/*****************************************
tcp/ip 数据发送
入口参数：data 数据buffer地址
len 长度 最大GTM900C_TCPIP_SEND_DATALEN_MAX
link_num 多连接模式时链接序号 单链接模式不起作用，可赋值0
返回参数：正确返回0
*******************************************/
s8 gtm900c_tcpip_send(u8 *data, u16 len, u8 link_num)
{
u8 databuf[GTM900C_TCPIP_SEND_DATALEN_MAX*2+15];
u16 databuf_len;
// memset(buf, 0, GTM900C_TCPIP_SEND_DATALEN_MAX*2);
if(len > GTM900C_TCPIP_SEND_DATALEN_MAX) return 1;
//选择单\多链接，发送
if(GTM900C_TCPIP_IOMODE & 0x02)
{
strcpy(databuf, "AT%IPSENDX=");
}
else
{
strcpy(databuf, "AT%IPSEND=");
}
databuf_len = strlen(databuf);
//数据转换
if(GTM900C_TCPIP_IOMODE & 0x01)
{
databuf_len += hex_to_ascii(data, databuf+databuf_len, len);
}
else
{
memcpy(databuf+databuf_len, data, len);
databuf_len += len;
}
databuf[databuf_len++] = '\r';
databuf[databuf_len++] = '\0';
at_send_data(databuf, databuf_len);
at_return_data(databuf, 4);
if(check_string(databuf, "OK", 4)) return 0;
else return 2;
}
static void show_buf()
{
uint32_t i;
for(i = 0; i < SIZE_BUF; i++)
{
write_uart(hex_to_ascii(buf[i] & 0xF0) >> 4);
write_uart(hex_to_ascii(buf[i] & 0x0F));
write_uart(i%16==0 ? '\n' : ' ');
}
writeln_uart("######\n\r");
}
/*
* \brief Returns ascii string from a number in mpz_t form.
*
* \param output_str A pointer to the output string.
* \param input The number to convert to ascii.
*/
void
mpz_get_ascii(char *output_str, mpz_t input)
{
int i,j;
char *result_str;
result_str = mpz_get_str(NULL, HEX_BASE, input);
i = 0;
j = 0;
while (result_str[i] != '\0') {
output_str[j] = hex_to_ascii(result_str[i], result_str[i+1]);
j += 1;
i += 2;
}
}
int main(){
const char* st = "48656C6C6F3B";
int length = strlen( st);
int i;
char buf = 0;
for( i = 0; i < length; i++){
if ( i % 2 != 0){
printf("%c", hex_to_ascii( buf, st[ i]));
} else{
buf = st[ i];
}
}
binary( 11);
binary( 56);
binary2( 11);
binary2( 56);
}
int main(void)
{
struct cks_config *config = NULL;
PGconn *conn = NULL;
char *method = NULL;
char *content = NULL;
unsigned long content_length = 0;
PGresult *result = NULL;
unsigned char stmt[] = "select server,sync_priority from cks_other_servers order by sync_priority";
struct name_value_pair_dllst *form = NULL;
/* cgi vars */
char *hostname = NULL;
char *srvr_type = NULL;
char *priority = NULL;
int rslt = 0;
int nts = 0;
config = (struct cks_config *)malloc(sizeof(struct cks_config));
if(config == NULL)
{
do_error_page(_("syn_manage: malloc call failed: out of memroy!\n"));
return -1;
}
rslt = init_config(&config);
if(rslt == -1)
{
fprintf(stderr,_("sync_manage: Non-Fatal Error: Failed to read config.\n"));
fprintf(stderr,_("sync_manage: Using default configuration information.\n"));
}
/* Make the DB Connection. */
conn = db_connect(config);
if(conn == NULL)
{
fprintf(stderr,"Failed to connect to the db.\n");
if(config != NULL)
{
free(config);
}
return -1;
}
method = getenv("REQUEST_METHOD");
if(method == NULL)
{
do_error_page(_("Request Method was Null.\n<P><P>Exiting..."));
db_disconnect(conn);
if(config != NULL)
{
free(config);
}
return 0;
}
else if(strcmp(method,"GET") == 0)
{
/* Just Fall Through and Print the Form */
}
else if(strcmp(method,"POST") == 0)
{
content_length = atoi(getenv("CONTENT_LENGTH"));
if(content_length > 800)
{
do_error_page(_("Content Length expectation exceeded\n"));
db_disconnect(conn);
if(config != NULL)
{
free(config);
}
return -1;
}
content = (char *)malloc(content_length+1);
if(content == NULL)
{
do_error_page(_("Server was unable to malloc memory. Server out of memory."));
db_disconnect(conn);
if(config != NULL)
{
free(config);
}
return -1;
}
rslt = fread(content,1,content_length,stdin);
