bool Printer::Idle( void ) {
string str;
bool is_connected;
while ( ( str = ReadResponse() ) != "" )
ParseResponse( str );
if ( m_view ) {
while ( ( str = ReadLog() ) != "" )
m_view->comm_log( str );
while ( ( str = ReadErrorLog() ) != "" ) {
alert( str.c_str() );
}
}
if ( ( is_connected = IsConnected() ) != was_connected ) {
was_connected = is_connected;
signal_serial_state_changed.emit( is_connected ? SERIAL_CONNECTED : SERIAL_DISCONNECTED );
}
if ( waiting_temp && --temp_countdown == 0 &&
m_model && m_model->settings.get_boolean("Misc","TempReadingEnabled") ) {
UpdateTemperatureMonitor();
temp_countdown = 100;
waiting_temp = false;
}
return true;
}
int main(int argc, char **argv)
{
Initialize(argc, argv);
ReadLog();
Terminate();
return(1);
}
bool UploadCurrentLog(LogUploadResult &result)
{
String data;
ReadLog(data);
if (data.IsEmpty()) {
result.errors << Str("LogUpload.EmptyLog");
return false;
}
AppendGameCaptureLog(data);
String filename = CurrentLogFilename();
return UploadLogGitHub(GetPathFileName(filename.FindReplace(L"\\", L"/").Array(), true), data, result);
}
/**
open, write, close the file rather than hold it forever so it can handle having
the file deleted from underneath it without failing.
*/
void LogToFile :: PushItemsToFile()
{
try {
std::ofstream file(mFileName.c_str(), std::ios::app | std::ios::out);
if(!file.is_open()) std::cerr << "Failure to open: " << mFileName << std::endl;
LogEntry le;
while(ReadLog(le)) file << le.LogString() << std::endl;
file << std::flush;
if(file.bad()) std::cerr << "Failure during writing log file: " << file.rdstate() << std::endl;
file.close();
}
catch(std::exception e){
std::cerr << "Error during LogToFile: " << e.what() << std::endl;
}
}
/**
open, write, close the file rather than hold it forever so it can handle having
the file deleted from underneath it without failing.
*/
void LogToFile :: PushItemsToFile()
{
try {
// we need to open file in append mode first time only
std::ofstream file(mFileName.c_str(), mOverwriteFile ? (std::ios::out) : (std::ios::app | std::ios::out));
if(!file.is_open()) std::cerr << "Failure to open: " << mFileName << std::endl;
mOverwriteFile = false;
LogEntry le;
while(ReadLog(le)) file << le.LogString() << std::endl;
file << std::flush;
if(file.bad()) std::cerr << "Failure during writing log file: " << file.rdstate() << std::endl;
file.close();
}
catch(std::exception e) {
std::cerr << "Error during LogToFile: " << e.what() << std::endl;
}
}
/**
* @brief file manager initialization
* @param ShareMem [O ]Pointer to share memory where system information will
be stored.
