf(message, "audio tag timestamps are decreasing from %d to %d", last_audio_timestamp, timestamp);
print_error("E40020", offset + 4, message);
}
last_audio_timestamp = timestamp;
decr_timestamp_signaled = 1;
}
if (tag.type == FLV_TAG_TYPE_VIDEO) {
if (last_video_timestamp > timestamp) {
sprintf(message, "video tag timestamps are decreasing from %d to %d", last_video_timestamp, timestamp);
print_error("E40021", offset + 4, message);
}
last_video_timestamp = timestamp;
decr_timestamp_signaled = 1;
}
/* check for overflow error */
if (last_timestamp > timestamp && last_timestamp - timestamp > 0xF00000) {
print_error("E40022", offset + 4, "extended bits not used after timestamp overflow");
}
/* check whether timestamps decrease globally */
else if (!decr_timestamp_signaled && last_timestamp > timestamp && last_timestamp - timestamp >= 1000) {
sprintf(message, "timestamps are decreasing from %d to %d", last_timestamp, timestamp);
print_error("E40023", offset + 4, message);
}
last_timestamp = timestamp;
/* check for desyncs between audio and video: one second or more is suspicious */
if (have_video && have_audio && !have_desync && labs(last_video_timestamp - last_audio_timestamp) >= 1000) {
sprintf(message, "audio and video streams are desynchronized by %ld ms",
labs(last_video_timestamp - last_audio_timestamp));
print_warning("W40024", offset + 4, message);
have_desync = 1; /* do not repeat */
}
/** stream id must be zero **/
if (stream_id != 0) {
sprintf(message, "tag stream id must be zero, %d found instead", stream_id);
print_error("E20025", offset + 8, message);
}
/* check tag body contents only if not empty */
if (body_length > 0) {
/** check audio info **/
if (tag.type == FLV_TAG_TYPE_AUDIO) {
flv_audio_tag at;
uint8_bitmask audio_format;
result = flv_read_audio_tag(flv_in, &at);
if (result == FLV_ERROR_EOF) {
print_fatal("F20012", offset + 11, "unexpected end of file in tag");
goto end;
}
/* check whether the format varies between tags */
if (have_prev_audio_tag && prev_audio_tag != at) {
print_warning("W51026", offset + 11, "audio format changed since last tag");
}
/* check format */
audio_format = flv_audio_tag_sound_format(at);
if (audio_format == 12 || audio_format == 13) {
sprintf(message, "unknown audio format %d", audio_format);
print_warning("W51027", offset + 11, message);
}
else if (audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_G711_A
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_G711_MU
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_RESERVED
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_MP3_8
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_DEVICE_SPECIFIC
) {
sprintf(message, "audio format %d is reserved for internal use", audio_format);
print_warning("W51028", offset + 11, message);
}
/* check consistency, see flash video spec */
if (flv_audio_tag_sound_rate(at) != FLV_AUDIO_TAG_SOUND_RATE_44
&& audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_AAC
) {
print_warning("W51029", offset + 11, "audio data in AAC format should have a 44KHz rate, field will be ignored");
}
if (flv_audio_tag_sound_type(at) == FLV_AUDIO_TAG_SOUND_TYPE_STEREO
&& (audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_NELLYMOSER
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_NELLYMOSER_16_MONO
|| audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_NELLYMOSER_8_MONO)
) {
print_warning("W51030", offset + 11, "audio data in Nellymoser format cannot be stereo, field will be ignored");
}
else if (flv_audio_tag_sound_type(at) == FLV_AUDIO_TAG_SOUND_TYPE_MONO
&& audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_AAC
) {
print_warning("W51031", offset + 11, "audio data in AAC format should be stereo, field will be ignored");
}
else if (audio_format == FLV_AUDIO_TAG_SOUND_FORMAT_LINEAR_PCM) {
print_warning("W51032", offset + 11, "audio data in Linear PCM, platform endian format should not be used because of non-portability");
