static QDBusMessage propertyWriteReply(const QDBusMessage &msg, const QString &interface_name,
const QByteArray &property_name, int status)
{
switch (status) {
case PropertyNotFound:
return propertyNotFoundError(msg, interface_name, property_name);
case PropertyTypeMismatch:
return msg.createErrorReply(QDBusError::InvalidArgs,
QString::fromLatin1("Invalid arguments for writing to property %1%2%3")
.arg(interface_name,
QString::fromLatin1(interface_name.isEmpty() ? "" : "."),
QString::fromLatin1(property_name)));
case PropertyReadOnly:
return msg.createErrorReply(QDBusError::PropertyReadOnly,
QString::fromLatin1("Property %1%2%3 is read-only")
.arg(interface_name,
QString::fromLatin1(interface_name.isEmpty() ? "" : "."),
QString::fromLatin1(property_name)));
case PropertyWriteFailed:
return msg.createErrorReply(QDBusError::InternalError,
QString::fromLatin1("Internal error"));
case PropertyWriteSuccess:
return msg.createReply();
}
Q_ASSERT_X(false, "", "Should not be reached");
return QDBusMessage();
}
Values AsebaNetworkInterface::GetVariable(const QString& node, const QString& variable, const QDBusMessage &message)
{
// make sure the node exists
NodesNamesMap::const_iterator nodeIt(nodesNames.find(node));
if (nodeIt == nodesNames.end())
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node)));
return Values();
}
const unsigned nodeId(nodeIt.value());
unsigned pos(unsigned(-1));
unsigned length(unsigned(-1));
// check whether variable is user-defined
const UserDefinedVariablesMap::const_iterator userVarMapIt(userDefinedVariablesMap.find(node));
if (userVarMapIt != userDefinedVariablesMap.end())
{
const VariablesMap& userVarMap(userVarMapIt.value());
const VariablesMap::const_iterator userVarIt(userVarMap.find(variable.toStdWString()));
if (userVarIt != userVarMap.end())
{
pos = userVarIt->second.first;
length = userVarIt->second.second;
}
}
// if variable is not user-defined, check whether it is provided by this node
if (pos == unsigned(-1))
{
bool ok1, ok2;
pos = getVariablePos(nodeId, variable.toStdWString(), &ok1);
length = getVariableSize(nodeId, variable.toStdWString(), &ok2);
if (!(ok1 && ok2))
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("variable %0 does not exists in node %1").arg(variable).arg(node)));
return Values();
}
}
// send request to aseba network
{
GetVariables msg(nodeId, pos, length);
hub->sendMessage(msg);
}
// build bookkeeping for async reply
RequestData *request = new RequestData;
request->nodeId = nodeId;
request->pos = pos;
message.setDelayedReply(true);
request->reply = message.createReply();
pendingReads.push_back(request);
return Values();
}
static inline QDBusMessage interfaceNotFoundError(const QDBusMessage &msg, const QString &interface_name)
{
return msg.createErrorReply(QDBusError::UnknownInterface,
QString::fromLatin1("Interface %1 was not found in object %2")
.arg(interface_name)
.arg(msg.path()));
}
void MumbleDBus::getCurrentUrl(const QDBusMessage &msg) {
if (!g.sh || !g.sh->isRunning() || ! g.uiSession) {
QDBusConnection::sessionBus().send(msg.createErrorReply(QLatin1String("net.sourceforge.mumble.Error.connection"), QLatin1String("Not connected")));
return;
}
QString host, user, pw;
unsigned short port;
QUrl u;
g.sh->getConnectionInfo(host, port, user, pw);
u.setScheme(QLatin1String("mumble"));
u.setHost(host);
u.setPort(port);
u.setUserName(user);
#if QT_VERSION >= 0x050000
QUrlQuery query;
query.addQueryItem(QLatin1String("version"), QLatin1String("1.2.0"));
u.setQuery(query);
#else
u.addQueryItem(QLatin1String("version"), QLatin1String("1.2.0"));
#endif
QStringList path;
Channel *c = ClientUser::get(g.uiSession)->cChannel;
while (c->cParent) {
path.prepend(c->qsName);
c = c->cParent;
}
u.setPath(path.join(QLatin1String("/")));
QDBusConnection::sessionBus().send(msg.createReply(QString::fromLatin1(u.toEncoded())));
