void SEND_UART (uint16_t time)
{
static uint16_t ticker = 0;
if ((uint16_t)(ticker+time)== GetTicker())
{
ticker = GetTicker();
SENDDATA(PID_VELO_HOLD.set_point,txbuffer,0);
SENDDATA(PID_VELO_HOLD.feedback,txbuffer,1);
SENDDATA(PID_TILT.set_point,txbuffer,2);
SENDDATA(PID_TILT.feedback,txbuffer,3);
SENDDATA(Left_motor.U0_100,txbuffer,4);
}
}
/**
* Main request handling loop
*
* @return 0 on success, err code on failure
*/
int go(void) {
int i;
int res;
uint32_t tmp = 0;
uint32_t *seed;
char *resend;
size_t tosend;
size_t offset;
uint32_t *f;
init_fs();
debug("fs init complete\n");
if (!READDATATIMEOUT(conf)) {
debug("failed to recv conf\n");
res = 0;
SENDDATA(res);
return 3;
}
if (conf.min_ver > VERSION || conf.max_ver < VERSION) {
debug("version mismatch\n");
res = 0;
SENDDATA(res);
return 5;
}
//send success ack
res = 1;
SENDDATA(res);
//seed our PRNG
//because of how it works, seeding with 0's == no encryption
seed = (uint32_t*)(FLAG_PAGE + (8*sizeof(uint32_t)));
f = malloc(8*sizeof(uint32_t));
if (!f)
return 1;
cgc_memcpy(f, seed, 8*sizeof(uint32_t));
if (!conf.encrypt)
seed = calloc(8*sizeof(uint32_t));
srand(seed);
//inform client of seed
for (i = 0; i < 8; i+=2) {
if (conf.encrypt)
tmp = f[i]^f[i+1];
SENDDATA(tmp);
}
#ifdef PATCHED_1
cgc_memset(f, '\0', 8*sizeof(uint32_t));
#endif
debug("flag data: @h\n",f);
free(f);
while (1) {
res = process_req();
if (res == ERR || res == EXIT) {
break;
} else if (res == DISCON && conf.allow_reconnect && last) {
debug("disconnected, retrying\n");
if (!READDATATIMEOUT(conf)) {
debug("failed to recv conf\n");
return 3;
}
if (!last)
continue;
debug("Allocating resend buffer of @h bytes.\n",conf.buf_size+sizeof(resp_t));
#ifdef PATCHED_1
resend = calloc(conf.buf_size+sizeof(resp_t));
#else
resend = malloc(conf.buf_size+sizeof(resp_t));
#endif
debug("resend data: @h\n",resend);
if (!READDATA(offset)) {
debug("failed to recv offset\n");
return 4;
}
tosend = sizeof(resp_t)-offset;
tosend = tosend > sizeof(resp_t) ? sizeof(resp_t) : tosend;
if (offset > conf.buf_size || offset > sizeof(resp_t)
#ifdef PATCHED_1
|| tosend > (conf.buf_size+sizeof(resp_t))
#endif
) {
debug("failed to validate offset.\n");
return 1;
} else {
debug("copying last out\n");
cgc_memcpy(resend, last+offset, sizeof(resp_t)-offset);
}
#ifdef PATCHED_1
if (tosend != esendall(stdout, resend, tosend))
#else
if (tosend != esendall(stdout, resend, sizeof(resp_t)))
#endif
return 4;
debug("Resent all, should be back!\n");
free(resend);
free(last);
last = NULL;
}
}
return 0;
}
