static int runin_RamFreeSizeGet() {
test_status status = TEST_FAIL;
char* msg = NULL;
char* mem_info = "/proc/meminfo";
char *Start, *End, *raminfo;
char size1;
int number = 0, freesize;
char keys[] = "1234567890";
char value[100]={0}, result[100]={0};
FOX_DBG("***** %s *****\n", __func__);
int ret = read_device_node(mem_info, value, sizeof(value));
Start = strstr(value,"MemFree:");
End = strstr(value,"Buffers:");
size1 = End-Start;
raminfo = (char*)malloc(size1);
number = strcspn(value, keys);
strncpy(raminfo, (Start+number), (size1-number));
freesize = atoi(raminfo);
if(ret==-1) {
status = TEST_PASS;
msg = "runin_RamFreeSizeGet failed";
} else {
sprintf(result, "RAM Free Mem=%s\n", raminfo);
status = TEST_PASS;
}
FOX_DBG("RAM free memory size: %d KB \t result:%s \n", freesize, status_to_str(status));
free(raminfo);
return status;
}
static int runin_RamDataRW() {
test_status status = TEST_PASS;
char* msg = NULL;
char result[32] = {0};
char *rambuffer;
int i=0, val=0, ref=0;
FOX_DBG("***** %s *****\n", __func__);
rambuffer = (char*)malloc(RAM_TEST_SIZE);
if(rambuffer==NULL){
status = TEST_FAIL;
msg = "Memory allocate failed!!";
FOX_DBG("%s\n", msg);
}else {
for(i=0; i<RAM_TEST_SIZE; i++) //Set data to memory
*(rambuffer + i) = i%256;
sprintf(result, "RAM R/W test %s !!", "Pass");
for(i=0; i<RAM_TEST_SIZE; i++){ //Compare data integrity
val = *(rambuffer + i);
ref = i%256;
if(val!=ref){
FOX_DBG("RAM R/W failed!! \n");
FOX_DBG("%d) ref:0x%x \t val:0x%x \n", i, ref, val);
sprintf(result, "RAM R/W test %s !!", "Failed");
status = TEST_FAIL;
break;
}
}
}
FOX_DBG("RAM R/W test size:0x%x KB \t result:%s \n",RAM_TEST_SIZE, status_to_str(status));
free(rambuffer);
return status;
}
static void gui_demo_update_status(int i)
{
const struct demo *d;
if (!total)
return;
d = DEMO_GET(items, i < total ? i : 0);
if (!d)
return;
gui_set_label(name_id, d->name);
gui_set_label(date_id, date_to_str(d->date));
gui_set_label(player_id, d->player);
if (d->status == GAME_GOAL)
gui_set_color(status_id, gui_grn, gui_grn);
else
gui_set_color(status_id, gui_red, gui_red);
gui_set_label(status_id, status_to_str(d->status));
gui_set_count(coin_id, d->coins);
gui_set_clock(time_id, d->timer);
}
static int runin_RamSizeGet() {
test_status status = TEST_PASS;
char* msg = NULL;
char* mem_info = "/proc/meminfo";
char *Start, *End, *raminfo;
char size;
int number=0, ramsize=0;
char keys[] = "1234567890";
char value[100]={0}, result[100]={0};
FOX_DBG("***** %s *****\n", __func__);
int ret = read_device_node(mem_info, value, sizeof(value));
Start = strstr(value,"MemTotal:");
End = strstr(value,"MemFree:");
size = End-Start;
raminfo = (char*)malloc(size);
number = strcspn(value, keys);
strncpy(raminfo, (Start+number), (size-number));
ramsize = atoi(raminfo);
if(ret==-1 || ramsize<RAM_SIZE) {
status = TEST_FAIL;
msg = "runin_RamCapacityGet failed";
} else {
sprintf(result, "RAM Capacity=%skB\n", raminfo);
status = TEST_PASS;
}
FOX_DBG("RAM Capacity: %d KB \t result:%s \n", ramsize, status_to_str(status));
free(raminfo);
return status;
}
static int runin_RtcClockTest() {
test_status status = TEST_FAIL;
char* msg = NULL;
char* rtc_time = "/sys/class/rtc/rtc0/since_epoch";
char rtc_msg1[16] = {0};
char rtc_msg2[16] = {0};
char result[32] = {0};
int rtc_value1 = 0, rtc_value2 = 0, rtc_interval=0;
FOX_DBG("***** %s *****\n", __func__);
int ret = read_device_node(rtc_time, rtc_msg1, sizeof(rtc_msg1));
sleep(10);
ret = read_device_node(rtc_time, rtc_msg2, sizeof(rtc_msg2));
rtc_value1 = atoi(rtc_msg1);
rtc_value2 = atoi(rtc_msg2);
rtc_interval = rtc_value2 - rtc_value1;
sprintf(result, "%d", rtc_interval);
FOX_DBG("RTC clock: %d ==> %d secs \t interval: %d secs\n", rtc_value1, rtc_value2, rtc_interval);
if(ret==-1 || rtc_interval<10) {
status = TEST_FAIL;
msg = "runin_rtc_clock_test failed";
} else {
sprintf(result, "RTC test pass");
status = TEST_PASS;
}
FOX_DBG("RTC test result:%s \n", status_to_str(status));
return status;
}
/*******************************************************************