* @return error code : SUCCESS(0) or FAIL(-1)
*/
int FileMngInit(void *ShareMem)
{
int ret;
DBG("Global value size:%d\n", SYS_ENV_SIZE);
ret = ReadGlobal(ShareMem);
if(ret == FAIL){
ret = create_sys_file(SYS_FILE, &SysInfoDefault);
if(ret == SUCCESS)
memcpy(ShareMem, &SysInfoDefault, SYS_ENV_SIZE);
else
ERROR("Initialize fail (FileMgnInit)\n");
}
if(ret == SUCCESS){
ret = ReadLog();
if(ret == FAIL)
ret = create_log_file(LOG_FILE, NULL);
#ifdef __FILE_DEBUG
else
ShowAllLog();
#endif
}
return ret;
}
int main(int argc, char **argv) {
size_t bytes; /* Set by the ReadLog subroutine */
char* data = 0; /* Allocated and set by the ReadLog subroutine */
char* outputfilename;
const char* optstring = "hv";
int blockno = 0;
FILE* outputfile;
while (getopt(argc, argv, optstring) >0) {
}
outputfilename = (char *) malloc(2048);
data = (char *) malloc(INITIAL_BUFFER_SIZE);
while (ReadLog(stdin, &bytes, data)) {
printf("Block[%.4d]: %x %x\n", blockno, data[0], data[1]);
/* Write out the buffer */
sprintf(outputfilename,"%s_%.4d.raw", argv[1], blockno);
outputfile = fopen(outputfilename,"w");
fwrite(data,1,bytes,outputfile);
blockno++;
}
return 0;
}
int main()
{
// 启动时即创建看门狗线程,一直喂狗,直到主线程通知退出
pthread_t pthreadDog;
pthread_create(&pthreadDog, NULL, G_ThreadClearDog, NULL);
g_objDog.DogInit(); // 确保第一次判断看门狗清除标志能成功
int i, j;
int iCnt = 0; // 连续多少次未清狗的次数
DWORD dwFlag = 0;
char *szAppInPart2[APP_IN_PART2] = {"/SockServExe", "/IOExe", "/UpdateExe", "/ComuExe", "/QianExe"};
char *szAppInPart5[APP_IN_PART5] = {"/mnt/Flash/part5/DvrExe", "/mnt/Flash/part5/SockServExe", "/mnt/Flash/part5/IOExe", "/mnt/Flash/part5/UpdateExe", "/mnt/Flash/part5/QianExe", "/mnt/Flash/part5/ComuExe"};
pid_t RunPid[6] = {0};
int EndStatus = 0;
int EndSucc = 0;
char szPart, szError, szUpdate;
int iAppInPartx;
char **pszAppInPartx;
CreateLog();
// 如果ErrLog损坏,则默认运行分区2程序
if(ReadLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "ErrLog damage, use default part2\n");
szPart = '2'; szError = '0'; szUpdate = '0';
}
// 如果ErrLog误码,则默认运行分区5程序
if((szPart != '2' && szPart != '5') || (szError < '0' || szError > '5') || (szUpdate < '0' || szUpdate > '5'))
{
PRTMSG(MSG_DBG, "ErrLog error, use default part5\n");
szPart = '5'; szError = '0'; szUpdate = '0';
if(WriteLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "write errlog fail\n");
DeleteLog();
goto EXIT;
}
}
ENTRY:
PRTMSG(MSG_DBG, "Part:%c Error:%c Update:%c\n", szPart, szError, szUpdate);
// 如果程序齐全且运行出错次数未达最大次数
if(AllAppExist(szPart) == true && szError <= '8')
{
if(szPart == '2')
{
PRTMSG(MSG_DBG, "begin to run in part2\n");
DOG_RSTVAL = 0XFFFFFFFF & ~DOG_QIAN & ~DOG_COMU & ~DOG_SOCK & ~DOG_IO & ~DOG_UPGD;// & ~DOG_DVR_T1 & ~DOG_DVR_T2 & ~DOG_DVR_T3;
iAppInPartx = APP_IN_PART2;
pszAppInPartx = szAppInPart2;
}
else if(szPart == '5')
{
PRTMSG(MSG_DBG, "begin to run in part5\n");
DOG_RSTVAL = 0XFFFFFFFF & ~DOG_QIAN & ~DOG_COMU & ~DOG_SOCK & ~DOG_IO & ~DOG_UPGD & ~DOG_DVR & ~DOG_DVR_T1 & ~DOG_DVR_T2 & ~DOG_DVR_T3;
