char *parser(char *tab, t_env *env)
{
char **command;
int *pipe_fd;
t_command *tmp;
t_list list;
int nb_exec;
char *error;
nb_exec = 0;
init_list(&list);
command = separe_wordtab(tab, '|');
if ((error = list_command(&list, command, &pipe_fd)) != 0)
return (error);
tmp = list.first;
while (tmp != NULL)
{
if (my_execve(tmp, tmp->redirection,
env, pipe_fd) != 42)
nb_exec += 1;
tmp = tmp->next;
}
close_fd(pipe_fd);
loop_wait(nb_exec);
return (0);
}
void _list_menu(QSP_ARG_DECL const Menu *mp)
{
List *lp;
Node *np;
lp = MENU_LIST(mp);
np = QLIST_HEAD(lp);
while( np != NULL ){
Command *cp;
cp = (Command *) NODE_DATA(np);
list_command(QSP_ARG cp);
np = NODE_NEXT(np);
}
}
/**
* \brief Main method
*/
int main(int argc, char *argv[]) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "mount utility");
int c;
int longindex;
putenv((char *)"POSIXLY_CORRECT=1"); // cast to silence compiler
while (EOF != (c = getopt_long(argc, argv, "c:dh", longopts,
&longindex))) {
switch (c) {
case 'c':
Configuration::set_default(std::string(optarg));
break;
case 'd':
debuglevel = LOG_DEBUG;
break;
case 'h':
usage(argv[0]);
return EXIT_SUCCESS;
case 'n':
dryrun = true;
break;
case 'f':
decimal = true;
break;
case 'w':
await_completion = true;
break;
case 1:
switch (longindex) {
}
break;
}
}
// next argument must be the command
if (argc <= optind) {
throw std::runtime_error("missing command argument");
}
std::string command(argv[optind++]);
// call the command specific functions
if (command == "help") {
return help_command();
}
// the other commands need a repository
astro::module::Repository repository;
astro::module::Devices devices(repository);
// list command
if (command == "list") {
return list_command(devices);
}
// other commands need a mount url
if (argc <= optind) {
throw std::runtime_error("missing mount URL");
}
DeviceName mountname(argv[optind++]);
if (!mountname.hasType(DeviceName::Mount)) {
throw std::runtime_error("not a mount device name");
}
debug(LOG_DEBUG, DEBUG_LOG, 0, "mount device name: %s",
mountname.toString().c_str());
// use the Devices class to get the mount associated with this name
MountPtr mount = devices.getMount(mountname);
if (command == "get") {
return get_command(mount);
}
if (command == "cancel") {
return cancel_command(mount);
}
if (command == "wait") {
return wait_command(mount, true);
}
if (command == "set") {
if (argc < optind + 2) {
throw std::runtime_error("two angle arguments missing");
}
RaDec radec;
radec.ra() = Angle::hms_to_angle(argv[optind++]);
radec.dec() = Angle::dms_to_angle(argv[optind++]);
return set_command(mount, radec);
}
throw std::runtime_error("unknown command");
}
int main( int argc , char * argv[] )
{
ksock_t server;
int rc;
unsigned char buf[16];
unsigned char a,b,c,d;
int clntSocket;
char echoBuffer[RCVBUFSIZE]; /* Buffer for echo string */
int recvMsgSize; /* Size of received message */
int port; /* The server port to open */
pthread_t sensor_task;
pthread_t sound_task;
if(argc > 1)
port = atoi(argv[1]);
else
port = 344;
/* Various initialization */
/* Set the libkorebot debug level - Highly recommended for development. */
kb_set_debug_level( 2 );
/* Global libkorebot init */
if((rc = kb_init( argc , argv )) < 0 )
return 1;
/* Korebot socket module init */
if((rc = ksock_init('\n')) < 0 )
return 1;
/* Open the motor devices */
motor1 = knet_open( "KoreMotor:PriMotor1", KNET_BUS_ANY, 0 , NULL );
if(!motor1)
{
printf("Cannot open motor 0\r\n");
return 1;
}
motor0 = knet_open( "KoreMotor:PriMotor2", KNET_BUS_ANY, 0 , NULL );
if(!motor0)
{
printf("Cannot open motor 1\r\n");
return 1;
}
motor3 = knet_open( "KoreMotor:PriMotor3", KNET_BUS_ANY, 0 , NULL );
if(!motor3)
{
printf("Cannot open motor 2\r\n");
return 1;
}