writes info on just one Index
it must not be un allocated to do this
********************************************************************/
static void mem_write_Index_info(int Index,FILE *outfile)
{
if (memory_blocks[Index].status != S_UNALLOCATED)
fprintf(outfile,"block %d file %s(%d) : size %d, alloc size %d, status %s\n",
Index,memory_blocks[Index].file,memory_blocks[Index].line,
memory_blocks[Index].present_size,
memory_blocks[Index].allocated_size,
status_to_str(memory_blocks[Index].status));
}
static GIOStatus
read_impl (PnNode *conn,
gchar *buf,
gsize count,
gsize *ret_bytes_read,
GError **error)
{
GIOStatus status = G_IO_STATUS_NORMAL;
pn_debug ("name=%s", conn->name);
if (conn->next)
{
pn_error ("whaaat");
conn->next->prev = conn;
status = pn_node_read (conn->next, buf, count, ret_bytes_read, error);
conn->next->prev = NULL;
}
else
{
GError *tmp_error = NULL;
gsize bytes_read = 0;
pn_debug ("stream=%p", conn->stream);
status = pn_stream_read (conn->stream, buf, count, &bytes_read, &tmp_error);
if (status != G_IO_STATUS_NORMAL)
{
pn_info ("not normal: status=%d (%s)",
status, status_to_str (status));
}
pn_log ("bytes_read=%zu", bytes_read);
if (ret_bytes_read)
*ret_bytes_read = bytes_read;
if (tmp_error)
{
conn->error = g_error_copy (tmp_error);
g_propagate_error (error, tmp_error);
}
}
return status;
}
static int runin_GetCpuLoading() {
test_status status = TEST_FAIL;
char* msg = NULL;
char* cpu_loading = "/proc/loadavg";
/*Foxconn, KingsChen, MKD, 20131003 {*/
//Add buffer size for fixing unknown char in log
char value[64] = {0};
int ret = read_device_node(cpu_loading, value, sizeof(value));
char result[64] = {0};
/*Foxconn, KingsChen, MKD, 20131003 {*/
FOX_DBG("***** %s *****\n", __func__);
if(ret==-1) {
status = TEST_FAIL;
msg = "runin_GetCpuLoading failed";
} else {
sprintf(result, "CPU Loading=%s", value);
status = TEST_PASS;
}
FOX_DBG("CPU Loading:%s \t result:%s \n", value, status_to_str(status));
return status;
}
static GIOStatus
write_impl (PnNode *conn,
const gchar *buf,
gsize count,
gsize *ret_bytes_written,
GError **error)
{
GIOStatus status = G_IO_STATUS_NORMAL;
pn_debug ("name=%s", conn->name);
if (conn->next)
{
PnNode *next;
next = conn->next;
/* conn->next has already a ref from conn, but let's just be sure and
* ref anyway */
g_object_ref (next);
next->prev = conn;
status = pn_node_write (next, buf, count, ret_bytes_written, error);
next->prev = NULL;
g_object_unref (next);
}
else
{
GError *tmp_error = NULL;
gsize bytes_written = 0;
pn_debug ("stream=%p", conn->stream);
status = pn_stream_write_full (conn->stream, buf, count, &bytes_written, &tmp_error);
pn_log ("bytes_written=%zu", bytes_written);
if (status == G_IO_STATUS_NORMAL)
{
if (bytes_written < count)
{
/* This shouldn't happen, right? */
/* It doesn't seem to happen, but keep checking for now. */
pn_error ("write check: %zu < %zu", bytes_written, count);
}
}
else
{
pn_warning ("not normal: status=%d (%s)",
status, status_to_str (status));
}
if (ret_bytes_written)
*ret_bytes_written = bytes_written;
if (tmp_error)
{
conn->error = g_error_copy (tmp_error);
g_propagate_error (error, tmp_error);
}
}
return status;
}
static void
on_notify(uint64_t qid, enum filter_status status)
{
printf("filter-notify: qid=%016"PRIx64", status=%s\n",
qid, status_to_str(status));
}
static int runin_SetChargerCurrent() {
test_status status = TEST_FAIL;
char* msg = NULL;
char* gas_gauge_current = "/sys/class/power_supply/bq27500-0/current_now";
char* gas_gauge_cap = "/sys/class/power_supply/bq27500-0/capacity";
char* charge_current = "/sys/class/power_supply/Charger/current_now";
char* charger_status = "/sys/class/power_supply/Charger/status";
char* usb_status = "/sys/class/power_supply/ac/online";
char* charging_status = "/sys/class/power_supply/bq27500-0/status";
/*Foxconn/EricBHLin, 20131024, MKD, SCR#{*/
/*Declaration of Vinx Node */
char* charger_vinx_node="/sys/class/power_supply/Charger/vinx";
char vinx[16];
/*Foxconn/EricBHLin, 20131024, MKD, SCR#}*/
