char *get_current_program_name() {
unsigned char cm[2] = { 0x00, 0x11 };
char *rbuf;
int *rlen, cmret;
unsigned char fname[19];
char *fret = NULL;
if (dodebug) {
printf("get_current_program_name:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to get current program name\n");
if (rbuf) free(rbuf);
return(NULL);
}
memset(&fname, 0, 19);
memcpy(&fname, &rbuf[3], 19);
fret = (char *) strdup(fname);
free(rbuf);
return(fret);
}
int set_brick_name(char *name) {
unsigned char cm[18];
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("set_brick_name %s:\n", name);
}
memset(&cm[0], 0, 18);
cm[0] = (unsigned char) 0x01;
cm[1] = (unsigned char) 0x98;
memcpy(&cm[2], name, strlen(name));
cmret = _do_cmd((char *)&cm, 18, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to set the brick name\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
int get_battery_level() {
char *rbuf;
int *rlen, cmret;
short int slen;
unsigned char cm[2] = { 0x0, 0x0b };
if (dodebug) {
printf("get_battery_level:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
memcpy(&slen, (char **)&rbuf[3], 2);
if (cmret) {
fprintf(stderr, "Failed to get battery level\n");
if (rbuf) free(rbuf);
return(-1);
}
if (dodebug) {
printf("battery %d\n", (int)slen);
}
free(rbuf);
return((int)slen);
}
int _set_output_state(unsigned char port, signed char power, unsigned char mode, unsigned char regulation, signed char ratio, unsigned char runstate, unsigned long tacholimit) {
char *rbuf;
unsigned char cm[13];
int *rlen, cmret;
cm[0] = (unsigned char) 0x00;
cm[1] = (unsigned char) 0x04;
cm[2] = (unsigned char) port;
cm[3] = (signed char) power;
cm[4] = (unsigned char) mode;
cm[5] = (unsigned char) regulation;
cm[6] = (signed char) ratio;
cm[7] = (unsigned char) runstate;
memcpy(&cm[8], &tacholimit, 5);
if (dodebug) {
printf("_set_output_state:\n");
}
cmret = _do_cmd((char *)&cm, 13, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to run _set_output_state command\n");
if (rbuf) free(rbuf);
return(-1);
}
free(rbuf);
return(0);
}
/* one of POLL_BUFFER OR HS_BUFFER */
int poll_command_length(unsigned char bufnum) {
unsigned char cm[3];
char *rbuf;
int *rlen, cmret;
int rret = 0;
cm[0] = (unsigned char) 0x01;
cm[1] = (unsigned char) 0xA1;
cm[2] = (unsigned char) bufnum;
if (dodebug) {
printf("poll_command_length %d:\n", bufnum);
}
cmret = _do_cmd((char *)&cm, 3, (char **)&rbuf, (int *)&rlen, 3);
if (cmret) {
fprintf(stderr, "Failed to poll command length buffer\n");
if (rbuf) free(rbuf);
return(-1);
}
if (dodebug) {
printf("poll_command_length: got extra lengths of %d\n", (int)(rlen - 3));
}
memcpy(&rret, &cm[4], (int)(rlen - 3));
free(rbuf);
return(rret);
}
int poll_command(unsigned char bufnum, unsigned char length, char **buf, int *len) {
unsigned char cm[4] = { 0x01, 0xA2, bufnum, length };
char *rbuf;
int *rlen, cmret;
unsigned char lod;
if (dodebug) {
printf("poll_command %d %d:\n", bufnum, length);
}
cmret = _do_cmd((char *)&cm, 4, (char **)&rbuf, (int *)&rlen, 3);
if (cmret) {
fprintf(stderr, "Failed to poll command\n");
if (rbuf) free(rbuf);
return(-1);
}
lod = (unsigned char) rbuf[4]; /* length of data */
if (dodebug) {
printf("got lod %d\n", lod);
}
*len = (int) lod;
if (dodebug) {
printf("got len %d\n", (int)len);
}
*buf = (char *) malloc((int)len);
memcpy(*buf, &rbuf[5], (int)len);
free(rbuf);
return((int)len);
}
int message_read(unsigned char rinbox, unsigned char linbox, unsigned char remove, unsigned char *inbox, unsigned char *size, unsigned char **data) {
unsigned char cm[256];
