int tracer(pid_t child, int printSystemCalls, int stopAfterEachCall, int sort){
changeBehaviour();
int status;
ptrace(PTRACE_SETOPTIONS, child, 0, PTRACE_O_TRACESYSGOOD);
int firstCall = 1;
while(1){
waitpid(child, &status, 0);
if(WIFEXITED(status))
break;
if(firstCall){
struct user_regs_struct regs;
ptrace(PTRACE_GETREGS, child, NULL, ®s);
int syscall = regs.orig_rax;
int retVal = regs.rax;
countBySystemCall[syscall].count++;
countBySystemCall[syscall].syscall = syscall;
if(printSystemCalls){
printSysCall(child, retVal, regs);
if(stopAfterEachCall){
pauseProgramAnyKey();
}
}
firstCall = 0;
}else{
firstCall = 1;
}
ptrace(PTRACE_SYSCALL, child, NULL, NULL);
}
fprintf(stderr, "exit_group(0) = ?\n");
int x;
if(sort){
qsort(countBySystemCall, 500, sizeof(struct counter), cmpfunc);
}
fprintf(stderr, "\n---------------%s---------------\n", "Accumulative Table");
fprintf(stderr, "------------------------------------------------\n\n");
fprintf(stderr, "%15s %15s\n", "Syscall", "calls");
for(x = 0; x < 500; x++){
if(countBySystemCall[x].count){
int syscall = countBySystemCall[x].syscall;
fprintf(stderr, "%15s %15d\n", callname(syscall), countBySystemCall[x].count);
}
}
fprintf(stderr, "\n------------------------------------------------\n\n");
restartBehaviour();
}
/*! @brief Updates the many button related variables
*/
void BehaviourProvider::updateButtonValues()
{
m_chest_previous_state = m_chest_state;
m_left_previous_state = m_left_state;
m_right_previous_state = m_right_state;
// Get the button state values
m_data->getButton(NUSensorsData::MainButton, m_chest_state);
m_data->getButton(NUSensorsData::LeftButton, m_left_state);
m_data->getButton(NUSensorsData::RightButton, m_right_state);
// update the circular buffers on negative edges
if (m_chest_state < m_chest_previous_state)
{
m_chest_times.push_back(m_current_time);
float chest_duration;
if (m_data->getButtonDuration(NUSensorsData::MainButton, chest_duration))
m_chest_durations.push_back(chest_duration);
}
if (m_left_state < m_left_previous_state)
{
m_left_times.push_back(m_current_time);
float left_duration;
if (m_data->getButtonDuration(NUSensorsData::LeftButton, left_duration))
m_left_durations.push_back(left_duration);
}
if (m_right_state < m_right_previous_state)
{
m_right_times.push_back(m_current_time);
float right_duration;
if (m_data->getButtonDuration(NUSensorsData::RightButton, right_duration))
m_right_durations.push_back(right_duration);
}
// A double chest click always starts saving images not matter which behaviour
//if (doubleChestClick())
if(singleLeftBumperClick())
{
m_saving_images = not m_saving_images;
m_jobs->addVisionJob(new SaveImagesJob(m_saving_images, false));
}
// A triple chest click always removes the stiffness
if (tripleChestClick())
removeStiffness();
// A quad chect click always restarts behaviour
if (quadChestClick())
restartBehaviour();
}