char value[16]={0}, charge[8]={0}, result[32]={0}, chg_status[16]={0}, capacity[8]={0}, ac_online[8]={0}, gg_status[16]={0};
/*Foxconn, Benson Liu, MKD, SCRXXX, 20131122 { */
/*Decrease range for user scenario*/
//const char* ChargeValue[]={"100", "200", "300", "400", "500"};
const char* ChargeValue[]={"100", "200", "300"};
/*Foxconn, Benson Liu, MKD, SCRXXX, 20131122 } */
int ret, testValue=0, i, standard, min, max, capacity_value;
/*Foxconn, Benson Liu, MKD, SCRXXX, 20131122 { */
/*Decrease range for user scenario*/
//const int count=5;
const int count=3;
/*Foxconn, Benson Liu, MKD, SCRXXX, 20131122 } */
const int capacity_limit = 70;
FOX_DBG("***** %s *****\n", __func__);
//1. Read and check charging status
/*Foxconn/EricBHLin, 20131024, MKD, SCR#{*/
/*Read current Vinx setting*/
read_device_node(charger_vinx_node, vinx, sizeof(vinx));
FOX_DBG("Charger Vinx Limit: %s\n", vinx);
/*Foxconn/EricBHLin, 20131024, MKD, SCR#}*/
read_device_node(charge_enabled, charge, sizeof(charge));
read_device_node(gas_gauge_cap, capacity, sizeof(capacity));
read_device_node(charger_status, chg_status, sizeof(chg_status));
read_device_node(usb_status, ac_online, sizeof(ac_online));
read_device_node(charging_status, gg_status, sizeof(gg_status));
capacity_value = atoi(capacity);
FOX_DBG("Charger status: %s\n", chg_status);
FOX_DBG("GG USB Charging status: %s\n", gg_status);
FOX_DBG("AC online status:%s\n", ac_online);
FOX_DBG("Battery capacity: %d%\n", capacity_value);
#if 0 //Charging status test
if(strncmp(chg_status, "CC Mode", 7) != 0){
status = TEST_UNTESTED;
FOX_DBG("Test result:%s \n", status_to_str(status));
return status;
}
//2. Disable usb charging
write_device_node(charge_enabled, "0"); //Disable usb charging
sleep(5);
#endif //Charging status test
if(capacity_value == 100){
status = TEST_PASS;
}else{
/*Foxconn/EricBHLin, 20131024, MKD, SCR#{*/
/*Before SetChargingCurrent Test, it required to set Vinx limit to 800mA, otherwise total current may be insufficient*/
write_device_node(charger_vinx_node, "800"); //Set Vinx Limit: 800mA
read_device_node(charger_vinx_node, vinx, sizeof(vinx));
FOX_DBG("Charger Vinx Limit: %s\n", vinx);
/*Foxconn/EricBHLin, 20131024, MKD, SCR#}*/
write_device_node(charge_enabled, "1"); //Enable usb charging
sleep(10);
//3. Set charging current from 100 ~ 500 mA
/*Foxconn, KingsChen, MKD, 20131003 {*/
//Modify Test Criteria
status = TEST_PASS;
/*Foxconn, KingsChen, MKD, 20131003 }*/
for(i=1; i<=count; i++){
write_device_node(charge_current, ChargeValue[i-1]); //Set charging current 100~300
/*Foxconn/EricBHLin, 20131009, MKD, SCR#{*/
sleep(GG_CONVERSION_TIME);
/*Foxconn/EricBHLin, 20131009, MKD, SCR#}*/
ret = read_device_node(gas_gauge_current, value, sizeof(value)); //Read GG current data
testValue = atoi(value);
standard = i*100000;
/*Foxconn, KingsChen, MKD, 20131003 {*/
//Modify Test Criteria
//min = standard*90/100;
//max = standard*110/100;
min = standard - 40000;
max = standard + 30000;
/*Foxconn, KingsChen, MKD, 20131003 }*/
FOX_DBG("STD: %d \t Min: %d \t Max: %d\n", standard, min, max);
FOX_DBG("Charging Current: %d (mA*1000) \n", testValue);
//Capacity over 70%, do not check charging current accuracy
if(capacity_value >= capacity_limit){
if(testValue>=0){
FOX_DBG("Battery capacity > %d% \t Test Pass\n", capacity_limit);
/*Foxconn, KingsChen, MKD, 20131003 {*/
//Modify Test Criteria
//status = TEST_PASS;
/*Foxconn, KingsChen, MKD, 20131003 }*/
}else{
FOX_DBG("Battery capacity > %d% \t Test Fail\n", capacity_limit);
status = TEST_FAIL;
break;
}
}
else{//Capacity under 70%
/*Foxconn, KingsChen, MKD, 20131003 {*/
//Modify Test Criteria
#if 0
if((testValue>=min) && (testValue<=max)){
status = TEST_PASS;
}else{
status = TEST_FAIL;
break;
}
#else
if((testValue < min) || (testValue > max))
status =TEST_FAIL;
#endif
/*Foxconn, KingsChen, MKD, 20131003 }*/
}
}
}//if(capacity_value==100)
//4. Restore charging status and current setting
write_device_node(charge_current, "300"); //Set usb charging current
write_device_node(charge_enabled, charge); //Restore usb charging status
