/** Try to get the ticket for the local site.
* */
int do_grant_ticket(struct ticket_config *tk, int options)
{
int rv;
tk_log_info("granting ticket");
if (tk->leader == local)
return RLT_SUCCESS;
if (is_owned(tk))
return RLT_OVERGRANT;
set_future_time(&tk->delay_commit, tk->term_duration + tk->acquire_after);
if (options & OPT_IMMEDIATE) {
tk_log_warn("granting ticket immediately! If there are "
"unreachable sites, _hope_ you are sure that they don't "
"have the ticket!");
time_reset(&tk->delay_commit);
}
rv = acquire_ticket(tk, OR_ADMIN);
if (rv) {
time_reset(&tk->delay_commit);
return rv;
} else {
return RLT_MORE;
}
}
int main(int argc, char **argv) {
pcap_t *fh;
char errbuf[PCAP_ERRBUF_SIZE];
u_char* args = NULL;
struct timeval time;
struct in_addr peer_ip;
if (argc < 4) {
printf("Usage: %s <input pcap file> <netflow ip> <netflow port>\n", argv[0]);
return -1;
}
inet_aton(argv[2], &peer_ip);
nf_init_peer(&nf_peer, &peer_ip, atoi(argv[3]));
fh = pcap_open_offline(argv[1], errbuf);
if (fh == NULL) {
printf("Failed to open %s: %s\n", argv[1], errbuf);
return -1;
}
memset(ftable, 0, sizeof(ftable));
time_reset();
pcap_loop(fh, -1, handle_packet, args);
/* Dump reamining flow record */
flow_expire(&nf_peer, &flowcache, ftable, time_sysuptime() + FLOW_TIMER);
return 0;
}
/* is it safe to commit the grant?
* if we didn't hear from all sites on the initial grant, we may
* need to delay the commit
*
* TODO: investigate possibility to devise from history whether a
* missing site could be holding a ticket or not
*/
static int ticket_dangerous(struct ticket_config *tk)
{
int tdiff;
/* we may be invoked often, don't spam the log unnecessarily
*/
static int no_log_delay_msg;
if (!is_time_set(&tk->delay_commit))
return 0;
if (is_past(&tk->delay_commit) || all_sites_replied(tk)) {
if (tk->leader == local) {
tk_log_info("%s, committing to CIB",
is_past(&tk->delay_commit) ?
"ticket delay expired" : "all sites replied");
}
time_reset(&tk->delay_commit);
no_log_delay_msg = 0;
return 0;
}
tdiff = time_left(&tk->delay_commit);
tk_log_debug("delay ticket commit for another " intfmt(tdiff));
if (!no_log_delay_msg) {
tk_log_info("delaying ticket commit to CIB for " intfmt(tdiff));
tk_log_info("(or all sites are reached)");
no_log_delay_msg = 1;
}
return 1;
}
static void won_elections(struct ticket_config *tk)
{
set_leader(tk, local);
set_state(tk, ST_LEADER);
set_ticket_expiry(tk, tk->term_duration);
time_reset(&tk->election_end);
tk->voted_for = NULL;
if (is_time_set(&tk->delay_commit) && all_sites_replied(tk)) {
time_reset(&tk->delay_commit);
tk_log_debug("reset delay commit as all sites replied");
}
save_committed_tkt(tk);
ticket_broadcast(tk, OP_HEARTBEAT, OP_ACK, RLT_SUCCESS, 0);
tk->ticket_updated = 0;
}
/** Try to get the ticket for the local site.
* */
int do_grant_ticket(struct ticket_config *tk, int options)
{
int rv;
tk_log_info("granting ticket");
if (tk->leader == local)
return RLT_SUCCESS;
if (is_owned(tk)) {
if (is_manual(tk) && (options & OPT_IMMEDIATE)) {
/* -F flag has been used while granting a manual ticket.