}
prev_audio_tag = at;
have_prev_audio_tag = 1;
}
/** check video info **/
else if (tag.type == FLV_TAG_TYPE_VIDEO) {
flv_video_tag vt;
uint8_bitmask video_frame_type, video_codec;
video_frames_number++;
result = flv_read_video_tag(flv_in, &vt);
if (result == FLV_ERROR_EOF) {
print_fatal("F20012", offset + 11, "unexpected end of file in tag");
goto end;
}
/* check whether the format varies between tags */
if (have_prev_video_tag && flv_video_tag_codec_id(prev_video_tag) != flv_video_tag_codec_id(vt)) {
print_warning("W60033", offset + 11, "video format changed since last tag");
}
/* check video frame type */
video_frame_type = flv_video_tag_frame_type(vt);
if (video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_KEYFRAME
&& video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_INTERFRAME
&& video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_DISPOSABLE_INTERFRAME
&& video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_GENERATED_KEYFRAME
&& video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_COMMAND_FRAME
) {
sprintf(message, "unknown video frame type %d", video_frame_type);
print_error("E60034", offset + 11, message);
}
if (video_frame_type == FLV_VIDEO_TAG_FRAME_TYPE_KEYFRAME) {
keyframes_number++;
}
/* check whether first frame is a keyframe */
if (!have_prev_video_tag && video_frame_type != FLV_VIDEO_TAG_FRAME_TYPE_KEYFRAME) {
print_warning("W60035", offset + 11, "first video frame is not a keyframe, playback will suffer");
}
/* check video codec */
video_codec = flv_video_tag_codec_id(vt);
if (video_codec != FLV_VIDEO_TAG_CODEC_JPEG
&& video_codec != FLV_VIDEO_TAG_CODEC_SORENSEN_H263
&& video_codec != FLV_VIDEO_TAG_CODEC_SCREEN_VIDEO
&& video_codec != FLV_VIDEO_TAG_CODEC_ON2_VP6
&& video_codec != FLV_VIDEO_TAG_CODEC_ON2_VP6_ALPHA
&& video_codec != FLV_VIDEO_TAG_CODEC_SCREEN_VIDEO_V2
&& video_codec != FLV_VIDEO_TAG_CODEC_AVC
) {
sprintf(message, "unknown video codec id %d", video_codec);
print_error("E61034", offset + 11, message);
}
/* according to spec, JPEG codec is not currently used */
if (video_codec == FLV_VIDEO_TAG_CODEC_JPEG) {
print_warning("W61035", offset + 11, "JPEG codec not currently used");
}
prev_video_tag = vt;
have_prev_video_tag = 1;
}
/** check script data info **/
else if (tag.type == FLV_TAG_TYPE_META) {
amf_data * name;
amf_data * data;
result = flv_read_metadata(flv_in, &name, &data);
if (result == FLV_ERROR_EOF) {
print_fatal("F20012", offset + 11, "unexpected end of file in tag");
amf_data_free(name);
amf_data_free(data);
goto end;
}
else if (result == FLV_ERROR_EMPTY_TAG) {
print_warning("W70038", offset + 11, "empty metadata tag");
}
else if (result == FLV_ERROR_INVALID_METADATA_NAME) {
print_error("E70039", offset + 11, "invalid metadata name");
}
else if (result == FLV_ERROR_INVALID_METADATA) {
print_error("E70039", offset + 11, "invalid metadata");
}
else if (amf_data_get_type(name) != AMF_TYPE_STRING) {
/* name type checking */
sprintf(message, "invalid metadata name type: %d, should be a string (2)", amf_data_get_type(name));
print_error("E70038", offset, message);
}
else {
/* empty name checking */
if (amf_string_get_size(name) == 0) {
print_warning("W70038", offset, "empty metadata name");
}
/* check whether all body size has been read */
if (flv_in->current_tag_body_length > 0) {
sprintf(message, "%d bytes not read in tag body after metadata end", body_length - flv_in->current_tag_body_length);
print_warning("W70040", flv_get_offset(flv_in), message);
}
else if (flv_in->current_tag_body_length < 0) {
sprintf(message, "%d bytes missing from tag body after metadata end", flv_in->current_tag_body_length - body_length);
print_warning("W70041", flv_get_offset(flv_in), message);
}
/* onLastSecond checking */
if (!strcmp((char*)amf_string_get_bytes(name), "onLastSecond")) {
if (have_on_last_second == 0) {
have_on_last_second = 1;
on_last_second_timestamp = timestamp;