motor2 = knet_open( "KoreMotor:PriMotor4", KNET_BUS_ANY, 0 , NULL );
if(!motor2)
{
printf("Cannot open motor 3\r\n");
return 1;
}
/* KoreMotor Comm test */
kmot_GetFWVersion( motor1, &rc);
printf("Motor 1 Firmware v%u.%u\n" , KMOT_VERSION(rc) , KMOT_REVISION(rc));
/* Intialize motor controller */
InitMotor(motor0);
InitMotor(motor1);
InitMotor(motor2);
InitMotor(motor3);
kmot_SearchLimits(motor0, 10, 3, &minpos0, &maxpos0,100000);
printf("motor0: min:%ld max:%ld\n\r",minpos0, maxpos0);
kmot_SearchLimits(motor1, 10, 3, &minpos1, &maxpos1,100000);
printf("motor1: min:%ld max:%ld\n\r",minpos1, maxpos1);
kmot_SearchLimits(motor2, 10, 3, &minpos2, &maxpos2,100000);
printf("motor2: min:%ld max:%ld\n\r",minpos2, maxpos2);
kmot_SearchLimits(motor3, 10, 3, &minpos3, &maxpos3,100000);
printf("motor3: min:%ld max:%ld\n\r",minpos3, maxpos3);
kmot_SetBlockedTime(motor0,5);
kmot_SetBlockedTime(motor2,5);
/* Network setup - Create a ksock server */
ksock_server_open(&server, port);
ksock_add_command("movecamera",2,2,koa_net_camera);
ksock_add_command("movecamera2",2,2,koa_net_camera2);
ksock_add_command("moveboth",2,2,koa_net_bothcam);
ksock_add_command("initcamera",0,0,koa_net_init);
list_command();
/* Network connection handling */
clntSocket = ksock_next_connection(&server);
for(;;)
{
rc = ksock_get_command(clntSocket, echoBuffer, RCVBUFSIZE);
if(rc>0)
{
ksock_exec_command(echoBuffer);
/* Echo message back to client */
if (send(clntSocket, echoBuffer, rc, 0) != rc)
DieWithError("send() failed");
}
else
switch(rc)
{
case 0 :
break;
case -3 :
printf("Client disconnected\r\n");
clntSocket = ksock_next_connection(&server);
break;
default :
printf("Socket error: %d\r\n",rc);
clntSocket = ksock_next_connection(&server);
break;
}
}
close(clntSocket); /* Close client socket */
return 0;
}
static void
console_task(layer_t* layer, unsigned int mem_total)
{
#define INPUT_BEG_POS_X (24)
#define INPUT_BEG_POS_Y (28)
#define PROMPT_CHAR ("> ")
#define PROMPT_LEN (2)
timer_t* timer;
task_t* task = task_now();
int data, fifobuf[128];
int cursor_x = INPUT_BEG_POS_X, cursor_y = INPUT_BEG_POS_Y;
int cursor_c = -1;
char buf[32], cmdline[32];
mem_mgr_t* memmgr = (mem_mgr_t*)MEMMGR_ADDR;
fifo_init(&task->fifo, fifobuf, 128, task);
timer = timer_alloc();
timer_init(timer, &task->fifo, 1);
timer_settimer(timer, 50);
/* display the prompt of console window */
drawstring_and_refresh(layer, 8, 28,
COLOR8_FFFFFF, COLOR8_000000, PROMPT_CHAR, PROMPT_LEN);
for ( ; ; ) {
io_cli();
if (0 == fifo_size(&task->fifo)) {
task_sleep(task);
io_sti();
}
else {
data = fifo_get(&task->fifo);
io_sti();
if (data <= 1) {
/* timer for cursor */
if (0 != data) {
timer_init(timer, &task->fifo, 0);
if (cursor_c >= 0)
cursor_c = COLOR8_FFFFFF;
}
else {
timer_init(timer, &task->fifo, 1);
if (cursor_c >= 0)
cursor_c = COLOR8_000000;
}
timer_settimer(timer, 50);
}
if (2 == data) /* cursor ON */
cursor_c = COLOR8_FFFFFF;
if (3 == data) { /* cursor OFF */
fill_box8(layer->buf, layer->w_size,
COLOR8_000000, cursor_x, 28, cursor_x + 7, cursor_y + 15);
cursor_c = -1;
}
if (256 <= data && data <= 511) {
/* keyboard data */
if ((8 + 256) == data) {
/* backspace */
if (cursor_x > INPUT_BEG_POS_X) {
/* erase the cursor and move forward one character */
drawstring_and_refresh(layer, cursor_x, cursor_y,
COLOR8_FFFFFF, COLOR8_000000, " ", 1);
cursor_x -= 8;
}
}
else if ((10 + 256) == data) {
/* Enter Key */
/* erase cursor by space */
drawstring_and_refresh(layer, cursor_x, cursor_y,
COLOR8_FFFFFF, COLOR8_000000, " ", 1);
cmdline[cursor_x / 8 - 3] = 0;
cursor_y = console_newline(cursor_y, layer);
/* execute command */
if (0 == strcmp("mem", cmdline)) {
/* check memory command */
cursor_y = memory_command(layer, memmgr, mem_total, cursor_y);
}