sleep(5);
/*Foxconn/EricBHLin, 20131024, MKD, SCR#{*/
/*Read restored value for double confirm*/
read_device_node(charger_vinx_node, vinx, sizeof(vinx));
FOX_DBG("Charger Vinx Limit: %s\n", vinx);
/*Foxconn/EricBHLin, 20131024, MKD, SCR#}*/
FOX_DBG("Restore usb charging status %s\n", charge);
FOX_DBG("Battery Current:%d (mA*1000)\t result:%s \n", testValue, status_to_str(status));
return status;
}
/** \brief Reads gripper responses in auto_update mode. The gripper pushes state messages in regular intervals. */
void read_thread(int interval_ms)
{
ROS_INFO("Thread started");
status_t status;
int res;
bool pub_state = false;
// Prepare messages
wsg_50_common::Status status_msg;
status_msg.status = "";
sensor_msgs::JointState joint_states;
// joint_states.header.frame_id = "wsg_50/palm_link";
joint_states.name.push_back("wsg_50/palm_joint_gripper_left");
joint_states.name.push_back("wsg_50/palm_joint_gripper_right");
joint_states.position.resize(2);
joint_states.velocity.resize(2);
joint_states.effort.resize(2);
// Request automatic updates (error checking is done below)
getOpening(interval_ms);
getSpeed(interval_ms);
getForce(interval_ms);
msg_t msg; msg.id = 0;
msg.data = 0;
msg.len = 0;
int cnt[3] = {0,0,0};
auto time_start = std::chrono::system_clock::now();
// Prepare FMF data reading
std::vector<float> finger_data; finger_data.push_back(0.0);
finger_data.push_back(0.0);
int index = 0;
bool waiting_fmf = false;
unsigned char vResult[4];
while (g_thread)
{
// Receive gripper response
msg_free(&msg);
res = msg_receive( &msg );
if (res < 0 ) //|| msg.len < 2)
{
ROS_ERROR("Gripper response failure");
continue;
}
float val = 0.0;
status = cmd_get_response_status(msg.data);
// Decode float for opening/speed/force
if (msg.id >= 0x43 && msg.id <= 0x45 && msg.len == 6)
{
if (status != E_SUCCESS)
{
ROS_ERROR("Gripper response failure for opening/speed/force\n");
continue;
}
val = convert(&msg.data[2]);
}
// Request force measurement
// if (use_fmf && !waiting_fmf)
// {
// waiting_fmf = true;
// getFingerData_serial(index);
// }
if ((info_fingers[index].type == 1) && !waiting_fmf)
{
waiting_fmf = true;
getFingerData(index, true);
}
// Handle response types
int motion = -1;
switch (msg.id)
{
/*** Opening ***/
case 0x43:
status_msg.width = val;
pub_state = true;
cnt[0]++;
break;
/*** Speed ***/
case 0x44:
status_msg.speed = val;
cnt[1]++;
break;
/*** Force ***/
case 0x45:
status_msg.force = val;
cnt[2]++;
break;
/*** Home ***/
case 0x20:
// Homing command; nothing to do
break;
case 0x22:
// Stop command; nothing to do
break;
/*** Move ***/
case 0x21:
// Move commands are sent from outside this thread
case 0x25:
// Grasping object
case 0x26:
// Releasing object
if (status == E_SUCCESS)
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Position reached");
motion = 0;
}
else if (status == E_AXIS_BLOCKED)
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Axis blocked");
motion = 0;
}
else if (status == E_CMD_PENDING)
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Movement started");
motion = 1;
}
else if (status == E_ALREADY_RUNNING)
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Movement error: already running");
}
else if (status == E_CMD_ABORTED)
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Movement aborted");
motion = 0;
}
else
{
status_msg.status = std::string(status_to_str(status));
ROS_INFO("Movement error");
motion = 0;
}
break;
/*** Finger Data ***/
case 0x63:
if (status == E_SUCCESS)
{
vResult[0] = msg.data[2];
vResult[1] = msg.data[3];
vResult[2] = msg.data[4];
vResult[3] = msg.data[5];
finger_data[index] = convert(vResult);
}
else
finger_data[index] = 0.0;
waiting_fmf = false;
index = abs(index - 1);
break;
/*** Soft Limits ***/
case 0x34:
if (status == E_SUCCESS) ROS_INFO("New Soft Limits");
break;
case 0x35:
if (status == E_SUCCESS && msg.len == 10)
{
unsigned char limit_minus[4];
unsigned char limit_plus[4];
limit_minus[0] = msg.data[2];
limit_minus[1] = msg.data[3];
limit_minus[2] = msg.data[4];
limit_minus[3] = msg.data[5];