if(rslt == 0)
{
do_error_page(_("Server was unable to read content."));
if(config != NULL)
free(config);
return -1;
}
content[content_length] = '\0';
hex_to_ascii(content);
/* Test value for SQL injection */
if( (strchr(content, '\'') != NULL) || (strchr(content, ';') != NULL) )
{
do_error_page(_("The characters ' and ; are currently not allowed in queries."));
db_disconnect(conn);
if(config != NULL)
free(config);
if(content != NULL)
free(content);
return 0;
}
form = parse_name_value_pairs(content);
if(form == NULL)
{
/* No Request, so Echo Default Page */
do_error_page(_("Failed to Parse CGI Form. Are you using a Standard Web Browser?\n"));
db_disconnect(conn);
if(config != NULL)
free(config);
if(content != NULL)
free(content);
return -1;
}
hostname = get_value(form,"hostname");
srvr_type = get_value(form,"srvr_type");
priority = get_value(form,"priority");
rslt = insert_into_other_server(conn,hostname,srvr_type,priority);
if(rslt == -1)
{
do_error_page("Failed To Insert new record into database.");
db_disconnect(conn);
if(config != NULL)
free(config);
if(content != NULL)
free(content);
return -1;
}
/* Now Fall Through and Re-Print the Form */
}
else
{
do_error_page("Unknown Method.");
db_disconnect(conn);
if(config != NULL)
free(config);
if(content != NULL)
free(content);
return -1;
}
printf("content-type: text/html\n\n");
printf(_("<html><head><title>CryptNET OpenPGP Public Key Server</title></head>\n"));
printf("<body bgcolor=\"#FFFFFF\">\n");
printf(_("<center><H2>CryptNET Keyserver Administration</h2></center>\n"));
printf("<hr size=\"1\" width=\"100%%\">\n");
printf("<center>\n");
printf(_("[ <a href=\"sync.html\">Manage Sync Hosts</a> ]\n"));
printf(_("[ <a href=\"delete.html\">Delete A Key From This Server</a> ]\n"));
printf(_("[ <a href=\"stats.cgi\">Stats On This Server</a> ]\n"));
printf(_("[ <a href=\"index.html\">Admin Home</a> ]\n"));
printf(_("[ <a href=\"/index.html\">Home</a> ]\n"));
printf("</center>\n");
printf("<hr size=\"1\" width=\"100%%\">\n");
printf(_("<h3>Synchronization Host Management</h3>\n"));
result = PQexec(conn, stmt);
if(PQresultStatus(result) != PGRES_TUPLES_OK)
{
do_error_page("Database Query failed.\n");
fprintf(stderr,_("Command didn't return tuples properly\n"));
PQclear(result);
db_disconnect(conn);
if(config != NULL)
free(config);
if(content != NULL)
free(content);
return -1;
}
printf("<table width=\"90%%\" cols=\"5\" border=\"1\">\n");
printf(_("<tr><th width=\"15%%\" align=\"CENTER\">Delete</th><th align=\"CENTER\">Server</th><th align=\"CENTER\">Sync Priority</th><th align=\"center\">Server Type</th></tr>\n"));
nts = PQntuples(result);
if(nts == 0)
{
printf("</table>\n");
printf("<p>No host synchronization records found.</p>\n");
}
else if(nts == 1)
{
printf("<form method=\"post\" action=\"sync_manage.cgi\">\n");
printf("<tr><td><input type=\"checkbox\" name=\"%s\"></td><td>%s</td><td>%s</td><td>%s</td><td><input type=\"submit\" value=\"Update\"></td></tr>\n",PQgetvalue(result,0,0),PQgetvalue(result,0,0),PQgetvalue(result,0,1),PQgetvalue(result,0,2));
printf("</form>\n");
}
else if(nts > 1)
{
int i = 0;
for(i = 0;i<nts;i++)
{
printf("<form method=\"post\" action=\"sync_manage.cgi\">\n");
printf("<tr><td><input type=\"checkbox\" name=\"%s\"></td><td>%s</td><td>%s</td><td>%s</td><td><input type=\"submit\" value=\"Update\"></td></tr>\n",PQgetvalue(result,i,0),PQgetvalue(result,i,0),PQgetvalue(result,i,1),PQgetvalue(result,i,2));
printf("</form>\n");
}
}
else
{
printf("</table>\n");
fprintf(stderr, _("sync_manage.c: Weird Tuples Returned.\n"));
fprintf(stderr,_("Weird Tuples Returned! (negative)\n"));