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("message_read:\n");
}
cm[0] = (unsigned char) 0x0;
cm[1] = (unsigned char) 0x13;
cm[2] = (unsigned char) rinbox;
cm[3] = (unsigned char) linbox;
cm[4] = (unsigned char) remove; /* remove? non-zero clears message from inbox */
if (dodebug) {
printf("message_read:\n");
}
cmret = _do_cmd((char *)&cm, 5, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to run message_read command\n");
if (rbuf) free(rbuf);
return(-1);
}
*inbox = (unsigned char) cm[3];
*size = (unsigned char) cm[4];
*data = (unsigned char *) malloc((int)size);
memcpy(*data, &cm[5], (int)size);
free(rbuf);
return(0);
}
int message_write(unsigned char inbox, unsigned char size, unsigned char *data) {
unsigned char cm[256];
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("message_write:\n");
}
cm[0] = (unsigned char) 0x0;
cm[1] = (unsigned char) 0x09;
cm[2] = (unsigned char) inbox;
cm[3] = (unsigned char) size;
memcpy(&cm[4], data, (int)size);
if (dodebug) {
printf("message_write:\n");
}
cmret = _do_cmd((char *)&cm, 4+(int)size, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to run message_write command\n");
if (rbuf) free(rbuf);
return(-1);
}
free(rbuf);
return(0);
}
int _get_output_state(unsigned char port, signed char *power, unsigned char *mode, unsigned char *regulation, signed char *ratio, unsigned char *runstate, unsigned long *tacholimit, int *tachocount, int *blocktachocount, int *rotationcount) {
char *rbuf;
unsigned char cm[3] = { 0x0, 0x06, port };
int *rlen, cmret;
unsigned long t1 = 0;
int t2;
if (dodebug) { printf("_set_output_state:\n"); }
cmret = _do_cmd((char *)&cm, 3, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to run _set_output_state command\n");
if (rbuf) free(rbuf);
return(-1);
}
*power = (signed char) rbuf[4];
*mode = (unsigned char) rbuf[5];
*regulation = (unsigned char) rbuf[6];
*ratio = (signed char) rbuf[7];
*runstate = (unsigned char) rbuf[8];
memcpy(&t1, &rbuf[9], 5);
*tacholimit = t1;
memcpy(&t2, &rbuf[13], 4);
*tachocount = t2;
memcpy(&t2, &rbuf[17], 4);
*blocktachocount = t2;
memcpy(&t2, &rbuf[21], 4);
*rotationcount = t2;
free(rbuf);
return(0);
}
int keep_alive() {
unsigned char cm[2] = { 0x00, 0x0D };
char *rbuf;
int *rlen, cmret;
unsigned int sleep = 0;
if (dodebug) {
printf("keep_alive:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to stop sound playback\n");
if (rbuf) free(rbuf);
return(-1);
}
memcpy(&sleep, &rbuf[3], 4);
if (dodebug) {
printf("keep_alive: %d\n", (unsigned int)sleep);
}
free(rbuf);
return((int)sleep);
}
char *get_firmware_version() {
unsigned char cm[2] = { 0x01, 0x88 };
char *rbuf, *bret;
int *rlen, cmret;
if (dodebug) {
printf("get_firmware_version:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to get firmware version");
if (rbuf) free(rbuf);
return(NULL);
}
if (dodebug) {
printf("got rlen %d\n", (int)rlen);
}
bret = (char *) malloc(40);
memset(bret, 0, 40);
sprintf(bret, "Protocol: %u.%u Firmware: %u.%u", (unsigned char)rbuf[4], (unsigned char)rbuf[3], (unsigned char)rbuf[6], (unsigned char)rbuf[5]);
free(rbuf);
return(bret);
}
int _get_device_info(char **name, int *bsignal, int *flash) {
unsigned char cm[2] = { 0x01, 0x9b };
char *rbuf;
int *rlen, cmret;
char nxtname[14], nxtaddr[6];
int bs, fl;
if (dodebug) {
printf("get_device_info:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to get device info\n");
if (rbuf) free(rbuf);
return(-1);
}
if (dodebug) {
printf("got rlen %d\n", (int)rlen);
}
debug_buf(&rbuf[3], 4);
memset(&nxtname, 0, 14);
memset(&nxtaddr, 0, 6);
memcpy(&nxtname, &rbuf[3], 14);