limit_plus[0] = msg.data[6];
limit_plus[1] = msg.data[7];
limit_plus[2] = msg.data[8];
limit_plus[3] = msg.data[9];
ROS_INFO("Soft limits: \nLIMIT MINUS %f\nLIMIT PLUS %f\n", convert(limit_minus), convert(limit_plus));
}
else ROS_INFO("Failed to read soft limits, len %d", msg.len);
break;
case 0x36:
if (status == E_SUCCESS) ROS_INFO("Soft Limits Cleared");
break;
default:
ROS_INFO("Received response 0x%02x (%2dB)\n", msg.id, msg.len);
}
// ***** PUBLISH motion message
if (motion == 0 || motion == 1)
{
std_msgs::Bool moving_msg;
moving_msg.data = motion;
g_pub_moving.publish(moving_msg);
g_ismoving = motion;
}
// ***** PUBLISH state message & joint message
if (pub_state)
{
pub_state = false;
if (info_fingers[0].type == 1)
status_msg.force_finger0 = finger_data[0];
else
status_msg.force_finger0 = status_msg.force/2;
if (info_fingers[1].type == 1)
status_msg.force_finger1 = finger_data[1];
else
status_msg.force_finger1 = status_msg.force/2;
g_pub_state.publish(status_msg);
joint_states.header.stamp = ros::Time::now();;
joint_states.position[0] = -status_msg.width/2000.0;
joint_states.position[1] = status_msg.width/2000.0;
joint_states.velocity[0] = status_msg.speed/1000.0;
joint_states.velocity[1] = status_msg.speed/1000.0;
joint_states.effort[0] = status_msg.force_finger0;
joint_states.effort[1] = status_msg.force_finger1;
g_pub_joint.publish(joint_states);
}
// Check # of received messages regularly
double rate_exp = 1000.0 / (double)interval_ms;
std::string names[3] = { "opening", "speed", "force" };
std::chrono::duration<float> t = std::chrono::system_clock::now() - time_start;
double t_ = t.count();
if (t_ > 5.0)
{
time_start = std::chrono::system_clock::now();
//printf("Infos for %5.1fHz, %5.1fHz, %5.1fHz\n", (double)cnt[0]/t_, (double)cnt[1]/t_, (double)cnt[2]/t_);
std::string info = "Rates for ";
for (int i=0; i<3; i++)
{
double rate_is = (double)cnt[i]/t_;
info += names[i] + ": " + std::to_string((int)rate_is) + "Hz, ";
if (rate_is == 0.0)
ROS_ERROR("Did not receive data for %s", names[i].c_str());
}
ROS_DEBUG_STREAM((info + " expected: " + std::to_string((int)rate_exp) + "Hz").c_str());
cnt[0] = 0; cnt[1] = 0; cnt[2] = 0;
}
}
// Disable automatic updates
getOpening(0);
getSpeed(0);
getForce(0);
ROS_INFO("Thread ended");
}
static int gui_demo_status(int id)
{
const char *status;
int jd, kd, ld;
int s;
/* Find the longest status string. */
for (status = "", s = GAME_NONE; s < GAME_MAX; s++)
if (strlen(status_to_str(s)) > strlen(status))
status = status_to_str(s);
/* Build info bar with dummy values. */
if ((jd = gui_hstack(id)))
{
gui_filler(jd);
if ((kd = gui_hstack(jd)))
{
if ((ld = gui_vstack(kd)))
{
gui_filler(ld);
time_id = gui_clock(ld, 35000, GUI_SML);
coin_id = gui_count(ld, 100, GUI_SML);
status_id = gui_label(ld, status, GUI_SML, gui_red, gui_red);
gui_filler(ld);
}
if ((ld = gui_vstack(kd)))
{
gui_filler(ld);
gui_label(ld, _("Time"), GUI_SML, gui_wht, gui_wht);
gui_label(ld, _("Coins"), GUI_SML, gui_wht, gui_wht);
gui_label(ld, _("Status"), GUI_SML, gui_wht, gui_wht);
gui_filler(ld);
}
gui_set_rect(kd, GUI_ALL);
}
gui_space(jd);
if ((kd = gui_hstack(jd)))
{
if ((ld = gui_vstack(kd)))
{
gui_filler(ld);
name_id = gui_label(ld, " ", GUI_SML, 0, 0);
player_id = gui_label(ld, " ", GUI_SML, 0, 0);
date_id = gui_label(ld, date_to_str(time(NULL)),
GUI_SML, 0, 0);
gui_filler(ld);
gui_set_trunc(name_id, TRUNC_TAIL);
gui_set_trunc(player_id, TRUNC_TAIL);
}
if ((ld = gui_vstack(kd)))
{
gui_filler(ld);
gui_label(ld, _("Replay"), GUI_SML, gui_wht, gui_wht);
gui_label(ld, _("Player"), GUI_SML, gui_wht, gui_wht);
gui_label(ld, _("Date"), GUI_SML, gui_wht, gui_wht);
gui_filler(ld);
}
gui_set_rect(kd, GUI_ALL);
}
gui_filler(jd);
}
return jd;
}
static void
show_options(const uint8_t *data, int len)
{
dhcpv6_option_t d6o;
uint_t olen, retlen;
uint16_t val16;
uint16_t type;
uint32_t val32;
const uint8_t *ostart;
char *str, *sp;
char *oldnest;
/*
* Be very careful with negative numbers; ANSI signed/unsigned
* comparison doesn't work as expected.
