uint64_t ADM_ebml::readEBMCode(void)
{
uint64_t start=readu8();
uint64_t val;
uint32_t mask=0x80,outmask=0x7F,more=0;
aprintf("Start :%x at %llx\n",start,tell()-1);
if(!start)
{
ADM_warning("Corruped EBML code\n");
return 0;
}
while(!(mask&start))
{
mask>>=1;
ADM_assert(mask);
more++;
}
outmask=mask-1;
start=start&outmask;
for(int i=0;i<more;i++)
{
start=(start<<8)+readu8();
}
aprintf("End at %llx\n",tell());
return start;
}
int64_t ADM_ebml::readEBMCode_Signed(void)
{
uint8_t start=readu8();
int64_t val;
uint32_t mask=0x80,outmask=0x7F,more=0;
while(!(mask&start))
{
mask>>=1;
ADM_assert(mask);
more++;
}
outmask=mask-1;
val=start&outmask;
for(int i=0;i<more;i++)
{
val=(val<<8)+readu8();
}
// Signed !
switch(more)
{
case 0: val-=63;break;
case 1: val-=8191;break;
case 2: val-=1048575L;break;
default:
ADM_assert(0);
return 0;
}
return val;
}
static int getboundedstring_cb(lua_State* L)
{
size_t size;
const char* start = luaL_checklstring(L, 1, &size);
const char* send = start + size;
int width = luaL_checkinteger(L, 2);
const char* s = start;
while (s < send)
{
const char* p = s;
wchar_t c = readu8(&s);
if (!iswcntrl(c))
{
width -= emu_wcwidth(c);
if (width < 0)
{
send = p;
break;
}
}
}
lua_pushlstring(L, start, send - start);
return 1;
}
int64_t ADM_ebml::readSignedInt(uint32_t nb)
{
int64_t val=0;
uint8_t r=0;
r=readu8();
if(r&0x80) // sign
val=-1;
val=(val<<8)+r;
for(int i=0;i<nb-1;i++)
{
r=readu8();
val=(val<<8)+r;
}
return val;
}
/**
\fn readEBMCode_Full
\brief Returns complete code, including size-bits (used only for EBML_ID)
*/
uint64_t ADM_ebml::readEBMCode_Full(void)
{
uint64_t start=readu8();
uint32_t mask=0x80,more=0;
aprintf(">>StartFull :%x at %llx\n",start,tell()-1);
while(!(mask&start))
{
mask>>=1;
ADM_assert(mask);
more++;
}
for(int i=0;i<more;i++)
{
start=(start<<8)+readu8();
}
return start;
}
uint64_t ADM_ebml::readUnsignedInt(uint32_t nb)
{
uint64_t val=0;
for(int i=0;i<nb;i++)
{
val=(val<<8)+readu8();
}
return val;
}
uint8_t ADM_ebml::readString(char *string, uint32_t maxLen)
{
uint8_t v;
while(maxLen--)
{
v=*string++=readu8();
if(!v) return 1;
}
*string=0;
return 1;
}
/**
\fn readEBMCode_Full
\brief Returns complete code, including size-bits (used only for EBML_ID)
*/
uint64_t ADM_ebml::readEBMCode_Full(void)
{
uint64_t start=readu8();
uint32_t mask=0x80,more=0;
aprintf(">>StartFull :%x at %llx\n",start,tell()-1);
if(!start)
{
ADM_warning("Corrupted EBML entry!\n");
return 0;
}
while(!(mask&start))
{
mask>>=1;
more++;
}
for(int i=0;i<more;i++)
{
start=(start<<8)+readu8();
}
return start;
}
static int getstringwidth_cb(lua_State* L)
{
size_t size;
const char* s = luaL_checklstring(L, 1, &size);
const char* send = s + size;
int width = 0;
while (s < send)
{
wchar_t c = readu8(&s);
if (!iswcntrl(c))
width += emu_wcwidth(c);
}
lua_pushnumber(L, width);
return 1;
}
static int write_cb(lua_State* L)
{
int x = luaL_checkint(L, 1);
int y = luaL_checkint(L, 2);
size_t size;
const char* s = luaL_checklstring(L, 3, &size);
const char* send = s + size;
while (s < send)
{
wchar_t c = readu8(&s);
dpy_writechar(x, y, c);
if (!iswcntrl(c))
x += emu_wcwidth(c);
}
return 0;
}
uni_t dpy_getchar(int timeout)
{
while (numqueued == 0)
{
/* If a timeout was asked for, wait that long for an event. */
if ((timeout != -1) && !XPending(display))
{
struct pollfd pfd =
{
.fd = ConnectionNumber(display),
.events = POLLIN,
.revents = 0
};
poll(&pfd, 1, timeout*1000);
if (!pfd.revents)
return -VK_TIMEOUT;
}
XEvent e;
XNextEvent(display, &e);
if (XFilterEvent(&e, window))
continue;
switch (e.type)
{
case MapNotify:
break;
case Expose:
{
/* Mark some of the screen as needing redrawing. */
