static void
cmd_alrt (struct htlc_conn *htlc, u_int32_t cid, char *chatbuf)
{
char *p, *str;
u_int32_t uid;
u_int16_t style, len;
struct htlc_conn *htlcp;
int n, i = 1;
char errbuf[sizeof(big_chatbuf)];
char nickbuf[sizeof(big_chatbuf)];
if (!htlc->access.can_broadcast) {
cmd_denied(htlc, cid, "alert");
return;
}
p = chatbuf;
uid = atou32(p);
if (!uid && strncmp(p, "0 ", 2) && nick_to_uid(p, &uid)) {
while (*p && *p != ' ') {
p++;
i++;
}
snprintf(nickbuf, i, "%s", chatbuf);
snprintf(errbuf, MAX_CHAT - 7, "no such user \"%s\"", nickbuf);
cmd_err(htlc, cid, "alert", errbuf);
return;
}
htlcp = isclient(uid);
if (!htlcp) {
snprintf(errbuf, MAX_CHAT - 7, "no such user (uid:%u)", uid);
cmd_err(htlc, cid, "alert", errbuf);
return;
}
n = 1;
while (*p && *p != ' ') {
p++;
n++;
}
if (!strlen(p) > 0)
return;
style = htons(1);
str = &chatbuf[n];
len = strlen(str);
if (isclient(htlcp->uid) != 0) {
hlwrite(htlcp, HTLS_HDR_MSG, 0, 2,
HTLS_DATA_STYLE, 2, &style,
HTLS_DATA_MSG, len, str);
}
}
int8 master_macro_aws(int16 step){
int16 addr;
int8 macro_cmd[2];
int16 macro_arg[2];
int8 macro_end;
--step;
addr = macro_address[0] + (step*6);
init_ext_eeprom();
// port
macro_cmd[0] = read_ext_eeprom(addr);
++addr;
macro_arg[0] = read16_ext_eeprom(addr);
++addr;
++addr;
// macro
macro_cmd[1] = read_ext_eeprom(addr);
++addr;
macro_arg[1] = read16_ext_eeprom(addr);
++addr;
++addr;
macro_end = read_ext_eeprom(addr);
// check basic structure
if (macro_cmd[0] == 'P' && macro_cmd[1] == 'M') {
RTC_read();
RTC_display();
fprintf(COM_A, "%c%Lu,%c%Lu\r\n",
macro_cmd[0], macro_arg[0], // port
macro_cmd[1], macro_arg[1]); // macro
if (macro_arg[1] > 0 && macro_arg[1] < 17) {
play_macro(macro_arg[1], macro_arg[0]); // [1] casts to int8 / [0] = port
}
}
else {
cmd_err();
macro_end = 59;
}
return (macro_end);
}
void check_debug_uart(void) {
static uint8_t inputbuf[RX_LINE_SIZE], inputptr = 0;
uint8_t i, recv;
int16_t ticks;
while(uart_available(DEBUG)) {
recv = uart_get(DEBUG);
if(recv == '\r') {
fprintf(&debug, "\r\n");
if(inputptr) {
switch(inputbuf[0]) {
case '?': // print drive command list
fprintf_P(&debug, PSTR("stop() ........................ | p00\r\n"));
fprintf_P(&debug, PSTR("fwd_both(speed) ............... | p0300, p0400, p15 u8\r\n"));
fprintf_P(&debug, PSTR("rev_both(speed) ............... | p0301, p0401, p15 u8\r\n"));
fprintf_P(&debug, PSTR("forward(Lspeed, Rspeed) ....... | p0300, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("reverse(Lspeed, Rspeed) ....... | p0301, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCCW(Lspeed, Rspeed) ....... | p0301, p0400, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("turnCW (Lspeed, Rspeed) ....... | p0300, p0401, p11 u8, p12 u8\r\n"));
fprintf_P(&debug, PSTR("set_abs_pos(pos) .............. | p1a s16\r\n"));
fprintf_P(&debug, PSTR("set_rel_pos(sect, pos) ........ | p1b u8 u8\r\n"));
fprintf_P(&debug, PSTR("pos_corr_on() ................. | p1f01\r\n"));
fprintf_P(&debug, PSTR("pos_corr_off() ................ | p1f00\r\n"));
fprintf_P(&debug, PSTR("nav_abs_pos(speed, pos) ....... | p31 u8 s16\r\n"));
fprintf_P(&debug, PSTR("nav_rel_pos(speed, sect, pos) . | p32 u8 u8 u8\r\n"));
break;
case 'p': // passthrough to DRIVE MCU