*/
while (len >= (signed)sizeof (d6o)) {
(void) memcpy(&d6o, data, sizeof (d6o));
d6o.d6o_code = ntohs(d6o.d6o_code);
d6o.d6o_len = olen = ntohs(d6o.d6o_len);
(void) snprintf(get_line(0, 0), get_line_remain(),
"Option Code = %u (%s)", d6o.d6o_code,
option_to_str(d6o.d6o_code));
ostart = data += sizeof (d6o);
len -= sizeof (d6o);
if (olen > len) {
(void) strlcpy(get_line(0, 0), "Option truncated",
get_line_remain());
olen = len;
}
switch (d6o.d6o_code) {
case DHCPV6_OPT_CLIENTID:
case DHCPV6_OPT_SERVERID:
if (olen < sizeof (val16))
break;
(void) memcpy(&val16, data, sizeof (val16));
data += sizeof (val16);
olen -= sizeof (val16);
type = ntohs(val16);
(void) snprintf(get_line(0, 0), get_line_remain(),
" DUID Type = %u (%s)", type,
duidtype_to_str(type));
if (type == DHCPV6_DUID_LLT || type == DHCPV6_DUID_LL) {
if (olen < sizeof (val16))
break;
(void) memcpy(&val16, data, sizeof (val16));
data += sizeof (val16);
olen -= sizeof (val16);
val16 = ntohs(val16);
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Hardware Type = %u (%s)", val16,
arp_htype(val16));
}
if (type == DHCPV6_DUID_LLT) {
time_t timevalue;
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
data += sizeof (val32);
olen -= sizeof (val32);
timevalue = ntohl(val32) + DUID_TIME_BASE;
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Time = %lu (%.24s)", ntohl(val32),
ctime(&timevalue));
}
if (type == DHCPV6_DUID_EN) {
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
data += sizeof (val32);
olen -= sizeof (val32);
val32 = ntohl(val32);
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Enterprise Number = %lu (%s)", val32,
entr_to_str(val32));
}
if (olen == 0)
break;
if ((str = malloc(olen * 3)) == NULL)
pr_err("interpret_dhcpv6: no mem");
sp = str + snprintf(str, 3, "%02x", *data++);
while (--olen > 0) {
*sp++ = (type == DHCPV6_DUID_LLT ||
type == DHCPV6_DUID_LL) ? ':' : ' ';
sp = sp + snprintf(sp, 3, "%02x", *data++);
}
(void) snprintf(get_line(0, 0), get_line_remain(),
(type == DHCPV6_DUID_LLT ||
type == DHCPV6_DUID_LL) ?
" Link Layer Address = %s" :
" Identifier = %s", str);
free(str);
break;
case DHCPV6_OPT_IA_NA:
case DHCPV6_OPT_IA_PD: {
dhcpv6_ia_na_t d6in;
if (olen < sizeof (d6in) - sizeof (d6o))
break;
(void) memcpy(&d6in, data - sizeof (d6o),
sizeof (d6in));
data += sizeof (d6in) - sizeof (d6o);
olen -= sizeof (d6in) - sizeof (d6o);
(void) snprintf(get_line(0, 0), get_line_remain(),
" IAID = %u", ntohl(d6in.d6in_iaid));
(void) snprintf(get_line(0, 0), get_line_remain(),
" T1 (renew) = %u seconds", ntohl(d6in.d6in_t1));
(void) snprintf(get_line(0, 0), get_line_remain(),
" T2 (rebind) = %u seconds", ntohl(d6in.d6in_t2));
nest_options(data, olen, "IA: ",
"Identity Association");
break;
}
case DHCPV6_OPT_IA_TA: {
dhcpv6_ia_ta_t d6it;
if (olen < sizeof (d6it) - sizeof (d6o))
break;
(void) memcpy(&d6it, data - sizeof (d6o),
sizeof (d6it));
data += sizeof (d6it) - sizeof (d6o);
olen -= sizeof (d6it) - sizeof (d6o);
(void) snprintf(get_line(0, 0), get_line_remain(),
" IAID = %u", ntohl(d6it.d6it_iaid));
nest_options(data, olen, "IA: ",
"Identity Association");
break;
}
case DHCPV6_OPT_IAADDR: {
dhcpv6_iaaddr_t d6ia;
if (olen < sizeof (d6ia) - sizeof (d6o))
break;
(void) memcpy(&d6ia, data - sizeof (d6o),
sizeof (d6ia));
data += sizeof (d6ia) - sizeof (d6o);
olen -= sizeof (d6ia) - sizeof (d6o);
show_address(" Address", &d6ia.d6ia_addr);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Preferred lifetime = %u seconds",
ntohl(d6ia.d6ia_preflife));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Valid lifetime = %u seconds",
ntohl(d6ia.d6ia_vallife));
nest_options(data, olen, "ADDR: ", "Address");
break;
}
case DHCPV6_OPT_ORO:
while (olen >= sizeof (val16)) {
(void) memcpy(&val16, data, sizeof (val16));
val16 = ntohs(val16);
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Requested Option Code = %u (%s)", val16,
option_to_str(val16));
data += sizeof (val16);
olen -= sizeof (val16);
}
break;
case DHCPV6_OPT_PREFERENCE:
if (olen > 0) {
(void) snprintf(get_line(0, 0),
get_line_remain(),
*data == 255 ?