iAppInPartx = APP_IN_PART5;
pszAppInPartx = szAppInPart5;
}
}
else
{
// 如果升级成功次数大于5次,则切换到分区2运行
if(szUpdate == '5')
{
PRTMSG(MSG_DBG, "update too many times, switch to part2\n");
szPart = '2'; szError = '0'; szUpdate = '0';
if(WriteLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "write errlog fail\n");
DeleteLog();
goto EXIT;
}
goto ENTRY;
}
// 否则进行升级操作
else
{
PRTMSG(MSG_DBG, "begin to update from part3\n");
for(i = 0; i < 3; i++)
{
if(AllAppExist('3') == true)
{
if(G_ExeUpdate("/mnt/Flash/part3/Down/exe.bin", 0))
{
PRTMSG(MSG_DBG, "update succ, switch to part5\n");
// 如果升级成功,切换到分区5,出错次数清零,升级次数递增
szPart = '5'; szError = '0'; szUpdate++;
if(WriteLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "write errlog fail\n");
DeleteLog();
goto EXIT;
}
goto ENTRY;
}
}
sleep(1);
}
PRTMSG(MSG_DBG, "update fail, switch to part2\n");
// 如果升级失败,切换到分区2,出错次数清零,升级次数清零
szPart = '2'; szError = '0'; szUpdate = '0';
if(WriteLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "write errlog fail\n");
DeleteLog();
goto EXIT;
}
goto ENTRY;
}
}
// 创建进程, 加载程序
for(i = 0; i < iAppInPartx; i++)
{
chmod(pszAppInPartx[i], S_IRWXU|S_IRWXG|S_IRWXO);
if((RunPid[i] = fork()) == -1)
{
PRTMSG(MSG_DBG, "fork process %s fail, exit\n", pszAppInPartx[i]);
// 如果创建子进程失败,递增出错次数
szError++;
if(WriteLog(szPart, szError, szUpdate) == -1)
{
DeleteLog();
}
goto EXIT;
}
else if(RunPid[i] == 0)
{
if(-1 == execl(pszAppInPartx[i], NULL))
{
// 如果子进程加载程序失败,则阻塞
PRTMSG(MSG_DBG, "execl program %s fail, sleep\n", pszAppInPartx[i]);
sleep(3600*48);
}
}
}
while(!g_bProgExit)
{
sleep(8);
dwFlag = g_objDog.DogQuery();
if(dwFlag == 0xffffffff)
{
iCnt = 0;
// 若持续正常运行时间超过20分钟(即1200秒,即150个循环),则将失败次数清零,升级次数清零
static DWORD dwRunTime = 0;
if(++dwRunTime > 150)
{
szError = '0'; szUpdate = '0';
if(WriteLog(szPart, szError, szUpdate) == -1)
{
PRTMSG(MSG_DBG, "write errlog fail\n");
DeleteLog();
goto EXIT;
}
}
}
else
{
PRTMSG(MSG_DBG, "dwFlag = %08x\n", dwFlag);
// 若连续5次未有效清狗(一次判断间隔为8秒,5次即为32秒)
if(++iCnt > 5)
{
// 检查是否有子进程退出
for(i = 0; i < iAppInPartx; i++)
{
if(waitpid(RunPid[i], &EndStatus, WNOHANG) == RunPid[i])
{
//子进程正常退出
if(WIFEXITED(EndStatus) != 0)
{
EndSucc++;
}
}
}
// 如果所有子进程都正常退出,出错次数清零
if(EndSucc == iAppInPartx)
{
szError = '0';
}
// 否则递增出错次数
else
{
szError++;
}
PRTMSG(MSG_DBG, "%d/%d program end normally\n", EndSucc, iAppInPartx);
if(WriteLog(szPart, szError, szUpdate) == -1)
{
DeleteLog();
}
goto EXIT;
}
}
}
EXIT:
g_bProgExit = true;
sleep(3);
return 0;
}
void InterpretCommand(MenuInstanceData * pMenuData, const char *pszScript) {
char szCmd[31], szParam1[51], szParam2[51];
char szTempScript[ 255 ];
memset(szTempScript, 0, sizeof(szTempScript));
strncpy(szTempScript, pszScript, 250);
if (pszScript[0] == 0) {
return;
}
char* pszScriptPointer = szTempScript;
while (pszScriptPointer && !hangup) {
pszScriptPointer = MenuParseLine(pszScriptPointer, szCmd, szParam1, szParam2);
if (szCmd[0] == 0) { // || !pszScriptPointer || !*pszScriptPointer