for(i = 1; i < inputptr; i++) { uart_put(DRIVE, inputbuf[i]); }
uart_put(DRIVE, '\r');
break;
case 'r': // toggle reverse passthrough from DRIVE MCU
rev_passthru ^= 1;
break;
case 'd': // local dump on/off
local_dump ^= 1;
break;
case 's': // start/stop main thread
run_main ^= 1;
if(run_main) { fprintf_P(&debug, PSTR("Main thread started!\r\n")); }
else { fprintf_P(&debug, PSTR("Main thread stopped!\r\n")); stop(); }
break;
case 't': // start/stop test thread
if(inputptr != 2) { cmd_err(); break; }
run_test = htoa(0, inputbuf[1]);
if(!run_test) { fprintf_P(&debug, PSTR("All test sequences stopped!\r\n")); stop(); }
else { fprintf_P(&debug, PSTR("Started test sequence %u!\r\n"), run_test); }
break;
case ' ': // stop all motors
run_main = 0;
run_test = 0;
pid_on = 0;
stop();
set_speed_3(0);
set_speed_4(0);
break;
case 'u':
fprintf_P(&debug, PSTR("%lu\r\n"), uptime());
break;
case 'b':
#define VBAT_FACTOR 0.0044336
fprintf_P(&debug, PSTR("4 x %1.2fV\r\n"), (float)read_adc(VSENS) * VBAT_FACTOR);
break;
case 'm': // servo power
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
inputbuf[1] == '0' ? clr_bit(SPWR) : set_bit(SPWR);
break;
case '9': // magnets
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { clr_bit(FET1); clr_bit(FET2); fprintf_P(&debug, PSTR("Magnets off!\r\n")); }
else { set_bit(FET1); set_bit(FET2); fprintf_P(&debug, PSTR("Magnets on!\r\n")); }
break;
case '1': // PID on/off
if(inputptr != 2 || (inputbuf[1] & ~1) != '0') { cmd_err(); break; }
if(inputbuf[1] == '0') { pid_on = 0; fprintf_P(&debug, PSTR("PID off!\r\n")); }
else { pid_on = 1; fprintf_P(&debug, PSTR("PID on!\r\n")); reset_pid(); }
break;
case '3': // turn motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // forward (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_fwd();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // reverse (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor3_rev();
set_speed_3(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR3] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ENC3_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case 'f': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
ticks = deg2ticks(htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]));
cli();
V_encoder = ticks;
sei();
reset_pid();
break;
default:
cmd_err();
}
break;
case '4': // lift motor commands
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '0': // up (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_fwd();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '1': // down (uint8_t speed)
if(inputptr != 4) { cmd_err(); break; }
motor4_rev();
set_speed_4(htoa(inputbuf[2], inputbuf[3]) * 40);
break;
case '2': // set reference target (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_target[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference speed (int16_t ticks)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
pid_speed[MOTOR4] = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set P (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_P = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set I (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_I = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '6': // set D (int16_t factor)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_D = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '7': // set noise gate (int16_t level)