" Preference = %u (immediate)" :
" Preference = %u", *data);
}
break;
case DHCPV6_OPT_ELAPSED_TIME:
if (olen == sizeof (val16)) {
(void) memcpy(&val16, data, sizeof (val16));
val16 = ntohs(val16);
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Elapsed Time = %u.%02u seconds",
val16 / 100, val16 % 100);
}
break;
case DHCPV6_OPT_RELAY_MSG:
if (olen > 0) {
oldnest = prot_nest_prefix;
prot_nest_prefix = prot_prefix;
retlen = interpret_dhcpv6(F_DTAIL, data, olen);
prot_prefix = prot_nest_prefix;
prot_nest_prefix = oldnest;
}
break;
case DHCPV6_OPT_AUTH: {
dhcpv6_auth_t d6a;
if (olen < DHCPV6_AUTH_SIZE - sizeof (d6o))
break;
(void) memcpy(&d6a, data - sizeof (d6o),
DHCPV6_AUTH_SIZE);
data += DHCPV6_AUTH_SIZE - sizeof (d6o);
olen += DHCPV6_AUTH_SIZE - sizeof (d6o);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Protocol = %u (%s)", d6a.d6a_proto,
authproto_to_str(d6a.d6a_proto));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Algorithm = %u (%s)", d6a.d6a_alg,
authalg_to_str(d6a.d6a_proto, d6a.d6a_alg));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Replay Detection Method = %u (%s)", d6a.d6a_rdm,
authrdm_to_str(d6a.d6a_rdm));
show_hex(d6a.d6a_replay, sizeof (d6a.d6a_replay),
" RDM Data");
if (olen > 0)
show_hex(data, olen, " Auth Info");
break;
}
case DHCPV6_OPT_UNICAST:
if (olen >= sizeof (in6_addr_t))
show_address(" Server Address", data);
break;
case DHCPV6_OPT_STATUS_CODE:
if (olen < sizeof (val16))
break;
(void) memcpy(&val16, data, sizeof (val16));
val16 = ntohs(val16);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Status Code = %u (%s)", val16,
status_to_str(val16));
data += sizeof (val16);
olen -= sizeof (val16);
if (olen > 0)
(void) snprintf(get_line(0, 0),
get_line_remain(), " Text = \"%.*s\"",
olen, data);
break;
case DHCPV6_OPT_VENDOR_CLASS:
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
data += sizeof (val32);
olen -= sizeof (val32);
val32 = ntohl(val32);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Enterprise Number = %lu (%s)", val32,
entr_to_str(val32));
/* FALLTHROUGH */
case DHCPV6_OPT_USER_CLASS:
while (olen >= sizeof (val16)) {
(void) memcpy(&val16, data, sizeof (val16));
data += sizeof (val16);
olen -= sizeof (val16);
val16 = ntohs(val16);
if (val16 > olen) {
(void) strlcpy(get_line(0, 0),
" Truncated class",
get_line_remain());
val16 = olen;
}
show_hex(data, olen, " Class");
data += val16;
olen -= val16;
}
break;
case DHCPV6_OPT_VENDOR_OPT: {
dhcpv6_option_t sd6o;
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
data += sizeof (val32);
olen -= sizeof (val32);
val32 = ntohl(val32);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Enterprise Number = %lu (%s)", val32,
entr_to_str(val32));
while (olen >= sizeof (sd6o)) {
(void) memcpy(&sd6o, data, sizeof (sd6o));
sd6o.d6o_code = ntohs(sd6o.d6o_code);
sd6o.d6o_len = ntohs(sd6o.d6o_len);
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Vendor Option Code = %u", d6o.d6o_code);
data += sizeof (d6o);
olen -= sizeof (d6o);
if (sd6o.d6o_len > olen) {
(void) strlcpy(get_line(0, 0),
" Vendor Option truncated",
get_line_remain());
sd6o.d6o_len = olen;
}
if (sd6o.d6o_len > 0) {
show_hex(data, sd6o.d6o_len,
" Data");
data += sd6o.d6o_len;
olen -= sd6o.d6o_len;
}
}
break;
}
case DHCPV6_OPT_REMOTE_ID:
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
data += sizeof (val32);
olen -= sizeof (val32);
val32 = ntohl(val32);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Enterprise Number = %lu (%s)", val32,
entr_to_str(val32));
/* FALLTHROUGH */
case DHCPV6_OPT_INTERFACE_ID:
case DHCPV6_OPT_SUBSCRIBER:
if (olen > 0)
show_hex(data, olen, " ID");
break;
case DHCPV6_OPT_RECONF_MSG:
if (olen > 0) {