if (frontbuffer)
{
for (int y=0; y<screenheight; y++)
{
unsigned int* p = &frontbuffer[y * screenwidth];
for (int x=0; x<screenwidth; x++)
p[x] = 0;
}
}
redraw();
break;
}
case ConfigureNotify:
{
XConfigureEvent* xce = &e.xconfigure;
int w = xce->width / fontwidth;
int h = xce->height / fontheight;
if ((w != screenwidth) || (h != screenheight))
{
screenwidth = w;
screenheight = h;
if (frontbuffer)
free(frontbuffer);
frontbuffer = NULL;
if (backbuffer)
free(backbuffer);
backbuffer = calloc(screenwidth * screenheight, sizeof(unsigned int));
push_key(-VK_RESIZE);
}
break;
}
case MappingNotify:
case KeymapNotify:
XRefreshKeyboardMapping(&e.xmapping);
break;
case KeyPress:
{
XKeyPressedEvent* xke = &e.xkey;
KeySym keysym;
char buffer[32];
Status status = 0;
int charcount = Xutf8LookupString(xic, xke,
buffer, sizeof(buffer)-1, &keysym, &status);
int mods = 0;
if (xke->state & ShiftMask)
mods |= VKM_SHIFT;
if (xke->state & ControlMask)
mods |= VKM_CTRL;
if ((keysym & 0xffffff00) == 0xff00)
{
/* Special function key. */
if (!IsModifierKey(keysym))
push_key(-(keysym | mods));
}
else
{
const char* p = buffer;
while ((p-buffer) < charcount)
{
uni_t c = readu8(&p);
if (c < 32)
{
/* Ctrl + letter key */
push_key(-(VKM_CTRLASCII | c | mods));
}
else
{
if (xke->state & Mod1Mask)
push_key(-XK_Escape);
push_key(c);
}
}
}
break;
}
}
}
return dequeue();
}
const char* dpy_getkeyname(uni_t k)
{
static char buffer[32];
switch (-k)
{
case VK_RESIZE: return "KEY_RESIZE";
case VK_TIMEOUT: return "KEY_TIMEOUT";
case VK_REDRAW: return "KEY_REDRAW";
}
int key = -k & ~VKM__MASK;
int mods = -k & VKM__MASK;
if (mods & VKM_CTRLASCII)
{
sprintf(buffer, "KEY_%s^%c",
(mods & VKM_SHIFT) ? "S" : "",
key + 64);
return buffer;
}
const char* template = NULL;
/*
头格式 编码gbk
Int 头大小
Int 内容大小
byte 静态页版本格式 0 or 1, 1:deadtime
byte 是否有效
long 过期时间毫秒
long 生成时间毫秒
long 页号
byte 站类型 0 私有 1共享 >1 会员
int 关键词长度
byte[] 关键词
int ig号长度
byte[] ig
Int 鉴权方式 0 不鉴权，1特殊页面鉴权，2php 特殊页面鉴权3，会员鉴权
int 额外参数的长度
byte[] 额外参数{PageAuth:{sid:,appid,authid:},GroupAuth:{sid,appid,authid}}
byte[] 文件内容
*/
page_t *
file_read_path(char *path)
{
tbuf mt = {0, NULL};
if (tbuf_read(&mt, path)) {
char *strpos;
uint32_t strlen;
stream_t s = {0, mt.len, (uint8_t*)mt.data};
size_t min = 2 * sizeof(uint32_t);
if (mt.len < min) {
tbuf_close(&mt);
return NULL;
}
uint32_t hlen = readu32(&s);
uint32_t blen = readu32(&s);
if (mt.len != min+hlen+blen) {
tbuf_close(&mt);
return NULL;
}
/* |<-- page_t -->|<-- body data -->|<-- head strings -->| */
/* about 32 bytes in head is not for strings */
size_t plen = sizeof(page_t)+blen+hlen-32;
page_t *page = (page_t*)smalloc(plen);
page->page_len = plen;
page->body_len = blen;
page->body = (char*)page+sizeof(page_t);
memcpy(page->body, mt.data+2*sizeof(uint32_t)+hlen, page->body_len);
strpos = (char*)page->body + blen;
page_head_t *head = &page->head;
head->version = readu8(&s);
switch(head->version) {
case 0:
head->valid = readu8(&s);
head->time_expire = readu64(&s);
head->time_create = readu64(&s);
head->time_dead = head->time_expire+(uint64_t)24*3600*1000;
head->page_no = readu64(&s);
head->type = readu8(&s);
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->keyword = strpos;
strpos += strlen+1;
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->ig = strpos;
strpos += strlen+1;
head->auth_type = readu32(&s);
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->param = strpos;
strpos += strlen+1;
break;
case 1:
head->valid = readu8(&s);
head->time_expire = readu64(&s);
head->time_create = readu64(&s);
head->time_dead = readu64(&s);
head->page_no = readu64(&s);
head->type = readu8(&s);
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->keyword = strpos;