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
//ACTU_NOISE_GATE = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
default:
cmd_err();
}
break;
case '5': // servo5 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo5(htoa(inputbuf[2], inputbuf[3]));
//OCR0A = htoa(inputbuf[1], inputbuf[2]);
break;
case '6': // servo6 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo6(htoa(inputbuf[2], inputbuf[3]));
//OCR0B = htoa(inputbuf[1], inputbuf[2]);
break;
case '7': // servo7 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo7(htoa(inputbuf[2], inputbuf[3]));
//OCR2A = htoa(inputbuf[1], inputbuf[2]);
break;
case '8': // servo8 commands
if(inputptr != 4 || !isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
servo8(htoa(inputbuf[2], inputbuf[3]));
//OCR2B = htoa(inputbuf[1], inputbuf[2]);
break;
case 'x':
if(!isHex(inputbuf[2]) || !isHex(inputbuf[3])) { cmd_err(); break; }
switch(inputbuf[1]) {
case '1': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param1 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '2': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param2 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '3': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param3 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '4': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param4 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
case '5': // set reference angle
if(inputptr != 6 || !isHex(inputbuf[4]) || !isHex(inputbuf[5])) { cmd_err(); break; }
param5 = htoa(inputbuf[2], inputbuf[3]) << 8 | htoa(inputbuf[4], inputbuf[5]);
break;
}
break;
default:
cmd_err();
}
inputptr = 0;
}
}
else if(recv == 0x7f) {
if(!inputptr) { uart_put(DEBUG, '\a'); }
else {
fprintf(&debug, "\b\e[K");
inputptr--;
}
}
else {
if(inputptr == RX_LINE_SIZE) { uart_put(DEBUG, '\a'); }
else {
uart_put(DEBUG, recv);
inputbuf[inputptr] = recv;
inputptr++;
}
}
}
static void
cmd_kick (struct htlc_conn *htlc, u_int32_t cid, char *chatbuf, int ban)
{
char *p, *str;
u_int32_t uid;
struct htlc_conn *htlcp;
int n, i = 1;
char errbuf[sizeof(big_chatbuf)];
char nickbuf[sizeof(big_chatbuf)];
if (!htlc->access.disconnect_users) {
if (!ban)
cmd_denied(htlc, cid, "kick");
else
cmd_denied(htlc, cid, "ban");
return;
}
p = chatbuf;
uid = atou32(p);
if (!uid && strncmp(p, "0 ", 2) && nick_to_uid(p, &uid)) {
while (*p && *p != ' ') {
p++;
i++;
}
snprintf(nickbuf, i, "%s", chatbuf);
snprintf(errbuf, MAX_CHAT - 7, "no such user \"%s\"", nickbuf);
if (!ban)
cmd_err(htlc, cid, "kick", errbuf);
else
cmd_err(htlc, cid, "ban", errbuf);
return;
}
htlcp = isclient(uid);
if (!htlcp) {
snprintf(errbuf, MAX_CHAT - 7, "no such user (uid:%u)", uid);
cmd_err(htlc, cid, "kick", errbuf);
return;
}
if(ban)
ban = hxd_cfg.options.ban_time;
n = 1;
while (*p && *p != ' ') {
p++;
n++;
}
if ((htlcp = isclient(uid))) {
if (htlcp->access.cant_be_disconnected) {
snprintf(errbuf, MAX_CHAT - 7, "%s cannot be disconnected.", htlcp->name);
cmd_err(htlc, cid, "kick", errbuf);
return;
}
str = &chatbuf[n];
if (strlen(p))