break;
}
// -------------------------
// Run a new menu instance
int nCmdID = GetMenuIndex(szCmd);
switch (nCmdID) {
case 0: {
// "MENU"
// Spawn a new menu
MenuInstanceData *pNewMenuData = static_cast<MenuInstanceData *>(malloc(sizeof(MenuInstanceData)));
memset(pNewMenuData, 0, sizeof(MenuInstanceData));
pNewMenuData->nFinished = 0;
pNewMenuData->nReload = 0;
Menus(pNewMenuData, pMenuData->szPath, szParam1);
free(pNewMenuData);
}
break;
case 1: {
// -------------------------
// Exit out of this instance
// of the menu
// -------------------------
// "ReturnFromMenu"
InterpretCommand(pMenuData, pMenuData->header.szExitScript);
pMenuData->nFinished = 1;
}
break;
case 2: {
// "EditMenuSet"
EditMenus(); // flag if we are editing this menu
pMenuData->nFinished = 1;
pMenuData->nReload = 1;
}
break;
case 3: {
// "DLFreeFile"
align(szParam2);
MenuDownload(szParam1, szParam2, true, true);
}
break;
case 4: {
// "DLFile"
align(szParam2);
MenuDownload(szParam1, szParam2, false, true);
}
break;
case 5: {
// "RunDoor"
MenuRunDoorName(szParam1, false);
}
break;
case 6: {
// "RunDoorFree"
MenuRunDoorName(szParam1, true);
}
break;
case 7: {
// "RunDoorNumber"
int nTemp = atoi(szParam1);
MenuRunDoorNumber(nTemp, false);
}
break;
case 8: {
// "RunDoorNumberFree"
int nTemp = atoi(szParam1);
MenuRunDoorNumber(nTemp, true);
}
break;
case 9: {
// "PrintFile"
printfile(szParam1, true);
}
break;
case 10: {
// "PrintFileNA"
printfile(szParam1, false);
}
break;
case 11: {
// "SetSubNumber"
SetSubNumber(szParam1);
}
break;
case 12: {
// "SetDirNumber"
SetDirNumber(szParam1);
}
break;
case 13: {
// "SetMsgConf"
SetMsgConf(szParam1[0]);
}
break;
case 14: {
// "SetDirConf"
SetDirConf(szParam1[0]);
}
break;
case 15: {
// "EnableConf"
EnableConf();
}
break;
case 16: {
// "DisableConf"
DisableConf();
}
break;
case 17: {
// "Pause"
pausescr();
}
break;
case 18: {
// "ConfigUserMenuSet"
ConfigUserMenuSet();
pMenuData->nFinished = 1;
pMenuData->nReload = 1;
}
break;
case 19: {
// "DisplayHelp"
if (GetSession()->GetCurrentUser()->IsExpert()) {
AMDisplayHelp(pMenuData);
}
}
break;
case 20: {
// "SelectSub"
ChangeSubNumber();
}
break;
case 21: {
// "SelectDir"
ChangeDirNumber();
}
break;
case 22: {
// "SubList"
SubList();
}
break;
case 23: {
// "UpSubConf"
UpSubConf();
}
break;
case 24: {
// "DownSubConf"
DownSubConf();
}
break;
case 25: {
// "UpSub"
UpSub();
}
break;
case 26: {
// "DownSub"
DownSub();
}
break;
case 27: {
// "ValidateUser"
ValidateUser();
}
break;
case 28: {
// "Doors"
Chains();
}
break;
case 29: {
// "TimeBank"
TimeBank();
}
break;
case 30: {
// "AutoMessage"
AutoMessage();
}
break;
case 31: {
// "BBSList"
BBSList();
}
break;
case 32: {
// "RequestChat"
RequestChat();
}
break;
case 33: {
// "Defaults"
Defaults(pMenuData);
}
break;
case 34: {
// "SendEMail"
SendEMail();
}
break;
case 35: {
// "Feedback"
FeedBack();
}
break;
case 36: {
// "Bulletins"
Bulletins();
}
break;