do_error_page("The database query returned in an error state.\n");
PQclear(result);
PQfinish(conn);
return -1;
}
/* close up and clean up database connection, we're done with it */
PQclear(result);
db_disconnect(conn);
/* Print the input form */
printf("</table>\n");
printf("<p></p>\n");
printf("<p></p>\n");
printf("<hr size=\"1\" width=\"100%%\">\n");
printf("<form method=\"POST\" action=\"sync_manage.cgi\">\n");
printf(_("<h3>Add New Synchronization Host</h3>\n"));
printf(_("<p>Add Host: <input name=\"hostname\" type=\"text\" length=\"60\" maxlen=\"60\"></p>\n"));
printf(_("<p>Priority:\n"));
printf("<select name=\"priority\">\n");
printf("<option value=\"1\">1</option>\n");
printf("<option value=\"2\">2</option>\n");
printf("<option value=\"3\">3</option>\n");
printf("<option value=\"4\">4</option\n");
printf("<option value=\"5\">5</option selected>\n");
printf("<option value=\"6\">6</option>\n");
printf("<option value=\"7\">7</option\n");
printf("<option value=\"8\">8</option>\n");
printf("<option value=\"9\">9</option>\n");
printf("<option>10</option>\n");
printf("</select></p>\n");
printf(_("<p>Server Type: <select name=\"srvr_type\">\n"));
printf("<option value=\"1\">CryptNET Key Server</option>\n");
printf("<option value=\"2\">PKS Key Server</option>\n");
printf("<option value=\"3\">SKS Key Server</option>\n");
printf("</select></p>\n");
printf("<br></br>\n");
printf(_("<input type=\"submit\" value=\"Update Sync List\">\n"));
printf("</form>\n");
printf("<hr size=\"1\" width=\"100%%\">\n");
printf("<center>\n");
printf(_("[ <a href=\"sync.html\">Manage Sync Hosts</a> ]\n"));
printf(_("[ <a href=\"delete.html\">Delete A Key From This Server</a> ]\n"));
printf(_("[ <a href=\"stats.cgi\">Stats On This Server</a> ]\n"));
printf(_("[ <a href=\"index.html\">Admin Home</a> ]\n"));
printf(_("[ <a href=\"/index.html\">Home</a> ]\n"));
printf("</center>\n");
printf("<hr size=\"1\" width=\"100%%\">\n");
printf(_("<center><a href=\"http://keyserver.cryptnet.net/\">CryptNET Key Server Network</a></center>\n"));
printf("</body></html>\n");
/* Free Memory and Exit */
if(content != NULL)
{
free(content);
}
if(config != NULL)
{
free(config);
}
return 0;
}
TToken* get_token()
{
if(token_buffer != NULL)
{
token = token_buffer;
token_buffer = NULL;
return token;
}
TString buffer;
States state = S_START;
char a[2]; // array for hex number
int c, i=0;
initString(&buffer, STR_DEFAULT_SIZE);
token->data = buffer.data;
while(1)
{
c = fgetc(fp);
switch(state)
{
case S_START:
switch (c)
{
case EOF:
token->type = TOKEN_EOF;
return token;
case '+':
token->type = TOKEN_ADD;
return token;
case '-':
token->type = TOKEN_SUB;
return token;
case '*':
token->type = TOKEN_MUL;
return token;
case '/':
state = S_DIV;
break;
case '=':
state = S_ASSIGN;
break;
case '!':
state = S_EXCM;
break;
case '<':
state = S_LESS;
break;
case '>':
state = S_GREAT;
break;
case '(':
token->type = TOKEN_LROUND_BRACKET;
return token;
case ')':
token->type = TOKEN_RROUND_BRACKET;
return token;
case '{':
token->type = TOKEN_LCURLY_BRACKET;
return token;
case '}':
token->type = TOKEN_RCURLY_BRACKET;
return token;
case ',':
token->type = TOKEN_COMMA;
return token;
case ';':
token->type = TOKEN_SEMICOLON;
return token;
case '"':
state = S_QUOT;
break;
default:
if(isdigit(c))
{
state = S_INT;
insertIntoString(&buffer, c);
}
else if (isalpha(c) || c == '_')
{
state = S_IDENT;
insertIntoString(&buffer, c);
}
else if (isspace(c))
break;
else
state = S_ERROR;
}
break;
//**********************************************
case S_INT: // INTEGER
if (isdigit(c))
{
insertIntoString(&buffer, c);
}
else if(c == '.')