}
void AsebaNetworkInterface::SendEventName(const QString& name, const Values& data, const QDBusMessage &message)
{
size_t event;
if (commonDefinitions.events.contains(name.toStdWString(), &event))
SendEvent(event, data);
else
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("no event named %0").arg(name)));
}
void EventFilterInterface::IgnoreEventName(const QString& name, const QDBusMessage &message)
{
size_t event;
if (network->commonDefinitions.events.contains(name.toStdWString(), &event))
network->ignoreEvent(this, event);
else
network->DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("no event named %0").arg(name)));
}
void MumbleDBus::getTalkingUsers(const QDBusMessage &msg) {
if (!g.sh || !g.sh->isRunning() || ! g.uiSession) {
QDBusConnection::sessionBus().send(msg.createErrorReply(QLatin1String("net.sourceforge.mumble.Error.connection"), QLatin1String("Not connected")));
return;
}
QStringList names;
foreach(ClientUser *cu, ClientUser::getTalking()) {
names.append(cu->qsName);
}
QString AsebaNetworkInterface::GetNodeName(const quint16 nodeId, const QDBusMessage &message) const
{
const QString nodeName(QString::fromStdWString(getNodeName(nodeId)));
if (nodeName.isEmpty())
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(nodeId)));
return 0;
}
return nodeName;
}
bool AsebaNetworkInterface::IsConnected(const QString& node, const QDBusMessage &message) const
{
NodesNamesMap::const_iterator nodeIt(nodesNames.find(node));
if (nodeIt == nodesNames.end())
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node)));
return 0;
}
return nodes.find(nodeIt.value())->second.connected;
}
void MumbleDBus::openUrl(const QString &url, const QDBusMessage &msg) {
QUrl u = QUrl::fromEncoded(url.toLatin1());
bool valid = u.isValid();
valid = valid && (u.scheme() == QLatin1String("mumble"));
if (! valid) {
QDBusConnection::sessionBus().send(msg.createErrorReply(QLatin1String("net.sourceforge.mumble.Error.url"), QLatin1String("Invalid URL")));
} else {
g.mw->openUrl(u);
}
}
static inline QDBusMessage
propertyNotFoundError(const QDBusMessage &msg, const QString &interface_name, const QByteArray &property_name)
{
return msg.createErrorReply(QDBusError::UnknownProperty,
QString::fromLatin1("Property %1%2%3 was not found in object %4")
.arg(interface_name,
QString::fromLatin1(interface_name.isEmpty() ? "" : "."),
QString::fromLatin1(property_name),
msg.path()));
}
QScriptValue QScriptDBusMessageConstructor::createErrorReply(QScriptContext *context, QScriptEngine *engine)
{
if (context->argumentCount() != 2)
return engine->nullValue();
QDBusMessage msg;
scriptValueToMessage(context->thisObject(), msg);
QString name = context->argument(0).toString();
QString errMsg = context->argument(1).toString();
return messageToScriptValue(engine, msg.createErrorReply(name, errMsg));
}
void AsebaNetworkInterface::SetVariable(const QString& node, const QString& variable, const Values& data, const QDBusMessage &message) const
{
// make sure the node exists
NodesNamesMap::const_iterator nodeIt(nodesNames.find(node));
if (nodeIt == nodesNames.end())
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("node %0 does not exists").arg(node)));
return;
}
const unsigned nodeId(nodeIt.value());
unsigned pos(unsigned(-1));
// check whether variable is user-defined
const UserDefinedVariablesMap::const_iterator userVarMapIt(userDefinedVariablesMap.find(node));
if (userVarMapIt != userDefinedVariablesMap.end())
{
const VariablesMap& userVarMap(userVarMapIt.value());
const VariablesMap::const_iterator userVarIt(userVarMap.find(variable.toStdWString()));
if (userVarIt != userVarMap.end())
{
pos = userVarIt->second.first;
}
}
// if variable is not user-defined, check whether it is provided by this node
if (pos == unsigned(-1))