memcpy(&nxtaddr, &rbuf[18], 6);
memcpy(&bs, &rbuf[25], 4);
memcpy(&fl, &rbuf[29], 4);
if (dodebug) {
printf("nxtname %s\n", nxtname);
printf("nxtaddr %s\n", nxtaddr);
printf("bs %d\n", bs);
printf("flash %d\n", fl);
}
*name = malloc(strlen(nxtname)+1);
memset(*name, 0, strlen(nxtname)+1);
memcpy(*name, &nxtname, strlen(nxtname));
*bsignal = bs;
*flash = fl;
free(rbuf);
return(0);
}
static int _find_do(Prefs * prefs, char const * pathname, int cmdc,
char * cmdv[])
{
struct stat st;
if(stat(pathname, &st) != 0) /* XXX TOCTOU, danger of infinite loop */
{
if(errno != ENOENT || *prefs & FIND_PREFS_L
|| stat(pathname, &st) != 0)
return _find_error(pathname, 1);
}
if(_do_cmd(prefs, pathname, &st, cmdc, cmdv) != 0)
return 0;
if(S_ISDIR(st.st_mode))
return _do_dir(prefs, pathname, cmdc, cmdv);
return 0;
}
int stop_sound_playback() {
unsigned char cm[2] = { 0x00, 0x0C };
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("stop_sound_playback:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to stop sound playback\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
int reset_motor_position(unsigned char port, unsigned char relative) {
char *rbuf;
unsigned char cm[4] = { 0x0, 0x0A, port, relative };
int *rlen, cmret;
if (dodebug) {
printf("_set_output_state:\n");
}
cmret = _do_cmd((char *)&cm, 3, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to run _set_output_state command\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
int stop_program() {
unsigned char cm[2] = { 0x00, 0x01 };
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("stop_program:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to stop running program\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
int start_program(char *name) {
char *rbuf;
int *rlen, cmret;
unsigned char cm[22];
if (dodebug) { printf("start_program: %s\n", name); }
memset(&cm, 0, 22);
cm[0] = (unsigned char) 0x0;
cm[1] = (unsigned char) 0x0;
memcpy(&cm[2], name, strlen(name));
cmret = _do_cmd((char *)&cm, 22, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to execute program %s\n", name);
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
/* I have no idea what this does */
int delete_user_flash() {
unsigned char cm[2] = { 0x01, 0xA0 };
char *rbuf;
int *rlen, cmret;
unsigned char ret;
if (dodebug) {
printf("delete_user_flash:\n");
}
cmret = _do_cmd((char *)&cm, 2, (char **)&rbuf, (int *)&rlen, 2);
ret = (unsigned char) rbuf[0];
free(rbuf);
if (cmret) {
fprintf(stderr, "Failed to delete user flash\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
/*
* HZ range 200 - 14000
* Duration uword ms
*/
int play_tone(short int hz, short int duration) {
unsigned char cm[6] = { 0x00, 0x03 };
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("play_tone:\n");
}
memcpy(&cm[2], &hz, 2);
memcpy(&cm[4], &duration, 2);
cmret = _do_cmd((char *)&cm, 6, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to play tone at hz %d duration %d\n", hz, duration);
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
int play_sound_file(int boolean, char *name) {
unsigned char cm[23];
char *rbuf;
int *rlen, cmret;
if (dodebug) {
printf("play_sound_file:\n");
}
memset(&cm, 0, 23);
cm[0] = (unsigned char) 0x0;
cm[1] = (unsigned char) 0x02;
cm[2] = (unsigned char) boolean; /* loop indefinitely? */
memcpy(&cm[3], name, strlen(name));
cmret = _do_cmd((char *)&cm, 23, (char **)&rbuf, (int *)&rlen, 2);
if (cmret) {
fprintf(stderr, "Failed to play sound file\n");
if (rbuf) free(rbuf);
return(-1);
}
if (rbuf) free(rbuf);
return(0);
}