* The ticket will be granted and may end up being granted
* on multiple sites */
tk_log_warn("manual ticket forced to be granted! be aware that "
"you may end up having two sites holding the same manual "
"ticket! revoke the ticket from the unnecessary site!");
} else {
return RLT_OVERGRANT;
}
}
set_future_time(&tk->delay_commit, tk->term_duration + tk->acquire_after);
if (options & OPT_IMMEDIATE) {
tk_log_warn("granting ticket immediately! If there are "
"unreachable sites, _hope_ you are sure that they don't "
"have the ticket!");
time_reset(&tk->delay_commit);
}
rv = acquire_ticket(tk, OR_ADMIN);
if (rv) {
time_reset(&tk->delay_commit);
return rv;
} else {
return RLT_MORE;
}
}
static void become_follower(struct ticket_config *tk,
struct boothc_ticket_msg *msg)
{
copy_ticket_from_msg(tk, msg);
set_state(tk, ST_FOLLOWER);
time_reset(&tk->delay_commit);
tk->in_election = 0;
/* if we're following and the ticket was granted here
* then commit to CIB right away (we're probably restarting)
*/
if (tk->is_granted) {
disown_ticket(tk);
ticket_write(tk);
}
}
// Runs through an automatic calibration sequence
void auto_calibrate()
{
time_reset();
set_motors(60, -60);
while(get_ms() < 250)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(-60, 60);
while(get_ms() < 750)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(60, -60);
while(get_ms() < 1000)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(0, 0);
serial_send_blocking("c",1);
}
void auto_test_sensor_range()
{
clear();
print("AutoTest");
lcd_goto_xy(0,1);
print("B");
while(!button_is_pressed(BUTTON_B));
while(button_is_pressed(ALL_BUTTONS));
delay_ms(300);
clear();
// Auto calibrate with IR on
time_reset();
set_motors(20, -20);
while(get_ms() < 650)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(-20, 20);
while(get_ms() < 1950)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(20, -20);
while(get_ms() < 2600)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(0, 0);
unsigned int * maximum_calibration_values = get_line_sensors_calibrated_maximum_on();
unsigned int * minimum_calibration_values = get_line_sensors_calibrated_minimum_on();
unsigned char k;
unsigned char readings_ok = 1;
unsigned char ok_array[5] = {'G','G','G','G','G'};
for (k=0;k<5;k++)
{
if ((maximum_calibration_values[k] - minimum_calibration_values[k]) > 1000)
{
if ((minimum_calibration_values[k] * 2) < maximum_calibration_values[k])
{
if (minimum_calibration_values[k] < 1600)
{
continue;
}
else
{
ok_array[k] = 'H';
}
}
else
{
ok_array[k] = 'M';
}
}
else
{
ok_array[k] = 'R';
}
readings_ok = 0;
}
if (!readings_ok)
{
clear();
print("QTR FAIL");
lcd_goto_xy(0,1);
for (k=0;k<5;k++)
{
print_character(ok_array[k]);
}
print(" C ");
while(!button_is_pressed(BUTTON_C));
while(button_is_pressed(ALL_BUTTONS));
}
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned char outputs = 0x80; // binary: 10000000
unsigned char direction = 0;
unsigned char button;
red_led(0); // turn red and green LEDs off
green_led(0);
clear(); // clear the LCD
print("User I/O");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // PC0 - PC5 -> high impedance inputs
DDRD &= ~0x03; // clear PD0 & PD1 bits (make them inputs)
PORTD &= ~0x03; // PD0 & PD1 -> high impedance inputs
PORTC |= ~outputs >> 2; // set the outputs states of PC0 - PC5
DDRC |= outputs >> 2; // make low pin an output (inputs for rest)
PORTD |= ~outputs & 0x03; // set the output states of PD0 and PD1
DDRD |= outputs & 0x03; // make low pin an output (inputs for rest)
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputs = PIND & 0x03; // store PD0 and PD1 input vals
inputs |= PINC << 2; // store PC0 - PC5 input values
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print_binary(inputs); // print the "input" byte in binary
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // disable pull-ups on PC0 - PC5
DDRD &= ~0x03; // make PD0 and PD1 inputs
PORTD &= ~0x03; // disable pull-ups on PD0 and PD1
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x80) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}
// *** triggered by top button ***
// This function plays a melody from flash in the background while the two
// user LEDs alternately fade in and out.
unsigned char melodyTest()
{
unsigned char button;
int i = 0;
// the following function does not block execution
play_from_program_space(fugue); // play music from flash in the background
red_led(0); // turn red and green LEDs off
green_led(0);
clear(); // clear the LCD, go to the start of the first LCD line
print("melody:"); // print to the LCD
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print("fugue"); // print to the LCD
time_reset(); // reset the internal millisecond timer count to zero
while (1) // loop here until we detect a button press and return
{
if (get_ms() >= 5) // if 5 or more milliseconds have elapsed
{
time_reset(); // reset timer count to zero
// check if middle or bottom buttons have been pressed
button = button_is_pressed(MIDDLE_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, stop melody and return the button ID
{
stop_playing(); // stop playing music
return button;
}
i += 5; // increase our state variable based on the time
if (i >= 1000) // once a second has elapsed, reset the state var
i = 0;
}
// the following code alternately flashes the red and green LEDs,
// fading them in and out over time as the music plays in the
// background. This is accomplished by using high-frequency PWM
// signals on the LED lines. Essentially, each LED is flickering
// on and off very quickly, which gives it the apperance of variable
// brightness depending on the percentage of the cycle the LED is on.