}
else {
print_warning("W70038", offset, "duplicate onLastSecond event");
}
}
/* onMetaData checking */
if (!strcmp((char*)amf_string_get_bytes(name), "onMetaData")) {
if (have_on_metadata == 0) {
have_on_metadata = 1;
on_metadata_offset = offset;
on_metadata = amf_data_clone(data);
/* check onMetadata type */
if (amf_data_get_type(on_metadata) != AMF_TYPE_ASSOCIATIVE_ARRAY) {
sprintf(message, "invalid onMetaData data type: %d, should be an associative array (8)", amf_data_get_type(on_metadata));
print_error("E70038", offset, message);
}
/* onMetaData must be the first tag at 0 timestamp */
if (tag_number != 1) {
print_warning("W70038", offset, "onMetadata event found after the first tag");
}
if (timestamp != 0) {
print_warning("W70038", offset, "onMetadata event found after timestamp zero");
}
}
else {
print_warning("W70038", offset, "duplicate onMetaData event");
}
}
/* unknown metadata name */
if (strcmp((char*)amf_string_get_bytes(name), "onMetaData")
&& strcmp((char*)amf_string_get_bytes(name), "onCuePoint")
&& strcmp((char*)amf_string_get_bytes(name), "onLastSecond")) {
sprintf(message, "unknown metadata event name: '%s'", (char*)amf_string_get_bytes(name));
print_info("I70039", flv_get_offset(flv_in), message);
}
}
amf_data_free(name);
amf_data_free(data);
}
}
/* check body length against previous tag size */
result = flv_read_prev_tag_size(flv_in, &prev_tag_size);
if (result != FLV_OK) {
print_fatal("F12036", flv_get_offset(flv_in), "unexpected end of file after tag");
goto end;
}
if (prev_tag_size != FLV_TAG_SIZE + body_length) {
sprintf(message, "previous tag size should be %d, %d found instead", FLV_TAG_SIZE + body_length, prev_tag_size);
print_error("E12037", flv_get_offset(flv_in), message);
goto end;
}
}
/** final checks */
/* check consistency with global header */
if (!have_video && flv_header_has_video(header)) {
print_warning("W11038", 4, "no video tag found despite header signaling the file contains video");
}
if (!have_audio && flv_header_has_audio(header)) {
print_warning("W11039", 4, "no audio tag found despite header signaling the file contains audio");
}
/* check last timestamps */
if (have_video && have_audio && labs(last_audio_timestamp - last_video_timestamp) >= 1000) {
if (last_audio_timestamp > last_video_timestamp) {
sprintf(message, "video stops %d ms before audio", last_audio_timestamp - last_video_timestamp);
print_warning("W40040", file_stats.st_size, message);
}
else {
sprintf(message, "audio stops %d ms before video", last_video_timestamp - last_audio_timestamp);
print_warning("W40041", file_stats.st_size, message);
}
}
/* check video keyframes */
if (have_video && keyframes_number == 0) {
print_warning("W60042", file_stats.st_size, "no keyframe detected, file is probably broken or incomplete");
}
if (have_video && keyframes_number == video_frames_number) {
print_warning("W60043", file_stats.st_size, "only keyframes detected, probably inefficient compression scheme used");
}
/* only keyframes + onLastSecond bug */
if (have_video && have_on_last_second && keyframes_number == video_frames_number) {
print_warning("W60044", file_stats.st_size, "only keyframes detected and onLastSecond event present, file is probably not playable");
}
/* check onLastSecond timestamp */
if (have_on_last_second && (last_timestamp - on_last_second_timestamp) >= 2000) {
sprintf(message, "onLastSecond event located %d ms before the last tag", last_timestamp - on_last_second_timestamp);
print_warning("W70050", file_stats.st_size, message);
}
/* check onMetaData presence */
if (!have_on_metadata) {
print_warning("W70044", file_stats.st_size, "onMetaData event not found, file might not be playable");
}
else {
amf_node * n;
int have_width, have_height;
have_width = 0;
have_height = 0;
/* compute metadata */
opts_loc.verbose = 0;
opts_loc.reset_timestamps = 0;
opts_loc.preserve_metadata = 0;
opts_loc.all_keyframes = 0;
