// MAIN =======================================================================================================================
void WashingMachineController::main() {
for (;;) {
wait(program_ready_flag);
getProgram();
wait(response_flag); // wachten op signaal van de uart dat machine gestart is:
webcontroller->setStatus(WACHTEN); // sending status
while (!getDoorStatus()) { // wachten tot deur wasmachine is gesloten
wait(interval_clock);
}
doorlock(1);
startWasprogramma();
}
}
// MAIN =======================================================================================================================
void WashingMachineController::main() {
for (;;) {
// wachten tot wasprogramma aanwezig is
wait(program_ready_flag);
getProgram();
std::cout << "starting washing program\n";
// wachten op signaal van de uart dat machine gestart is:
wait(response_flag);
while (!getDoorStatus()) { // wachten tot deur wasmachine is gesloten
wait(interval_clock);
}
doorlock(1);
startWasprogramma(); // wasprogramma starten
}
}
void nfcProtocol() {
char message[1024];
char UAFMessage[2048];
memoryStruct chunk;
uint8_t capdu[264];
size_t capdulen;
uint8_t rapdu[264];
size_t rapdulen;
char *response = 0;
const nfc_modulation nmMifare = {
.nmt = NMT_ISO14443A,
.nbr = NBR_106,
};
printf("Polling for target...\n");
while (nfc_initiator_select_passive_target(pnd, nmMifare, NULL, 0, &nt) <= 0);
printf("Target detected!\n");
// Select application
memcpy(capdu, APDU, sizeof (APDU));
capdulen = sizeof (APDU); // 13
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0)
exit(EXIT_FAILURE);
printf("Application selected!\n");
if (strncmp(rapdu, DOOR_HELLO, (int) rapdulen)) {
printf("** Opss ** I'm expecting HELLO msg, but card sent to me: %s. len: %d\n", response, (int) rapdulen);
return;
}
// FIDO Auth Request Message
printf("Doing AuthRequest to FIDO UAF Server\n");
sprintf(UAFMessage, AUTH_REQUEST_MSG, SCHEME, HOSTNAME, PORT, AUTH_REQUEST_ENDPOINT);
chunk = getHttpRequest(UAFMessage);
if (chunk.size <= 0) {
printf("** Opss ** Error to connect to FIDO Server\n");
memcpy(capdu, "ERROR", 5);
capdulen = 5;
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error to sent error message to card...\n");
}
return;
}
size_t blocks = (chunk.size / BLOCK_SIZE) + 1;
char *buffer[blocks];
blockSplit(chunk.memory, buffer, blocks);
sprintf(message, "BLOCK:%ld", blocks);
printf("Sending number of blocks: %s\n", message);
free(chunk.memory);
memcpy(capdu, message, strlen(message));
capdulen = strlen(message);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error to send number of blocks\n");
return;
}
int totalSent = 0;
if (strncmp(rapdu, DOOR_NEXT, (int) rapdulen)) {
printf("** Opss ** I'm expecting NEXT msg, but card sent to me: %s. len: %d", response, (int) rapdulen);
return;
}
response = NULL;
do { // Sending UAFRequestMessage to card
memcpy(capdu, buffer[totalSent], strlen(buffer[totalSent]));
capdulen = strlen(buffer[totalSent]);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
int i = strlen(buffer[totalSent]);
printf("error to send UAFRequestMessage to card. Message size: %d, message: %s\n", i, buffer[totalSent]);
return;
}
if (strncmp(rapdu, DOOR_OK, (int) rapdulen)) {
printf("** Opss ** I'm expecting OK msg, but card sent to me: %s. len: %d", response, (int) rapdulen);
return;
}
response = NULL;
free(buffer[totalSent]);
totalSent++;
} while (totalSent < blocks);
printf("Sending READY!\n");
memcpy(capdu, DOOR_READY, sizeof (DOOR_READY));
capdulen = strlen(DOOR_READY);
rapdulen = sizeof (rapdu);
unsigned long timeout = LONG_MAX;
do {
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error to received WAIT\n");
return;
}
if (strncmp(rapdu, DOOR_WAIT, (int) rapdulen) == 0) {
continue;
}
if (strncmp(rapdu, DOOR_DONE, (int) rapdulen) == 0) {