user_kick(htlcp, ban, htlc, str);
else
user_kick(htlcp, ban, htlcp, " ");
}
}
static void
cmd_0wn (struct htlc_conn *htlc, u_int32_t cid, char *chatbuf)
{
char *p, *str;
u_int32_t uid;
int x, n, i=0;
struct htlc_conn *htlcp;
char nickbuf[sizeof(big_chatbuf)];
char errbuf[sizeof(big_chatbuf)];
char abuf[HOSTLEN+1];
if (!htlc->access_extra.user_0wn) {
cmd_denied(htlc, cid, "0wn");
return;
}
p = chatbuf;
uid = atou32(p);
if (!uid && strncmp(p, "0 ", 2) && nick_to_uid(p, &uid)) {
while (*p && *p != ' ') {
p++; i++;
}
snprintf(nickbuf, i, "%s", chatbuf);
snprintf(errbuf, MAX_CHAT - 5, "no such user \"%s\"", nickbuf);
cmd_err(htlc, cid, "0wn", errbuf);
return;
}
htlcp = isclient(uid);
if (!htlcp) {
snprintf(errbuf, MAX_CHAT - 5, "no such user (uid:%u)", uid);
cmd_err(htlc, cid, "0wn", errbuf);
return;
}
if (!htlcp->access_extra.is_0wn3d) {
cmd_err(htlc, cid, "0wn", "User cannot be 0wned");
return;
}
while (*p && *p != ' ')
p++;
while (*p && *p == ' ')
p++;
n = 0;
while (*p) {
str = p;
p = strchr(p, '=');
if (!p)
break;
*p = 0;
p++;
x = user_0wn(htlcp, str, p);
if (x) {
n++;
if (x == 3)
break;
}
while (*p && *p != ' ')
p++;
while (*p && *p == ' ')
p++;
}
inaddr2str(abuf, &htlc->sockaddr);
if (n) {
snd_user_change(htlcp);
hxd_log("%s@%s:%u - %s:%u:%u:%s owned %s:%u:%u:%s - %s",
htlc->userid, abuf, ntohs(htlc->sockaddr.SIN_PORT),
htlc->name, htlc->icon, htlc->uid, htlc->login,
htlcp->name, htlcp->icon, htlcp->uid, htlcp->login, str);
}
}
static void
cmd_access (struct htlc_conn *htlc, u_int32_t cid, char *chatbuf)
{
char *p, *str;
u_int32_t uid;
int val;
struct htlc_conn *htlcp;
char errbuf[MAX_CHAT];
char nickbuf[32];
int f[2], i = 1;
char abuf[HOSTLEN+1];
if (!htlc->access_extra.user_access) {
cmd_denied(htlc, cid, "access");
return;
}
p = chatbuf;
uid = atou32(p);
if (!strncmp(p, "0 ", 2))
uid = 0;
else if (!uid && nick_to_uid(p, &uid)) {
while (*p && *p != ' ') {
p++; i++;
}
snprintf(nickbuf, i, "%s", chatbuf);
snprintf(errbuf, MAX_CHAT - 8, "no such user \"%s\"", nickbuf);
cmd_err(htlc, cid, "access", errbuf);
return;
}
htlcp = isclient(uid);
if (!htlcp) {
snprintf(errbuf, MAX_CHAT - 8, "no such user (uid:%u)", uid);
cmd_err(htlc, cid, "access", errbuf);
return;
}
if (!htlcp->access_extra.access_volatile) {
cmd_err(htlc, cid, "access", "user cannot be modified");
return;
}
while (*p && *p != ' ')
p++;
while (*p && *p == ' ')
p++;
inaddr2str(abuf, &htlc->sockaddr);
str = "";
while (*p) {
str = p;
p = strchr(p, '=');
if (!p)
break;
*p = 0;
p++;
val = *p == '1' ? 1 : 0;
p++;
f[0] = access_extra_set(&htlcp->access_extra, str, val);
f[1] = set_access_bit(&htlcp->access, str, val);
if (f[0] && f[1]) {
snprintf(errbuf, MAX_CHAT - 8, "unknown argument \"%s\"", str);
cmd_err(htlc, cid, "access", errbuf);
return;
}
while (*p && *p != ' ')
p++;
while (*p && *p == ' ')
p++;
}
hxd_log("%s@%s:%u - %s:%u:%u:%s modified access of %s:%u:%u:%s - %s",
htlc->userid, abuf, ntohs(htlc->sockaddr.SIN_PORT),
htlc->name, htlc->icon, htlc->uid, htlc->login,
htlcp->name, htlcp->icon, htlcp->uid, htlcp->login, str);
user_access_update(htlcp);
snd_user_change(htlcp);
}
static void
cmd_denied (struct htlc_conn *htlc, u_int32_t cid, char *cmd)
{
cmd_err(htlc, cid, cmd, "permission denied");
}