{
bool ok;
pos = getVariablePos(nodeId, variable.toStdWString(), &ok);
if (!ok)
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("variable %0 does not exists in node %1").arg(variable).arg(node)));
return;
}
}
SetVariables msg(nodeId, pos, toAsebaVector(data));
hub->sendMessage(msg);
}
static QDBusMessage propertyWriteReply(const QDBusMessage &msg, const QString &interface_name,
const QByteArray &property_name, int status)
{
switch (status) {
case PropertyNotFound:
return propertyNotFoundError(msg, interface_name, property_name);
case PropertyTypeMismatch:
return msg.createErrorReply(QDBusError::InvalidArgs,
QString::fromLatin1("Invalid arguments for writing to property %1%2%3")
.arg(interface_name,
QString::fromLatin1(interface_name.isEmpty() ? "" : "."),
QString::fromLatin1(property_name)));
case PropertyWriteFailed:
return msg.createErrorReply(QDBusError::InternalError,
QString::fromLatin1("Internal error"));
case PropertyWriteSuccess:
return msg.createReply();
}
Q_UNREACHABLE();
}
void DeviceInterface::DisconnectProfile(const QString &uuid, const QDBusMessage &msg)
{
if (!uuids().contains(uuid)) {
QDBusMessage error = msg.createErrorReply(QStringLiteral("org.bluez.Error.DoesNotExist"), QStringLiteral("Profile UUID not supported"));
QDBusConnection::sessionBus().send(error);
return;
}
if (!m_connectedUuids.contains(uuid)) {
QDBusMessage error = msg.createErrorReply(QStringLiteral("org.bluez.Error.NotConnected"), QStringLiteral("Profile not connected"));
QDBusConnection::sessionBus().send(error);
return;
}
if (uuid == MediaPlayerUuid) {
disconnectMediaPlayer();
} else {
Q_UNIMPLEMENTED();
}
Object::changeProperty(QStringLiteral("Connected"), false);
}
void Thymio2Interface::SetButton(unsigned number, bool value, const QDBusMessage &message)
{
if (!enkiWorldInterface->isPointerValid(thymio))
return;
if (number > 4)
{
QDBusConnection::sessionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("Button number %0 does not exist on Thymio II, it only has 5 buttons numbered from 0 to 4.").arg(number)));
return;
}
const int16_t bValue(value ? 1 : 0);
int16_t* memoryValue(&thymio->variables.buttonBackward + number);
if (bValue != *memoryValue)
{
*memoryValue = bValue;
thymio->execLocalEvent(AsebaThymio2::EVENT_B_BACKWARD + number);
}
}
void QBluetoothPasskeyAgent_Private::Confirm(const QString &path,
const QString &address,
const QString &value,
const QDBusMessage &msg)
{
QString devname = path.mid(11);
QBluetoothAddress addr(address);
msg.setDelayedReply(true);
QDBusMessage reply;
if (m_parent->confirmPasskey(devname, addr, value)) {
reply = msg.createReply();
}
else {
reply = msg.createErrorReply("org.bluez.Error.Rejected", "Rejected");
}
QDBusConnection::systemBus().send(reply);
}
void QBluetoothPasskeyAgent_Private::Request(const QString &path,
const QString &address,
const QDBusMessage &msg)
{
QString devname = path.mid(11);
QBluetoothAddress addr(address);
QBluetoothPasskeyRequest req(devname, addr);
m_parent->requestPasskey(req);
msg.setDelayedReply(true);
QDBusMessage reply;
if (req.isRejected()) {
reply = msg.createErrorReply("org.bluez.Error.Rejected", "Rejected");
}
else {
reply = msg.createReply(req.passkey());
}
QDBusConnection::systemBus().send(reply);
}
QDBusObjectPath EnkiWorldInterface::PhysicalObject(QString number, const QDBusMessage &message)
{
const World* world(playground->getWorld());
for (World::ObjectsIterator it(world->objects.begin()); it != world->objects.end(); ++it)
{
if (ptrToString(*it) == number)
{
QDBusObjectPath path(QString("/world/objects/%0").arg(number));
// interface to Enki's physical object
QDBusConnection::sessionBus().registerObject(path.path(), new PhysicalObjectInterface(this, *it), QDBusConnection::ExportAllContents);
// if robot is Thymio2, provide robot-specific interface