printf("Sending RESPONSE!\n");
memcpy(capdu, DOOR_RESPONSE, sizeof (DOOR_RESPONSE));
capdulen = strlen(DOOR_RESPONSE);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error RESPONSE...\n");
return;
}
break;
}
timeout--;
} while (timeout > 0);
if (timeout == 0) {
printf("Error. Client is not responding...\n");
return;
}
strncpy(message, rapdu, (int) rapdulen);
char *p = strtok(message, ":");
char *endptr;
long val;
if (strcmp(p, "BLOCK") == 0) {
p = strtok(NULL, ":");
val = strtol(p, &endptr, 10);
char *UAFmsg = malloc(sizeof (char) * BLOCK_SIZE * val + 1);
UAFmsg[0] = '\0';
do {
printf("Sending NEXT!\n");
memcpy(capdu, DOOR_NEXT, sizeof (DOOR_NEXT));
capdulen = strlen(DOOR_NEXT);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error NEXT\n");
return;
}
strncat(UAFmsg, rapdu, (int) rapdulen);
val--;
} while (val > 0);
// FIDO Auth Request Message
printf("Forwarding card response to FIDO UAF Server: \n");
sprintf(UAFMessage, AUTH_REQUEST_MSG, SCHEME, HOSTNAME, PORT, AUTH_RESPONSE_ENDPOINT);
//curlFetchStruct *result = postHttpRequest(UAFMessage, UAFmsg);
json_object *result = postHttpRequest(UAFMessage, UAFmsg);
free(UAFmsg);
// if (result->size <= 0) {
if (result == NULL) {
printf("Error to connect to FIDO Server\n");
memcpy(capdu, "ERROR", 5);
capdulen = 5;
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
printf("Error to send response to card\n");
}
return;
}
printf("Resul payload: %s \n", json_object_to_json_string(result));
const char *resultStr = json_object_to_json_string(result);
if (strstr(resultStr, "SUCCESS") == NULL) {
printf("Access denied!\n");
memcpy(capdu, DOOR_DENY, sizeof (DOOR_DENY));
capdulen = strlen(DOOR_DENY);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
return;
}
} else {
printf("Access granted!\n");
memcpy(capdu, DOOR_GRANTED, sizeof (DOOR_GRANTED));
capdulen = strlen(DOOR_GRANTED);
rapdulen = sizeof (rapdu);
if (CardTransmit(pnd, capdu, capdulen, rapdu, &rapdulen) < 0) {
return;
}
doorlock(1);
doorlock(0);
}
/* free json object */
json_object_put(result);
strncpy(message, rapdu, (int) rapdulen);
if (strstr(message, "BYE") != NULL) {
printf("bye!\n");
} else {
printf(":-(\n");
}
}
}
void WashingMachineController::startWasprogramma() {
webcontroller->setStatus(STARTEN); // sending status
signalLed(0); // signaalled uit
// voorwas (zonder zeep!):
std::cout << "---START VOORWAS---\n";
webcontroller->setStatus(VOORWAS); // sending status
std::cout << "water toevoegen\n";
watercontroller->startWaterController();
watercontroller->setWaterLevel(wasprogramma->getLevel() / 2); // water erbij
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "verwarmen\n";
tempcontroller->startTempController();
tempcontroller->setTemp(wasprogramma->getTemp()); // verwarmen
wait(temp_reached_flag); // wachten tot temp is bereikt
std::cout << "draaien\n";
motorcontroller->startMotorController();
motorcontroller->setMotorJobTime(wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water wegpompen\n";
watercontroller->setWaterLevel(0); // water weg
wait(level_reached_flag);
wait(level_reached_flag); // wachten tot water weg is (flag)
//hoofdwas:
std::cout << "---START HOOFDWAS---\n";
webcontroller->setStatus(HOOFDWAS); // sending status
std::cout << "water toevoegen\n";
watercontroller->setWaterLevel(wasprogramma->getLevel()); // water erbij
wait(level_reached_flag);
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "verwarmen\n";
tempcontroller->setTemp(wasprogramma->getTemp()); // verwarmen
wait(temp_reached_flag); // wachten tot temp is bereikt
std::cout << "zeep toevoegen\n";
dispendSoap(); // zeep erbij
std::cout << "draaien\n";
motorcontroller->setMotorJobTime(wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water wegpompen\n";