{
insertIntoString(&buffer, c);
state = S_DOT;
}
else if(c == 'E' || c == 'e')
{
insertIntoString(&buffer, c);
state = S_EXPO_E;
}
else
{
insertIntoString(&buffer, 0);
ungetc(c,fp);
token->type = TOKEN_INT_VALUE;
token->data = buffer.data;
return token;
}
break;
//*************************************************
case S_DOT: // number DOT
if (isdigit(c))
{
insertIntoString(&buffer, c);
state = S_DBL;
}
else
{
state = S_ERROR;
}
break;
//*************************************************
case S_DBL: // DOUBLE
if (isdigit(c))
{
insertIntoString(&buffer, c);
}
else if(c == 'E' || c == 'e')
{
insertIntoString(&buffer, c);
state = S_EXPO_E;
}
else
{
insertIntoString(&buffer, 0);
ungetc(c,fp);
token->type = TOKEN_DOUBLE_VALUE;
token->data = buffer.data;
return token;
}
break;
//******************************************************
case S_EXPO_E: // state S_EXPO_E
if (isdigit(c))
{
insertIntoString(&buffer, c);
state = S_EXPO;
}
else if (c == '+' || c == '-')
{
insertIntoString(&buffer, c);
state= S_EXPO_M;
}
else
{
state = S_ERROR;
}
break;
//*****************************************************
case S_EXPO_M: // state S_EXPO_M
if (isdigit(c))
{
insertIntoString(&buffer, c);
state= S_EXPO;
}
else
{
state=S_ERROR;
}
break;
//*****************************************************
case S_EXPO: // state S_EXPO
if (isdigit(c))
insertIntoString(&buffer, c);
else
{
insertIntoString(&buffer, 0);
ungetc(c,fp);
token->type = TOKEN_DOUBLE_VALUE;
token->data = buffer.data;
return token;
}
break;
//***************************************************
case S_IDENT: //STATE IDENTIFIER
if (isalnum(c) || c == '_')
{
insertIntoString(&buffer, c);
}
else
{
insertIntoString(&buffer, 0);
token->type = TOKEN_IDENTIFIER;
token->data = buffer.data;
keyword_check();
ungetc(c,fp);
return token;
}
break;
//*************************************************************
case S_DIV: // DIVIDE
if (c == '/')
state = S_LCOM;
else if (c == '*')
state = S_LBC;
else
{
ungetc(c,fp);
token->type = TOKEN_DIV;
return token;
}
break;
//***************************************************
case S_LCOM: // LINE COMMENT
if (c == '\n')
state = S_START;
break;
//****************************************************
case S_LBC: // LEFT BLOCK COMMENT
if (c == '*')
state = S_RBC;
if(c == EOF)
state = S_ERROR;
break;
//****************************************************
case S_RBC: //RIGHT BLOCK COMMENT
if (c == '/')
state = S_START;
else if (c == EOF)
state = S_ERROR;
else if (c == '*');
else
state = S_LBC;
break;
//****************************************************
case S_ASSIGN: // ASSIGNMENT
if (c == '=')
{
token->type = TOKEN_EQUAL;
return token;
}
else
{
ungetc(c,fp);
token->type = TOKEN_ASSIGN;
return token;
}
break;
//****************************************************
case S_EXCM: // EXCLAMATION MARK
if (c == '=')
{
token->type = TOKEN_NOT_EQUAL;
return token;
}
else
state = S_ERROR;
break;
//****************************************************
case S_LESS: // LESS THAN
if (c=='=')
{
token->type=TOKEN_LESS_EQUAL;
return token;
}
else if (c == '<')
{
token->type=TOKEN_COUT_BRACKET;
return token;
}
else
{
ungetc(c,fp);
token->type = TOKEN_LESS;
return token;
}
break;
//****************************************************
case S_GREAT: //GREATER THAN
if (c=='=')
{
token->type = TOKEN_GREATER_EQUAL;
return token;
}
else if (c == '>')
{
token->type = TOKEN_CIN_BRACKET;
return token;
}
else
{
ungetc(c,fp);
token->type = TOKEN_GREATER;