AsebaThymio2* thymio2(dynamic_cast<AsebaThymio2*>(*it));
qDebug() << "thymio" << thymio2;
if (thymio2)
QDBusConnection::sessionBus().registerObject(path.path() + "/thymio2", new Thymio2Interface(this, thymio2), QDBusConnection::ExportAllContents);
return path;
}
}
QDBusConnection::sessionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("object %0 does not exists").arg(number)));
return QDBusObjectPath("/");
}
void AsebaNetworkInterface::LoadScripts(const QString& fileName, const QDBusMessage &message)
{
QFile file(fileName);
if (!file.open(QFile::ReadOnly))
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::InvalidArgs, QString("file %0 does not exists").arg(fileName)));
return;
}
QDomDocument document("aesl-source");
QString errorMsg;
int errorLine;
int errorColumn;
if (!document.setContent(&file, false, &errorMsg, &errorLine, &errorColumn))
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::Other, QString("Error in XML source file: %0 at line %1, column %2").arg(errorMsg).arg(errorLine).arg(errorColumn)));
return;
}
commonDefinitions.events.clear();
commonDefinitions.constants.clear();
userDefinedVariablesMap.clear();
int noNodeCount = 0;
QDomNode domNode = document.documentElement().firstChild();
// FIXME: this code depends on event and contants being before any code
bool wasError = false;
while (!domNode.isNull())
{
if (domNode.isElement())
{
QDomElement element = domNode.toElement();
if (element.tagName() == "node")
{
bool ok;
const unsigned nodeId(getNodeId(element.attribute("name").toStdWString(), element.attribute("nodeId", 0).toUInt(), &ok));
if (ok)
{
std::wistringstream is(element.firstChild().toText().data().toStdWString());
Error error;
BytecodeVector bytecode;
unsigned allocatedVariablesCount;
Compiler compiler;
compiler.setTargetDescription(getDescription(nodeId));
compiler.setCommonDefinitions(&commonDefinitions);
bool result = compiler.compile(is, bytecode, allocatedVariablesCount, error);
if (result)
{
typedef std::vector<Message*> MessageVector;
MessageVector messages;
sendBytecode(messages, nodeId, std::vector<uint16>(bytecode.begin(), bytecode.end()));
for (MessageVector::const_iterator it = messages.begin(); it != messages.end(); ++it)
{
hub->sendMessage(*it);
delete *it;
}
Run msg(nodeId);
hub->sendMessage(msg);
}
else
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::Failed, QString::fromStdWString(error.toWString())));
wasError = true;
break;
}
// retrieve user-defined variables for use in get/set
userDefinedVariablesMap[element.attribute("name")] = *compiler.getVariablesMap();
}
else
noNodeCount++;
}
else if (element.tagName() == "event")
{
const QString eventName(element.attribute("name"));
const unsigned eventSize(element.attribute("size").toUInt());
if (eventSize > ASEBA_MAX_EVENT_ARG_SIZE)
{
DBusConnectionBus().send(message.createErrorReply(QDBusError::Failed, QString("Event %1 has a length %2 larger than maximum %3").arg(eventName).arg(eventSize).arg(ASEBA_MAX_EVENT_ARG_SIZE)));
wasError = true;
break;
}
else
{
commonDefinitions.events.push_back(NamedValue(eventName.toStdWString(), eventSize));
}
}
else if (element.tagName() == "constant")
{
commonDefinitions.constants.push_back(NamedValue(element.attribute("name").toStdWString(), element.attribute("value").toInt()));
}
}
domNode = domNode.nextSibling();
}
// check if there was an error
if (wasError)
{
std::wcerr << QString("There was an error while loading script %1").arg(fileName).toStdWString() << std::endl;
commonDefinitions.events.clear();
commonDefinitions.constants.clear();
userDefinedVariablesMap.clear();
}
// check if there was some matching problem
if (noNodeCount)
{
std::wcerr << QString("%0 scripts have no corresponding nodes in the current network and have not been loaded.").arg(noNodeCount).toStdWString() << std::endl;
}
}