strpos += strlen+1;
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->ig = strpos;
strpos += strlen+1;
head->auth_type = readu32(&s);
strlen = readu32(&s);
readarr(&s, strpos, strlen);
*(strpos+strlen) = 0;
head->param = strpos;
strpos += strlen+1;
break;
}
tbuf_close(&mt);
SYNC_ADD(&total_pages, 1);
return page;
}
tbuf_close(&mt);
return NULL;
}
int main(int argc, char *argv[])
{
int opt;
while ((opt = getopt(argc, argv, "dh")) != -1) {
switch (opt) {
case 'd':
printf("Debug messages on\n");
debug = 1;
break;
case 'h':
printf("Usage: pixy_driver [options] [/path/to/spidev]\n");
printf("-d\tTurn on debug messages\n");
printf("-h\tPrint this help and exit\n");
exit(1);
}
}
char *port = "/dev/spidev1.0";
if (argc > optind)
port = argv[optind];
printf("Opening device %s\n", port);
// Open SPI port and set mode
int fd = open(port, O_RDWR);
if (fd == -1) {
perror("can't open SPI device");
abort();
}
if (ioctl(fd, SPI_IOC_WR_MODE, &mode) == -1)
perror("can't set spi mode");
if (ioctl(fd, SPI_IOC_RD_MODE, &mode) == -1)
perror("can't read spi mode");
if (ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits) == -1)
perror("can't set bits per word");
if (ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits) == -1)
perror("can't read bits per word");
if (ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed) == -1)
perror("can't set max speed");
if (ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed) == -1)
perror("can't read max speed");
printf("SPI config: mode %d, %d bits per word, %d Hz max\n",
mode, bits, speed);
int valid_blocks = 0;
int checksum_errors = 0;
while (1) {
int i;
// IMPORTANT: data appears to be big-endian, despite the documentation
// Wait for sync pattern 0xaa55
while ((i = readu8(fd)) != 0xaa) {
//printf("%02x ", i);
usleep(2000);
}
if ((i = readu8(fd)) == 0x55) {
// Read blocks until zero byte is encountered
// Blocks will begin with pattern 0xaa55 or 0xaa56
while ((i = readu8(fd)) == 0xaa) {
if (debug) printf("%02x ", i);
// Decode packet
pixy_t msg = {};
int i = readu8(fd);
if (debug) printf("%02x ", i);
if (i == 0x55)
msg.type = TYPE_NORMAL;
else if (i == 0x56)
msg.type = TYPE_COLOR_CODE;
else
break;
msg.checksum = readu16(fd);
// Stupid packet format is ambiguous: pixy will send 0xAA55
// BEFORE the block header to indicate the start of a frame.
// Handle this case here:
if (msg.checksum == 0xAA55) {
msg.type = TYPE_NORMAL;
msg.checksum = readu16(fd);
} else if (msg.checksum == 0xAA56) {
msg.type = TYPE_COLOR_CODE;
msg.checksum = readu16(fd);
}
msg.signature = readu16(fd);
msg.x = readu16(fd);
msg.y = readu16(fd);
msg.width = readu16(fd);
msg.height = readu16(fd);
if (msg.type == TYPE_COLOR_CODE)
msg.angle = readu16(fd);
else
msg.angle = 0;
if (debug)
printf("%d %d %d %d %d %d %d\n",
msg.checksum, msg.signature,
msg.x, msg.y, msg.width, msg.height, msg.angle);
// Verify checksum
uint16_t checksum = msg.signature + msg.x + msg.y + msg.width +
msg.height + msg.angle;
if (msg.checksum != checksum) {
printf("failed checksum: received %x, computed %x\n",
msg.checksum, checksum);
checksum_errors += 1;
continue;
}
// Valid packet received
// TODO: Publish to LCM
valid_blocks += 1;
if (msg.type == TYPE_COLOR_CODE) {
printf("Color code %d (octal %o) at (%d, %d) size (%d, %d)"
" angle %d\n", msg.signature, msg.signature,
msg.x, msg.y, msg.width, msg.height, msg.angle);
} else {
printf("Signature %d at (%d, %d) size (%d, %d)\n",
msg.signature, msg.x, msg.y, msg.width, msg.height);
}
}
if (debug) printf("%d valid blocks read, %d failed checksum\n",
valid_blocks, checksum_errors);
}
}
printf("Exiting\n");
close(fd);
}