else if (0 == strcmp("clear", cmdline)) {
/* clear command */
cursor_y = clear_command(layer);
}
else if (0 == strcmp("ls", cmdline)) {
/* ls(dir) command */
cursor_y = list_command(layer, cursor_y);
}
else if (0 == strncmp("cat ", cmdline, 4)) {
/* cat command */
cursor_y = cat_command(layer, cursor_x, cursor_y, cmdline);
}
else if (0 != cmdline[0]) {
/* neither command nor null string */
drawstring_and_refresh(layer, 8, cursor_y,
COLOR8_FFFFFF, COLOR8_000000, "Bad Command.", 12);
cursor_y = console_newline(cursor_y, layer);
cursor_y = console_newline(cursor_y, layer);
}
/* show prompt */
drawstring_and_refresh(layer, 8, cursor_y,
COLOR8_FFFFFF, COLOR8_000000, PROMPT_CHAR, PROMPT_LEN);
cursor_x = INPUT_BEG_POS_X;
}
else {
/* general character */
if (cursor_x < 240) {
/* display one character and move backward one character */
buf[0] = data - 256;
buf[1] = 0;
cmdline[cursor_x / 8 - 3] = data - 256;
drawstring_and_refresh(layer, cursor_x, cursor_y,
COLOR8_FFFFFF, COLOR8_000000, buf, 1);
cursor_x += 8;
}
}
}
/* show the cursor again */
if (cursor_c >= 0) {
fill_box8(layer->buf, layer->w_size,
cursor_c, cursor_x, cursor_y, cursor_x + 7, cursor_y + 15);
}
layers_refresh(layer, cursor_x, cursor_y,
cursor_x + 8, cursor_y + 16);
}
}
}
int main(void)
{
entry* entry_head = calloc(sizeof(entry), 1);
snapshot* snapshot_head = calloc(sizeof(snapshot), 1);
int latest_snapshotID = 1;
char buffer[MAX_LINE_LENGTH];
printf("> ");
while(fgets(buffer, sizeof(buffer), stdin))
{
struct command_struct *command = get_command_struct(buffer);
if(!command) continue;
if(strcmp(command->args_malloc_ptr[0], "bye") == 0)
{
bye_command(snapshot_head, entry_head);
free_command(command);
printf("bye");
return 0;
}
else if(strcmp(command->args_malloc_ptr[0], "help") == 0)
{
print_help_string();
}
else if(strcmp(command->args_malloc_ptr[0], "list") == 0)
{
list_command(command, entry_head, snapshot_head);
}
else if(strcmp(command->args_malloc_ptr[0], "get") == 0)
{
get_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "del") == 0)
{
del_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "purge") == 0)
{
purge_command(command, entry_head, snapshot_head);
}
else if(strcmp(command->args_malloc_ptr[0], "set") == 0)
{
set_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "push") == 0)
{
push_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "append") == 0)
{
append_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "pick") == 0)
{
pick_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "pluck") == 0)
{
pluck_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "pop") == 0)
{
pop_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "drop") == 0)
{
drop_command(command, snapshot_head);
}
else if(strcmp(command->args_malloc_ptr[0], "rollback") == 0)
{
rollback_command(command, snapshot_head, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "checkout") == 0)
{
checkout_command(command, snapshot_head, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "snapshot") == 0)
{
snapshot_command(snapshot_head, entry_head, &latest_snapshotID);
}
else if(strcmp(command->args_malloc_ptr[0], "min") == 0)
{
min_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "max") == 0)
{
max_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "sum") == 0)
{
sum_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "len") == 0)
{
len_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "rev") == 0)
{
rev_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "uniq") == 0)
{
uniq_command(command, entry_head);
}
else if(strcmp(command->args_malloc_ptr[0], "sort") == 0)
{
sort_command(command, entry_head);
}
printf("\n> ");
free_command(command);
}
bye_command(snapshot_head, entry_head);
return 0;
}