opts_loc.error_handling = FLVMETA_IGNORE_ERRORS;
flv_reset(flv_in);
if (get_flv_info(flv_in, &info, &opts_loc) != OK) {
print_fatal("F10042", 0, "unable to compute metadata");
goto end;
}
/* more metadata checks */
for (n = amf_associative_array_first(on_metadata); n != NULL; n = amf_associative_array_next(n)) {
byte * name;
amf_data * data;
byte type;
name = amf_string_get_bytes(amf_associative_array_get_name(n));
data = amf_associative_array_get_data(n);
type = amf_data_get_type(data);
/* hasMetadata (bool): true */
if (!strcmp((char*)name, "hasMetadata")) {
if (type == AMF_TYPE_BOOLEAN) {
if (amf_boolean_get_value(data) == 0) {
print_warning("W70045", on_metadata_offset, "hasMetadata should be set to true");
}
}
else {
sprintf(message, "Invalid type for hasMetadata: expected %s, got %s",
get_amf_type_string(AMF_TYPE_BOOLEAN),
get_amf_type_string(type));
print_warning("W70046", on_metadata_offset, message);
}
}
/* hasVideo (bool) */
if (!strcmp((char*)name, "hasVideo")) {
if (type == AMF_TYPE_BOOLEAN) {
if (amf_boolean_get_value(data) != info.have_video) {
sprintf(message, "hasVideo should be set to %s", info.have_video ? "true" : "false");
print_warning("W70045", on_metadata_offset, message);
}
}
else {
sprintf(message, "Invalid type for hasVideo: expected %s, got %s",
get_amf_type_string(AMF_TYPE_BOOLEAN),
get_amf_type_string(type));
print_warning("W70046", on_metadata_offset, message);
}
}
/* hasAudio (bool) */
if (!strcmp((char*)name, "hasAudio")) {
if (type == AMF_TYPE_BOOLEAN) {
if (amf_boolean_get_value(data) != info.have_audio) {
sprintf(message, "hasAudio should be set to %s", info.have_audio ? "true" : "false");
print_warning("W70045", on_metadata_offset, message);
}
}
else {
sprintf(message, "Invalid type for hasAudio: expected %s, got %s",
get_amf_type_string(AMF_TYPE_BOOLEAN),
get_amf_type_string(type));
print_warning("W70046", on_metadata_offset, message);
}
}
/* duration (number) */
if (!strcmp((char*)name, "duration")) {
if (type == AMF_TYPE_NUMBER) {
number64 duration, file_duration;
if (info.have_audio) {
duration = (info.last_timestamp - info.first_timestamp + info.audio_frame_duration) / 1000.0;
}
else {
duration = (info.last_timestamp - info.first_timestamp + info.video_frame_duration) / 1000.0;
}
file_duration = amf_number_get_value(data);
if (fabs(file_duration - duration) > 1.0) {
sprintf(message, "duration should be %.12g, got %.12g", duration, file_duration);
print_warning("W70045", on_metadata_offset, message);
}
}
else {
sprintf(message, "Invalid type for duration: expected %s, got %s",
get_amf_type_string(AMF_TYPE_NUMBER),
get_amf_type_string(type));
print_warning("W70046", on_metadata_offset, message);
}
}
/* lasttimestamp: (number) */
/* lastkeyframetimestamp: (number) */
/* width: (number) */
/* height: (number) */
/* videodatarate: (number)*/
/* framerate: (number) */
/* audiodatarate: (number) */
/* audiosamplerate: (number) */
/* audiosamplesize: (number) */
/* stereo: (boolean) */
/* filesize: (number) */
/* videosize: (number) */
/* audiosize: (number) */
/* datasize: (number) */
/* audiocodecid: (number) */
/* videocodecid: (number) */
/* audiodelay: (number) */
/* canSeekToEnd: (boolean) */
/* hasKeyframes: (boolean) */
/* keyframes: (object) */
}
/* missing width or height can cause size problem in various players */
if (!have_width) {
print_error("E60047", on_metadata_offset, "width information not found in metadata, problems might occur in some players");
}
if (!have_height) {
print_error("E60047", on_metadata_offset, "height information not found in metadata, problems might occur in some players");
}
}
/* could we compute video resolution ? */
if (info.video_width == 0 && info.video_height == 0) {
print_warning("W60044", file_stats.st_size, "unable to determine video resolution");
}
end:
report_end(opts, errors, warnings);
amf_data_free(on_metadata);
flv_close(flv_in);
return (errors > 0) ? ERROR_INVALID_FLV_FILE : OK;
}