return token;
}
break;
//****************************************************
case S_QUOT: //QUOTATION
if (c == '"')
{
insertIntoString(&buffer, 0);
token->type = TOKEN_STRING_VALUE;
token->data = buffer.data;
return token;
}
else if(c == EOF)
{
state = S_ERROR;
}
else if(c == '\\')
{
state = S_ESCAPE;
}
else if(c > 31)
{
insertIntoString(&buffer, c);
}
else
state = S_ERROR;
break;
//****************************************************
case S_ESCAPE: //ESCAPE SEQUENCES
if (c == 't')
{
insertIntoString(&buffer, '\t');
state = S_QUOT;
}
else if (c == '"')
{
insertIntoString(&buffer, '"');
state = S_QUOT;
}
else if (c == '\\')
{
insertIntoString(&buffer, '\\');
state = S_QUOT;
}
else if (c == 'n')
{
insertIntoString(&buffer, '\n');
state = S_QUOT;
}
else if (c == 'x')
{
state = S_HEX_NUMBER;
}
else
{
state=S_ERROR;
}
break;
//****************************************************
case S_HEX_NUMBER: // HEXADECIMAL NUMBER
if (isxdigit(c) && (i < 2)) // if is hexadigit and i<2
{
a[i]=c;
i++;
if (i == 2)
{
if ((a[0] == '0') && (a[1] == '0'))
state=S_ERROR;
else
{
char hta = hex_to_ascii(a[0], a[1]);
insertIntoString(&buffer, hta);
state = S_QUOT;
i = 0;
}
}
}
else
{
state=S_ERROR;
}
break;
//****************************************************
case S_ERROR: // ERROR
exit_error(E_LEX);
}
}
}
int main(void)
{
struct cks_config *config = NULL;
PGconn *conn = NULL;
char *method = NULL;
char *content = NULL;
unsigned long content_length = 0;
char *name = NULL;
char *val = NULL;
char *value = NULL;
char *debug_val = NULL;
int rslt = 0;
int tmp_var = 0;
config = (struct cks_config *)malloc(sizeof(struct cks_config));
if(config == NULL)
{
fprintf(stderr,_("cks_export: Fatal Error: Malloc Call Failed: Out of memroy.\n"));
return -1;
}
rslt = init_config(&config);
if(rslt == -1)
{
fprintf(stderr,_("search: Non-Fatal Error: Failed to read config.\n"));
fprintf(stderr,_("search: Using default configuration information.\n"));
}
method = getenv("REQUEST_METHOD");
if(method == NULL)
{
/* Make the DB Connection. */
conn = db_connect(config);
if(conn == NULL)
{
fprintf(stderr,"Failed to connect to the db.\n");
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
debug_val = (char *)malloc(50);
sprintf(debug_val,"%s","92987FBD");
search_by_keyid(conn,debug_val,config);
/*search_by_uid(conn,"*****@*****.**",config); */
free(config);
return 0;
}
if(method == NULL)
{
fprintf(stderr, _("search.c: Request Method is Null.\nExiting...\n"));
free(config);
return -1;
}
else if(strcmp(method,"GET") == 0)
{
content_length = strlen(getenv("QUERY_STRING"));
if(content_length > 300)
{
do_error_page(_("Content Length expectation exceeded\n"));
free(config);
return -1;
}
content = (char *)malloc(content_length+1);
if(content == NULL)
{
do_error_page(_("Server was unable to malloc memory. Server out of memory."));
free(config);
return -1;
}
memset(content,0x00,content_length+1);
strncpy(content,getenv("QUERY_STRING"),content_length);
}
else if(strcmp(method,"POST") == 0)
{
content_length = atoi(getenv("CONTENT_LENGTH"));
if(content_length > 300)
{
do_error_page(_("Content Length expectation exceeded\n"));
if(config != NULL)
free(config);
return -1;
}
content = (char *)malloc(content_length+1);
if(content == NULL)
{
do_error_page(_("Server was unable to malloc memory. Server out of memory."));
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
rslt = fread(content,1,content_length,stdin);
if(rslt == 0)
{