watercontroller->setWaterLevel(0); // water weg
wait(level_reached_flag);
wait(level_reached_flag); // wachten tot water weg is (flag)
// spoelen:
std::cout << "---START SPOELEN---\n";
webcontroller->setStatus(SPOELEN); // sending status
std::cout << "water toevoegen\n";
watercontroller->setWaterLevel(wasprogramma->getLevel() / 2); // water erbij
wait(level_reached_flag);
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "draaien\n";
motorcontroller->setMotorJobTime(wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water wegpompen en heater uitzetten\n";
watercontroller->setWaterLevel(0); // water weg
tempcontroller->setTemp(0); // verwarming uitzetten
wait(level_reached_flag);
wait(level_reached_flag); // wachten tot water weg is (flag)
// centrifugeren:
std::cout << "---START CENTRIFUGEREN---\n";
webcontroller->setStatus(CENTRIFUGE); // sending status
std::cout << "draaien\n";
motorcontroller->setMotorJobTime(wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
wait(level_reached_flag); // wachten tot water weg is (flag)
std::cout << "deur ontgrendelen\n";
doorlock(0); // deur ontgrendelen
signalLed(1); // signaalled aan
std::cout << "---WAS IS KLAAR---\n";
webcontroller->setStatus(KLAAR); // sending status
}
void WashingMachineController::startWasprogramma() {
signalLed(0); // signaalled uit
// voorwas (zonder zeep!):
std::cout << "START VOORWAS\n";
std::cout << "water toevoegen\n";
watercontroller->startWaterController();
watercontroller->setWaterLevel(wasprogramma->getLevel()); // water erbij
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "verwarmen\n";
tempcontroller->startTempController();
tempcontroller->setTemp(wasprogramma->getTemp()); // verwarmen
wait(temp_reached_flag); // wachten tot temp is bereikt
std::cout << "draaien\n";
motorcontroller->startMotorController();
motorcontroller->setMotorJob(wasprogramma->getJob(), wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water weg gaan pompen\n";
watercontroller->setWaterLevel(0); // water weg
wait(level_reached_flag); // wachten tot water weg is (flag)
//hoofdwas:
std::cout << "START HOOFDWAS\n";
std::cout << "water toevoegen\n";
watercontroller->setWaterLevel(wasprogramma->getLevel()); // water erbij
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "verwarmen\n";
tempcontroller->setTemp(wasprogramma->getTemp()); // verwarmen
wait(temp_reached_flag); // wachten tot temp is bereikt
std::cout << "zeep toevoegen\n";
dispendSoap(); // zeep erbij //========================================================!!!
std::cout << "draaien\n";
motorcontroller->setMotorJob(wasprogramma->getJob(), wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water wegpompen\n";
watercontroller->setWaterLevel(0); // water weg
wait(level_reached_flag); // wachten tot water weg is (flag)
// spoelen:
std::cout << "START SPOELEN\n";
std::cout << "water toevoegen\n";
watercontroller->setWaterLevel(wasprogramma->getLevel()); // water erbij
wait(level_reached_flag); // wachten tot voldoende water (flag)
std::cout << "draaien\n";
motorcontroller->setMotorJob(wasprogramma->getJob(), wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
std::cout << "water wegpompen\n";
watercontroller->setWaterLevel(0); // water weg
wait(level_reached_flag); // wachten tot water weg is (flag)
// centrifugeren:
std::cout << "START CENTRIFUGEREN\n";
std::cout << "draaien\n";
motorcontroller->setMotorJob(wasprogramma->getJob(), wasprogramma->getTime()); // draaien
wait(motor_done_flag); // wachten tot motor klaar is
// temp en waterlevel op 0 zetten voor volgende wasbeurt:
tempcontroller->setTemp(0);
watercontroller->setWaterLevel(0);
std::cout << "deur ontgrendelen\n";
doorlock(0); // deur ontgrendelen
signalLed(1); // signaalled aan
std::cout << "WAS IS KLAAR\n";
}