case 37: {
// "HopSub"
HopSub();
}
break;
case 38: {
// "SystemInfo"
SystemInfo();
}
break;
case 39: {
// "JumpSubConf"
JumpSubConf();
}
break;
case 40: {
// "KillEMail"
KillEMail();
}
break;
case 41: {
// "LastCallers"
LastCallers();
}
break;
case 42: {
// "ReadEMail"
ReadEMail();
}
break;
case 43: {
// "NewMessageScan"
NewMessageScan();
}
break;
case 44: {
// "Goodbye"
GoodBye();
}
break;
case 45: {
// "PostMessage"
WWIV_PostMessage();
}
break;
case 46: {
// "NewMsgScanCurSub"
ScanSub();
}
break;
case 47: {
// "RemovePost"
RemovePost();
}
break;
case 48: {
// "TitleScan"
TitleScan();
}
break;
case 49: {
// "ListUsers"
ListUsers();
}
break;
case 50: {
// "Vote"
Vote();
}
break;
case 51: {
// "ToggleExpert"
ToggleExpert();
}
break;
case 52: {
// "YourInfo"
YourInfo();
}
break;
case 53: {
// "ExpressScan"
ExpressScan();
}
break;
case 54: {
// "WWIVVer"
WWIVVersion();
}
break;
case 55: {
// "InstanceEdit"
InstanceEdit();
}
break;
case 56: {
// "ConferenceEdit"
JumpEdit();
}
break;
case 57: {
// "SubEdit"
BoardEdit();
}
break;
case 58: {
// "ChainEdit"
ChainEdit();
}
break;
case 59: {
// "ToggleAvailable"
ToggleChat();
}
break;
case 60: {
// "ChangeUser"
ChangeUser();
}
break;
case 61: {
// "CLOUT"
CallOut();
}
break;
case 62: {
// "Debug"
Debug();
}
break;
case 63: {
// "DirEdit"
DirEdit();
}
break;
case 65: {
// "Edit"
EditText();
}
break;
case 66: {
// "BulletinEdit"
EditBulletins();
}
break;
case 67: {
// "LoadText"
// LoadText and LoadTextFile are the same, so they are now merged.
LoadTextFile();
}
break;
case 68: {
// "ReadAllMail"
ReadAllMail();
}
break;
case 69: {
// "Reboot"
RebootComputer();
}
break;
case 70: {
// "ReloadMenus"
ReloadMenus();
}
break;
case 71: {
// "ResetUserIndex"
ResetFiles();
}
break;
case 72: {
// "ResetQScan"
ResetQscan();
}
break;
case 73: {
// "MemStat"
MemoryStatus();
}
break;
case 74: {
// "PackMsgs"
PackMessages();
}
break;
case 75: {
// "VoteEdit"
InitVotes();
}
break;
case 76: {
// "Log"
ReadLog();
}
break;
case 77: {
// "NetLog"
ReadNetLog();
}
break;
case 78: {
// "Pending"
PrintPending();
}
break;
case 79: {
// "Status"
PrintStatus();
}
break;
case 80: {
// "TextEdit"
TextEdit();
}
break;
case 81: {
// "UserEdit"
UserEdit();
}
break;
case 82: {
// "VotePrint"
VotePrint();
}
break;
case 83: {
// "YLog"
YesturdaysLog();
}
break;
case 84: {
// "ZLog"
ZLog();
}
break;
case 85: {
// "ViewNetDataLog"
ViewNetDataLog();
}
break;
case 86: {
// "UploadPost"
UploadPost();
}
break;
case 87: {
// "ClearScreen"
GetSession()->bout.ClearScreen();
}
break;
case 88: {
// "NetListing"
NetListing();
}
break;
case 89: {
// "WHO"
WhoIsOnline();
}
break;
case 90: {
// /A "NewMsgsAllConfs"
NewMsgsAllConfs();
}
break;
case 91: {
// /E "MultiEMail"
MultiEmail();
}
break;
case 92: {
// "NewMsgScanFromHere"
NewMsgScanFromHere();
}
break;
case 93: {
// "ValidatePosts"
ValidateScan();
}
break;
case 94: {
// "ChatRoom"
ChatRoom();
}
break;
case 95: {
// "DownloadPosts"