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Message Type = %u (%s)", *data,
reconf_to_str(*data));
}
break;
case DHCPV6_OPT_SIP_NAMES:
case DHCPV6_OPT_DNS_SEARCH:
case DHCPV6_OPT_NIS_DOMAIN:
case DHCPV6_OPT_BCMCS_SRV_D: {
dhcp_symbol_t *symp;
char *sp2;
symp = inittab_getbycode(
ITAB_CAT_STANDARD | ITAB_CAT_V6, ITAB_CONS_SNOOP,
d6o.d6o_code);
if (symp != NULL) {
str = inittab_decode(symp, data, olen, B_TRUE);
if (str != NULL) {
sp = str;
do {
sp2 = strchr(sp, ' ');
if (sp2 != NULL)
*sp2++ = '\0';
(void) snprintf(get_line(0, 0),
get_line_remain(),
" Name = %s", sp);
} while ((sp = sp2) != NULL);
free(str);
}
free(symp);
}
break;
}
case DHCPV6_OPT_SIP_ADDR:
case DHCPV6_OPT_DNS_ADDR:
case DHCPV6_OPT_NIS_SERVERS:
case DHCPV6_OPT_SNTP_SERVERS:
case DHCPV6_OPT_BCMCS_SRV_A:
while (olen >= sizeof (in6_addr_t)) {
show_address(" Address", data);
data += sizeof (in6_addr_t);
olen -= sizeof (in6_addr_t);
}
break;
case DHCPV6_OPT_IAPREFIX: {
dhcpv6_iaprefix_t d6ip;
if (olen < DHCPV6_IAPREFIX_SIZE - sizeof (d6o))
break;
(void) memcpy(&d6ip, data - sizeof (d6o),
DHCPV6_IAPREFIX_SIZE);
data += DHCPV6_IAPREFIX_SIZE - sizeof (d6o);
olen -= DHCPV6_IAPREFIX_SIZE - sizeof (d6o);
show_address(" Prefix", d6ip.d6ip_addr);
(void) snprintf(get_line(0, 0), get_line_remain(),
" Preferred lifetime = %u seconds",
ntohl(d6ip.d6ip_preflife));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Valid lifetime = %u seconds",
ntohl(d6ip.d6ip_vallife));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Prefix length = %u", d6ip.d6ip_preflen);
nest_options(data, olen, "ADDR: ", "Address");
break;
}
case DHCPV6_OPT_INFO_REFTIME:
if (olen < sizeof (val32))
break;
(void) memcpy(&val32, data, sizeof (val32));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Refresh Time = %lu seconds", ntohl(val32));
break;
case DHCPV6_OPT_GEOCONF_CVC: {
dhcpv6_civic_t d6c;
int solen;
if (olen < DHCPV6_CIVIC_SIZE - sizeof (d6o))
break;
(void) memcpy(&d6c, data - sizeof (d6o),
DHCPV6_CIVIC_SIZE);
data += DHCPV6_CIVIC_SIZE - sizeof (d6o);
olen -= DHCPV6_CIVIC_SIZE - sizeof (d6o);
(void) snprintf(get_line(0, 0), get_line_remain(),
" What Location = %u (%s)", d6c.d6c_what,
cwhat_to_str(d6c.d6c_what));
(void) snprintf(get_line(0, 0), get_line_remain(),
" Country Code = %.*s", sizeof (d6c.d6c_cc),
d6c.d6c_cc);
while (olen >= 2) {
(void) snprintf(get_line(0, 0),
get_line_remain(),
" CA Element = %u (%s)", *data,
catype_to_str(*data));
solen = data[1];
data += 2;
olen -= 2;
if (solen > olen) {
(void) strlcpy(get_line(0, 0),
" CA Element truncated",
get_line_remain());
solen = olen;
}
if (solen > 0) {
show_ascii(data, solen, " CA Data");
data += solen;
olen -= solen;
}
}
break;
}
case DHCPV6_OPT_CLIENT_FQDN: {
dhcp_symbol_t *symp;
if (olen == 0)
break;
(void) snprintf(get_line(0, 0), get_line_remain(),
" Flags = %02x", *data);
(void) snprintf(get_line(0, 0), get_line_remain(),
" %s", getflag(*data, DHCPV6_FQDNF_S,
"Perform AAAA RR updates", "No AAAA RR updates"));
(void) snprintf(get_line(0, 0), get_line_remain(),
" %s", getflag(*data, DHCPV6_FQDNF_O,
"Server override updates",
"No server override updates"));
(void) snprintf(get_line(0, 0), get_line_remain(),
" %s", getflag(*data, DHCPV6_FQDNF_N,
"Server performs no updates",
"Server performs updates"));
symp = inittab_getbycode(
ITAB_CAT_STANDARD | ITAB_CAT_V6, ITAB_CONS_SNOOP,
d6o.d6o_code);
if (symp != NULL) {
str = inittab_decode(symp, data, olen, B_TRUE);
if (str != NULL) {
(void) snprintf(get_line(0, 0),
get_line_remain(),
" FQDN = %s", str);
free(str);
}
free(symp);
}
break;
}
}
data = ostart + d6o.d6o_len;
len -= d6o.d6o_len;
}
if (len != 0) {
(void) strlcpy(get_line(0, 0), "Option entry truncated",
get_line_remain());
}
}