do_error_page(_("Error reading content."));
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
content[content_length] = '\0';
}
else
{
do_error_page(_("Unknown Method."));
free(config);
return -1;
}
hex_to_ascii(content);
name = strtok(content,"&");
if(name == NULL)
{
fprintf(stderr,"name was null\n");
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
val = strtok('\0',"\0");
if(!(val))
{
do_error_page(_("Error: NULL Search value. Please, hit the back button on your browser and search again."));
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return 0;
}
strtok(val,"=");
value = strtok('\0',"\0");
if(!(value))
{
do_error_page(_("Error: NULL Search value. Please, hit the back button on your browser and search again."));
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return 0;
}
/* Test value for SQL injection */
if( (strchr(value, '\'') != NULL) || (strchr(value, ';') != NULL) )
{
do_error_page(_("The characters ' and ; are currently not allowed in queries."));
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return 0;
}
/* Make the DB Connection. */
conn = db_connect(config);
if(conn == NULL)
{
fprintf(stderr,"Failed to connect to the db.\n");
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
print_header(_("Search Results:"));
if(strcmp("stype=uid",name) == 0)
{
search_by_uid(conn,value,config);
}
else if(strcmp("stype=fp",name) == 0)
{
rslt = search_by_fingerprint(conn,value,config);
if(rslt != 0)
{
fprintf(stderr,"Function search_by_fingerprint() returned and error: %d\n", rslt);
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return -1;
}
}
else if(strcmp("stype=keyid_4b",name) == 0)
{
if(memcmp(value,"00000000",8) == 0)
{
print_pgp5_x509_note();
}
else
{
search_by_keyid(conn,value,config);
}
}
else if(strcmp("stype=keyid_8b",name) == 0)
{
search_by_fkeyid(conn,value,config);
}
else if(strcmp("stype=keyring",name) == 0)
{
search_ret_keyring(conn,value,config);
}
else if(strcmp("stype=signers",name) == 0)
{
search_ret_with_signers(conn,value,config);
}
else
{
do_error_page(_("Invalid query. Search type not understood."));
db_disconnect(conn);
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return 0;
}
print_footer();
db_disconnect(conn);
if(content != NULL)
free(content);
if(config != NULL)
free(config);
return 0;
}
void dump(unsigned char* in_buff, char* out_buff, unsigned int len) {
while(len--) {
*(out_buff + len + len + 1) = hex_to_ascii(*(in_buff + len) & 0x0F);
*(out_buff + len + len) = hex_to_ascii(*(in_buff + len) >> 4);
}
}
int main(void)
{
struct cks_config *config = NULL;
PGconn *conn = NULL;
char *method = NULL;
char *content = NULL;
unsigned int content_length = 0;
char *name = NULL;
char *val = NULL;
char *value = NULL;
unsigned char *fingerprint = NULL;
int rslt = 0;
int tmp_var = 0;
config = (struct cks_config *)malloc(sizeof(struct cks_config));
if(config == NULL)
{
fprintf(stderr, "Failed to malloc config\n");
return -1;
}
rslt = init_config(&config);
if(rslt == -1)
{
fprintf(stderr,_("cks: cks_keyimg.c: Non-Fatal Error: Failed to read config.\n"));
fprintf(stderr,_("cks: cks_keyimg.c: Using default configuration information.\n"));
}
conn = db_connect(config);
if(conn == NULL)
{
do_error_page(_("Failed to connect to postgres database."));
fprintf(stderr,_("cks: cks_keyimg.c: Connection to database failed.\n"));
fprintf(stderr,"cks: cks_keyimg.c: %s", PQerrorMessage(conn));
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
#ifdef DEBUG