// Each LED flicker cycle takes a total approximately 251 us.
if (i < 250) // phase 1: ramp up the red LED brightness
{ // as i increases over time
red_led(1); // turn the red LED on
delay_us(i + 1); // microsecond delay
red_led(0); // turn the red LED off
delay_us(250 - i); // microsecond delay
}
else if (i < 500) // phase 2: ramp down the red LED brightness
{
red_led(1); // turn the red LED on
delay_us(500 - i); // microsecond delay
red_led(0); // turn the red LED off
delay_us(i - 249); // microsecond delay
}
else if (i < 750) // phase 3: ramp up the green LED brightness
{
green_led(1); // turn the green LED on
delay_us(i - 499); // microsecond delay
green_led(0); // turn the green LED off
delay_us(750 - i); // microsecond delay
}
else // phase 4: ramp down the green LED brightness
{
green_led(1); // turn the green LED on
delay_us(1000 - i); // microsecond delay
green_led(0); // turn the green LED off
delay_us(i - 749); // microsecond delay
}
}
}
int main()
{
char buffer[20];
// load the bar graph
load_custom_characters();
// configure serial clock for 115.2 kbaud
serial_set_baud_rate(115200);
// wait for the device to show up
while(1)
{
clear();
print("Master");
delay_ms(100);
serial_send("\x81",1);
if(serial_receive_blocking(buffer, 6, 50))
continue;
clear();
print("Connect");
lcd_goto_xy(0,1);
buffer[6] = 0;
print(buffer);
// clear the slave's LCD and display "Connect" and "OK" on two lines
// Put OK in the center to test x-y positioning
slave_clear();
slave_print("Connect");
slave_lcd_goto_xy(3,1);
slave_print("OK");
// play a tune
char tune[] = "\xB3 l16o6gab>c";
tune[1] = sizeof(tune)-3;
serial_send_blocking(tune,sizeof(tune)-1);
// wait
wait_for_button(ANY_BUTTON);
// reset calibration
slave_reset_calibration();
time_reset();
slave_auto_calibrate();
unsigned char speed1 = 0, speed2 = 0;
// read sensors in a loop
while(1)
{
serial_send("\x87",1); // returns calibrated sensor values
// read 10 characters
if(serial_receive_blocking(buffer, 10, 100))
break;
// get the line position
serial_send("\xB6", 1);
int line_position[1];
if(serial_receive_blocking((char *)line_position, 2, 100))
break;
// get the battery voltage
serial_send("\xB1",1);
// read 2 bytes
int battery_millivolts[1];
if(serial_receive_blocking((char *)battery_millivolts, 2, 100))
break;
// display readings
display_levels((unsigned int*)buffer);
lcd_goto_xy(5,0);
line_position[0] /= 4; // to get it into the range of 0-1000
if(line_position[0] == 1000)
line_position[0] = 999; // to keep it to a maximum of 3 characters
print_long(line_position[0]);
print(" ");
lcd_goto_xy(0,1);
print_long(battery_millivolts[0]);
print(" mV ");
delay_ms(10);
// if button A is pressed, increase motor1 speed
if(button_is_pressed(BUTTON_A) && speed1 < 127)
speed1 ++;
else if(speed1 > 1)
speed1 -= 2;
else if(speed1 > 0)
speed1 = 0;
// if button C is pressed, control motor2
if(button_is_pressed(BUTTON_C) && speed2 < 127)
speed2 ++;
else if(speed2 > 1)
speed2 -= 2;
else if(speed2 > 0)
speed2 = 0;
// if button B is pressed, do PID control
if(button_is_pressed(BUTTON_B))
slave_set_pid(40, 1, 20, 3, 2);
else
{
slave_stop_pid();
slave_set_motors(speed1, speed2);
}
}
}
while(1);
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned int outputs = 0x8000; // binary: 10000000 00000000
unsigned char *outputsA = (unsigned char *)&outputs; // pointer to low byte of outputs
unsigned char *outputsD = outputsA + 1; // pointer to high byte of outputs
unsigned char direction = 0;
unsigned char button;
red_led(1);
green_led(1);
clear(); // clear the LCD
print("User I/O");
lcd_goto_xy(0, 1);
print("DDDDDDDD AAAAAAAA");
lcd_goto_xy(0, 2);
print("76543210 76543210");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
PORTD |= ~(*outputsD);
DDRD |= *outputsD;
PORTA |= (~(*outputsA)) & 0x3F;
DDRA |= *outputsA & 0x3F; // never make PA6 and PA7 outputs
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputsA = PINA;
unsigned char inputsD = PIND;
lcd_goto_xy(0, 3); // go to the start of the fourth LCD line
print_binary(inputsD); // print the "input" byte in binary
print(" ");
print_binary(inputsA);
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x8000) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}