int main( int argc , char * argv[] )
{
int rc;
unsigned char a,b,c,d;
int clntSocket;
ksock_t server;
char echoBuffer[RCVBUFSIZE]; /* Buffer for echo string */
int port; /* The server port to open */
pthread_t lrf_task;
/* Set signal handler */
signal(SIGINT, handle_kill);
if(argc > 1)
port = atoi(argv[1]);
else
port = 344;
/* Set the libkorebot debug level - Highly recommended for development. */
kb_set_debug_level(2);
if((rc = kb_init( argc , argv )) < 0 )
return 1;
printf("Koala Demo Program\r\n");
/* Korebot socket module init */
if((rc = ksock_init('\n')) < 0 )
return 1;
/* Open a device for the koala robot */
koala = knet_open( "Koala:Robot", KNET_BUS_ANY, 0 , NULL );
if(!koala)
{
printf("Open Koala device failed\r\n");
return 1;
}
/* Koala Comm test */
koa_getOSVersion(koala,&a,&b,&c,&d);
printf("OS revision %d.%d protocol %d.%d\r\n",a,b,c,d);
koa_setSpeed(koala,0,0);
/* Network setup - Create a ksock server */
ksock_server_open(&server, port);
ksock_add_command("setspeed",2,2,koa_net_setspeed);
ksock_add_command("stop",0,0,koa_net_stop);
list_command();
/* Task creation */
rc = pthread_create(&lrf_task, NULL, koa_lrf_task, NULL);
if (rc) {
printf("ERROR; return code from pthread_create() is %d\n", rc);
exit(-1);
}
/* Network connection handling */
clntSocket = ksock_next_connection(&server);
for(;;)
{
#if 1
rc = ksock_get_command(clntSocket, echoBuffer, RCVBUFSIZE);
if(rc>0)
{
cmd_received = 1;
ksock_exec_command(echoBuffer);
/* Echo message back to client */
if (send(clntSocket, echoBuffer, rc, 0) != rc)
DieWithError("send() failed");
}
else
switch(rc)
{
case 0 :
break;
case -3 :
printf("Client disconnected\r\n");
clntSocket = ksock_next_connection(&server);
break;
default :
printf("Socket error: %d\r\n",rc);
clntSocket = ksock_next_connection(&server);
break;
}
#endif
}
close(clntSocket); /* Close client socket */
}
void request_check(int index, char* buf){
char tokens[MAX_MSG_TOKENS][MAX_MSG_LEN+1];
int arg_num = tokenize(buf,tokens);
int type,connfd;
connfd = p.clientfd[index];
if (!strcmp(tokens[0],"USER"))
type = USER_CMD;
else if(!strcmp(tokens[0],"NICK"))
type = NICK_CMD;
else if(!strcmp(tokens[0],"JOIN"))
type = JOIN_CMD;
else if(!strcmp(tokens[0],"QUIT"))
type = QUIT_CMD;
else if(!strcmp(tokens[0],"PART"))
type = PART_CMD;
else if(!strcmp(tokens[0],"LIST"))
type = LIST_CMD;
else if(!strcmp(tokens[0],"WHO"))
type = WHO_CMD;
else if(!strcmp(tokens[0],"PRIVMSG"))
type = PRIVMSG_CMD;
else
type = UNKONWN_CMD;
//DEBUG
int i;
printf(" # CMD:%s\t ARG_NUM:%d\t",tokens[0],arg_num);
for(i=0;i<4;i++)
printf(" ARG%d:%s\t",i,tokens[i+1]);
printf("\n");
if(type == UNKONWN_CMD)
unknown_command(connfd,tokens[0]);
else if(arg_num < ARG_NUM[type]){
char msg[MAX_MSG_LEN];
if(type == NICK_CMD)
/* NICK ERRRO TYPE: ERR_NOERR_NONICKNAMEGIVEN */
snprintf(msg,MAX_MSG_LEN,":No nickname given\n");
else if(type == PRIVMSG_CMD){
/* PRIVMSG ERRRO TYPE: ERR_NORECIPIENT */
if(!arg_num)
snprintf(msg,MAX_MSG_LEN,":No recipient given PRIVMSG\n");
/* PRIVMSG ERRRO TYPE: ERR_NOTEXTTOSEND */
else
snprintf(msg,MAX_MSG_LEN,":No text to send\n");
}else
snprintf(msg,MAX_MSG_LEN,"%s:Not enough parameters\n", tokens[0]);
send_msg_back(connfd,msg);
}
else
switch(type){
case QUIT_CMD:
quit_command(index);
break;
case USER_CMD:
user_command(connfd,tokens[1],tokens[4]);
break;
case NICK_CMD:
nick_command(connfd,tokens[1]);
break;
default:
if(check_register(connfd)){
switch(type){
case JOIN_CMD:
join_command(connfd,tokens[1]);
break;
case PART_CMD:
part_command(connfd,tokens[1],1);
break;
case LIST_CMD:
list_command(connfd);
break;
case WHO_CMD:
who_command(connfd,tokens[1]);
break;
case PRIVMSG_CMD:
privmsg_command(connfd,tokens[1],tokens[2]);
}
}else
send_msg_back(connfd,":You have not registered\n");
}
}