fingerprint = (char *)malloc(100);
strcpy(fingerprint,"72F871AD580481D14C84CADC08B779A592987FBD");
#else
method = getenv("REQUEST_METHOD");
if(method == NULL)
{
fprintf(stderr,"Method was null.\n");
db_disconnect(conn);
if(config != NULL)
free(config);
return 0;
}
if(method == NULL)
{
fprintf(stderr, _("search.c: Request Method is Null.\nExiting...\n"));
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
if(strcmp(method,"GET") == 0)
{
content_length = strlen(getenv("QUERY_STRING"));
if(content_length > 300)
{
do_error_page(_("Content Length expectation exceeded\n"));
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
/* TODO: Make sure content length is not too small */
content = (char *)malloc(content_length+1);
if(content == NULL)
{
do_error_page(_("Server was unable to malloc memory. Server out of memory."));
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
strncpy(content,getenv("QUERY_STRING"),content_length);
}
hex_to_ascii(content);
value = (unsigned char *)malloc(content_length+1);
if(value == NULL)
{
do_error_page("cks_keyimg.c: Malloc call failed. Out of Memory.\n");
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
fingerprint = (unsigned char *)malloc(content_length+1);
if(fingerprint == NULL)
{
do_error_page("cks_keyimg.c: Malloc call failed. Out of Memory.\n");
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
strncpy(value,content,41);
strncpy(fingerprint,content,41);
if(!(value))
{
do_error_page(_("Error: NULL Search value. Please, hit the back button on your browser and search again."));
if(value != NULL)
{
free(value);
}
if(fingerprint != NULL)
{
free(fingerprint);
}
db_disconnect(conn);
if(config != NULL)
free(config);
return 0;
}
/* TODO: Move this up higher so we don't have to do the allocs if there's bad code */
/* Test value for SQL injection */
if( (strchr(value, '\'') != NULL) || (strchr(value, ';') != NULL) )
{
do_error_page(_("The characters ' and ; are currently not allowed in queries."));
if(value != NULL)
{
free(value);
}
if(fingerprint != NULL)
{
free(fingerprint);
}
db_disconnect(conn);
if(config != NULL)
free(config);
return 0;
}
#endif
/* Search by Fingerprint */
remove_spaces(fingerprint);
if(((strlen(fingerprint)) != 32) && ((strlen(fingerprint)) != 40))
{
do_error_page(_("The characters ' and ; are currently not allowed in queries."));
if(value != NULL)
{
free(value);
}
if(fingerprint != NULL)
{
free(fingerprint);
}
db_disconnect(conn);
if(config != NULL)
free(config);
return -1;
}
retrieve_key_and_display(conn,fingerprint,1,config);
if(value != NULL)
{
free(value);
}
if(fingerprint != NULL)
{
free(fingerprint);
}
db_disconnect(conn);
if(config != NULL)
{
free(config);
}
return 0;
}
void FreeIMUReadCalibration(void)
{
char outbuff[100];
int pos=0;
EEPROMGet(VAR_CALIBRATION, (uint8_t*)&calibration);
// Accelerometer offsets
memcpy(outbuff, "acc offset: ", 12);
pos+=12;
hex_to_ascii((unsigned char*)&calibration.offsets[0], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.offsets[1], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.offsets[2], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = '\n';
VCP_write(outbuff, pos);
// Magnetomer offsets
pos=0;
memcpy(outbuff, "mag offset: ", 12);
pos+=12;
hex_to_ascii((unsigned char*)&calibration.offsets[3], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.offsets[4], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.offsets[5], &outbuff[pos], sizeof(uint16_t));