DownloadPosts();
}
break;
case 96: {
// "DownloadFileList"
DownloadFileList();
}
break;
case 97: {
// "ClearQScan"
ClearQScan();
}
break;
case 98: {
// "FastGoodBye"
FastGoodBye();
}
break;
case 99: {
// "NewFilesAllConfs"
NewFilesAllConfs();
}
break;
case 100: {
// "ReadIDZ"
ReadIDZ();
}
break;
case 101: {
// "UploadAllDirs"
UploadAllDirs();
}
break;
case 102: {
// "UploadCurDir"
UploadCurDir();
}
break;
case 103: {
// "RenameFiles"
RenameFiles();
}
break;
case 104: {
// "MoveFiles"
MoveFiles();
}
break;
case 105: {
// "SortDirs"
SortDirs();
}
break;
case 106: {
// "ReverseSortDirs"
ReverseSort();
}
break;
case 107: {
// "AllowEdit"
AllowEdit();
}
break;
case 109: {
// "UploadFilesBBS"
UploadFilesBBS();
}
break;
case 110: {
// "DirList"
DirList();
}
break;
case 111: {
// "UpDirConf"
UpDirConf();
}
break;
case 112: {
// "UpDir"
UpDir();
}
break;
case 113: {
// "DownDirConf"
DownDirConf();
}
break;
case 114: {
// "DownDir"
DownDir();
}
break;
case 115: {
// "ListUsersDL"
ListUsersDL();
}
break;
case 116: {
// "PrintDSZLog"
PrintDSZLog();
}
break;
case 117: {
// "PrintDevices"
PrintDevices();
}
break;
case 118: {
// "ViewArchive"
ViewArchive();
}
break;
case 119: {
// "BatchMenu"
BatchMenu();
}
break;
case 120: {
// "Download"
Download();
}
break;
case 121: {
// "TempExtract"
TempExtract();
}
break;
case 122: {
// "FindDescription"
FindDescription();
}
break;
case 123: {
// "ArchiveMenu"
TemporaryStuff();
}
break;
case 124: {
// "HopDir"
HopDir();
}
break;
case 125: {
// "JumpDirConf"
JumpDirConf();
}
break;
case 126: {
// "ListFiles"
ListFiles();
}
break;
case 127: {
// "NewFileScan"
NewFileScan();
}
break;
case 128: {
// "SetNewFileScanDate"
SetNewFileScanDate();
}
break;
case 129: {
// "RemoveFiles"
RemoveFiles();
}
break;
case 130: {
// "SearchAllFiles"
SearchAllFiles();
}
break;
case 131: {
// "XferDefaults"
XferDefaults();
}
break;
case 132: {
// "Upload"
Upload();
}
break;
case 133: {
// "YourInfoDL"
YourInfoDL();
}
break;
case 134: {
// "UploadToSysop"
UploadToSysop();
}
break;
case 135: {
// "ReadAutoMessage"
ReadAutoMessage();
}
break;
case 136: {
// "SetNewScanMsg"
SetNewScanMsg();
}
break;
case 137: {
// "ReadMessages"
ReadMessages();
}
break;
/*
case 138:
{ // "RUN"
ExecuteBasic(szParam1);
} break;
*/
case 139: {
// "EventEdit"
EventEdit();
}
break;
case 140: {
// "LoadTextFile"
LoadTextFile();
}
break;
case 141: {
// "GuestApply"
GuestApply();
}
break;
case 142: {
// "ConfigFileList"
ConfigFileList();
}
break;
case 143: {
// "ListAllColors"
ListAllColors();
}
break;
#ifdef QUESTIONS
case 144: {
// "EditQuestions"
EditQuestions();
}
break;
case 145: {
// "Questions"
Questions();
}
break;
#endif
case 146: {
// "RemoveNotThere"
RemoveNotThere();
}
break;
case 147: {
// "AttachFile"
AttachFile();
}
break;
case 148: {
// "InternetEmail"
InternetEmail();
}
break;
case 149: {
// "UnQScan"
UnQScan();
}
break;
// ppMenuStringsIndex[150] thru ppMenuStringsIndex[153] not used.....
case 154: {
// "Packers"
Packers();
}
break;
case 155: {
// Color_Config
color_config();
}
break;
//------------------------------------------------------------------
// ppMenuStringsIndex[156] and [157] are reserved for SDS Systems and systems
// that distribute modifications. DO NOT reuse these strings for
// other menu options.
//------------------------------------------------------------------
// case 156:
// { // ModAccess
// ModsAccess();
// } break;
// case 157:
// { // SDSAccess
// SDSAccess();
// } break;
//------------------------------------------------------------------
case 158: {
// InitVotes
InitVotes();
}
break;
case 161: {
// TurnMCIOn
TurnMCIOn();
}
break;
case 162: {
// TurnMCIOff
TurnMCIOff();
}
break;
default: {
MenuSysopLog("The following command was not recognized");
MenuSysopLog(szCmd);
}
break;
}
}
}
void main() {
ReadLog();
}
//
// The main function for performing SLAM at the low level. The first argument will return
// whether there is still information to be processed by SLAM (set to 1). The second and third
// arguments return the corrected odometry for the time steps, and the corresponding list of
// observations. This can be used for the higher level SLAM process when using hierarchical SLAM.
//
void LowSlam(TPath **path, TSenseLog **obs)
{
int cnt;
int i, j, overflow = 0;
char name[32];
TPath *tempPath;
TSenseLog *tempObs;
TAncestor *lineage;
// Initialize the worldMap
LowInitializeWorldMap();
// Initialize the ancestry and particles
cleanID = ID_NUMBER - 2; // ID_NUMBER-1 is being used as the root of the ancestry tree.
// Initialize all of our unused ancestor particles to look unused.
for (i = 0; i < ID_NUMBER; i++) {
availableID[i] = i;
l_particleID[i].generation = -1;
l_particleID[i].numChildren = 0;
l_particleID[i].ID = -1;
l_particleID[i].parent = NULL;
l_particleID[i].mapEntries = NULL;
l_particleID[i].path = NULL;
l_particleID[i].seen = 0;
l_particleID[i].total = 0;
l_particleID[i].size = 0;
}
// Initialize the root of our ancestry tree.
l_particleID[ID_NUMBER-1].generation = 0;
l_particleID[ID_NUMBER-1].numChildren = 1;
l_particleID[ID_NUMBER-1].size = 0;
l_particleID[ID_NUMBER-1].total = 0;
l_particleID[ID_NUMBER-1].ID = ID_NUMBER-1;
l_particleID[ID_NUMBER-1].parent = NULL;
l_particleID[ID_NUMBER-1].mapEntries = NULL;
// Create all of our starting particles at the center of the map.
for (i = 0; i < PARTICLE_NUMBER; i++) {
l_particle[i].ancestryNode = &(l_particleID[ID_NUMBER-1]);
l_particle[i].x = MAP_WIDTH / 2;
l_particle[i].y = MAP_HEIGHT / 2;
l_particle[i].theta = 0.001;
l_particle[i].probability = 0;
children[i] = 0;
}
// We really only use the first particle, since they are all essentially the same.
l_particle[0].probability = 1;
l_cur_particles_used = 1;
children[0] = SAMPLE_NUMBER;
// We don't need to initialize the savedParticles, since Localization will create them for us, and they first are used in
// UpdateAncestry, which is called after Localization. This statement isn't necessary, then, but serves as a sort of placeholder
// when reading the code.
cur_saved_particles_used = 0;
overflow = 1;
for (i=0; i < START_ITERATION; i++)
ReadLog(readFile, logfile_index, sense);
curGeneration = 0;
// Add the first thing that you see to the worldMap at the center. This gives us something to localize off of.