pos += sizeof(uint16_t)*2;
outbuff[pos++] = '\n';
VCP_write(outbuff, pos);
// Accelerometer scale
pos=0;
memcpy(outbuff, "acc scale: ", 11);
pos+=11;
hex_to_ascii((unsigned char*)&calibration.scales[0], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.scales[1], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.scales[2], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = '\n';
VCP_write(outbuff, pos);
//Magnetometer scale
pos=0;
memcpy(outbuff, "mag scale: ", 11);
pos+=11;
hex_to_ascii((unsigned char*)&calibration.scales[3], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.scales[4], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&calibration.scales[5], &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = '\n';
VCP_write(outbuff, pos);
}
void FreeIMUSendYawPitchRoll(int count)
{
Point3df gyro_xyz;
Point3df accel_xyz;
Point3df mag_xyz;
char outbuff[60];
int pos=0, i;
if(filter_init == 0){
memset(&gyro_xyz_filtered, 0, sizeof(Point3df));
filter_init = 1;
}
ExpLedOn(ORANGE_LED);
for(i=0; i<count; i++){
ExpLedToggle(ORANGE_LED);
gyro_read(&gyro_xyz);
accelerometer_read(&accel_xyz);
MagPointRaw(&mag_xyz);
// Apply calibration values
accel_xyz.x = (accel_xyz.x - (float)calibration.offsets[0]) / calibration.scales[0];
accel_xyz.y = (accel_xyz.y - (float)calibration.offsets[1]) / calibration.scales[1];
accel_xyz.z = (accel_xyz.z - (float)calibration.offsets[2]) / calibration.scales[2];
mag_xyz.x = (mag_xyz.x - (float)calibration.offsets[3]) / calibration.scales[3];
mag_xyz.y = (mag_xyz.y - (float)calibration.offsets[4]) / calibration.scales[4];
mag_xyz.z = (mag_xyz.z - (float)calibration.offsets[5]) / calibration.scales[5];
// Normalize acceleration measurements so they range from 0 to 1
float accxnorm = accel_xyz.x/sqrtf(accel_xyz.x*accel_xyz.x+accel_xyz.y*accel_xyz.y+accel_xyz.z*accel_xyz.z);
float accynorm = accel_xyz.y/sqrtf(accel_xyz.x*accel_xyz.x+accel_xyz.y*accel_xyz.y+accel_xyz.z*accel_xyz.z);
// calculate pitch and roll
float Pitch = asinf(-accxnorm);
float Roll = asinf(accynorm/cosf(Pitch));
// tilt compensated magnetic sensor measurements
float magxcomp = mag_xyz.x*cosf(Pitch)+mag_xyz.z*sinf(Pitch);
float magycomp = mag_xyz.x*sinf(Roll)*sinf(Pitch)+mag_xyz.y*cosf(Roll)-mag_xyz.z*sinf(Roll)*cosf(Pitch);
// arctangent of y/x converted to degrees
float heading = (float)(180*atan2f(magycomp,magxcomp)/PI);
if(heading < 0)
heading +=360;
previous_time = (float)HAL_GetTick();
/*
float tau=0.075;
float a=0.0;
float Complementary(float newAngle, float newRate,int looptime) {
float dtC = float(looptime)/1000.0;
a=tau/(tau+dtC);
x_angleC= a* (x_angleC + newRate * dtC) + (1-a) * (newAngle);
return x_angleC;
}
*/
/*
// Adjust the gyro readings with a complimentary filter
// angle = 0.98 *(angle+gyro*dt) + 0.02*acc
if(previous_time > 0){
float dt = ((float)HAL_GetTick() - previous_time)/1000000;
gyro_xyz.x = 0.98 *(gyro_xyz.x+gyro_xyz.x*dt) + 0.02*accel_xyz.x;
gyro_xyz.y = 0.98 *(gyro_xyz.y+gyro_xyz.y*dt) + 0.02*accel_xyz.y;
gyro_xyz.z = 0.98 *(gyro_xyz.z+gyro_xyz.z*dt) + 0.02*accel_xyz.z;
}
*/
pos = 0;
hex_to_ascii((unsigned char*)&heading, &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&Pitch, &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
hex_to_ascii((unsigned char*)&Roll, &outbuff[pos], sizeof(float));
pos += sizeof(float)*2;
outbuff[pos++] = ',';
outbuff[pos++] = '\r';
outbuff[pos++] = '\n';
VCP_write(outbuff, pos);
}
ExpLedOff(ORANGE_LED);
}