ReadLog(readFile, logfile_index, sense);
AddToWorldModel(sense, 0);
curGeneration = 1;
// Make a record of what the first odometry readings were, so that we can compute relative movement across time steps.
lastX = odometry.x;
lastY = odometry.y;
lastTheta = odometry.theta;
// Get our observation log started.
(*obs) = (TSenseLog *)malloc(sizeof(TSenseLog));
for (i=0; i < SENSE_NUMBER; i++) {
(*obs)->sense[i].distance = sense[i].distance;
(*obs)->sense[i].theta = sense[i].theta;
}
(*obs)->next = NULL;
cnt = 0;
while (curGeneration < LEARN_DURATION) {
// Collect information from the data log. If either reading returns 1, we've run out of log data, and
// we need to stop now.
if (ReadLog(readFile, logfile_index, sense) == 1)
overflow = 0;
else
overflow = 1;
// We don't necessarily want to use every last reading that comes in. This allows us to make certain that the
// robot has moved at least a minimal amount (in terms of meters and radians) before we try to localize and update.
if ((sqrt(SQUARE(odometry.x - lastX) + SQUARE(odometry.y - lastY)) < 0.10) && (fabs(odometry.theta - lastTheta) < 0.04))
overflow = 0;
if (overflow > 0) {
overflow--;
// Wipe the slate clean
LowInitializeFlags();
// Apply the localization procedure, which will give us the N best particles
Localize(sense);
// Add these maintained particles to the FamilyTree, so that ancestry can be determined, and then prune dead lineages
UpdateAncestry(sense, l_particleID);
// Update the observation log (used only by hierarchical SLAM)
tempObs = (*obs);
while (tempObs->next != NULL)
tempObs = tempObs->next;
tempObs->next = (TSenseLog *)malloc(sizeof(TSenseLog));
if (tempObs->next == NULL) fprintf(stderr, "Malloc failed in making a new observation!\n");
for (i=0; i < SENSE_NUMBER; i++) {
tempObs->next->sense[i].distance = sense[i].distance;
tempObs->next->sense[i].theta = sense[i].theta;
}
tempObs->next->next = NULL;
curGeneration++;
// Remember these odometry readings for next time. This is what lets us know the incremental motion.
lastX = odometry.x;
lastY = odometry.y;
lastTheta = odometry.theta;
}
}
// Find the most likely particle. Return its path
j = 0;
for (i=0; i < l_cur_particles_used; i++)
if (l_particle[i].probability > l_particle[j].probability)
j = i;
(*path) = NULL;
i = 0;
lineage = l_particle[j].ancestryNode;
while ((lineage != NULL) && (lineage->ID != ID_NUMBER-1)) {
tempPath = lineage->path;
i++;
while (tempPath->next != NULL) {
i++;
tempPath = tempPath->next;
}
tempPath->next = (*path);
(*path) = lineage->path;
lineage->path = NULL;
lineage = lineage->parent;
}
// Print out the map.
sprintf(name, "map");
j = 0;
for (i = 0; i < l_cur_particles_used; i++)
if (l_particle[i].probability > l_particle[j].probability)
j = i;
PrintMap(name, l_particle[j].ancestryNode, FALSE, -1, -1, -1);
sprintf(name, "rm map.ppm");
system(name);
// Clean up the memory being used.
DisposeAncestry(l_particleID);
LowDestroyMap();
}
