/* invoked once for every Server in ServerList */
static bool decode_serverlist(pb_istream_t *stream, const pb_field_t *field,
void **arg) {
decode_serverlist_arg *dec_arg = *arg;
if (dec_arg->first_pass) { /* count how many server do we have */
grpc_grpclb_server server;
if (!pb_decode(stream, grpc_lb_v1_Server_fields, &server)) {
gpr_log(GPR_ERROR, "nanopb error: %s", PB_GET_ERROR(stream));
return false;
}
dec_arg->num_servers++;
} else { /* second pass. Actually decode. */
grpc_grpclb_server *server = gpr_zalloc(sizeof(grpc_grpclb_server));
GPR_ASSERT(dec_arg->num_servers > 0);
if (dec_arg->decoding_idx == 0) { /* first iteration of second pass */
dec_arg->servers =
gpr_malloc(sizeof(grpc_grpclb_server *) * dec_arg->num_servers);
}
if (!pb_decode(stream, grpc_lb_v1_Server_fields, server)) {
gpr_log(GPR_ERROR, "nanopb error: %s", PB_GET_ERROR(stream));
return false;
}
dec_arg->servers[dec_arg->decoding_idx++] = server;
}
return true;
}
int main(int argc, char** argv) {
if (argc != 2) {fprintf(stderr, "%s our_sk", argv[0]); return 1;}
unsigned char sk[crypto_box_SECRETKEYBYTES];
{
FILE* f = fopen(argv[1], "r");
if (f == NULL) {fprintf(stderr, "Cannot open our secret key file"); return 1;}
int len = fread(sk, 1, crypto_box_SECRETKEYBYTES, f);
fclose(f);
if (len != crypto_box_SECRETKEYBYTES) {fprintf(stderr, "Bad secret key file"); return 1;}
}
uint8_t buf[1<<16];
int len = fread(buf, 1, 1<<16, stdin);
pb_istream_t stream = pb_istream_from_buffer(buf, len);
Box box;
if (!pb_decode(&stream, Box_fields, &box)) return 1;
if (box.enc_algo != 1) return 1;
uint8_t n[crypto_box_NONCEBYTES];
for (int i=0; i<crypto_box_NONCEBYTES; ++i) n[i] = box.data.bytes[i];
for (int i=0; i<crypto_box_BOXZEROBYTES; ++i) box.data.bytes[i] = 0;
stream = pb_istream_from_buffer(box.sender.bytes, box.sender.size);
PublicKey pk;
if (!pb_decode(&stream, PublicKey_fields, &pk)) return 1;
PublicKeyData pkd;
stream = pb_istream_from_buffer(pk.publickey_msg.bytes,
pk.publickey_msg.size);
if (!pb_decode(&stream, PublicKeyData_fields, &pkd)) return 1;
int decrypted = 0;
for (int i=0; i<min(pkd.enc_keys_count,pkd.enc_algos_count); i++) {
if (pkd.enc_keys[i].size == crypto_box_PUBLICKEYBYTES
&& pkd.sig_algos[i] == 1) {
uint8_t* encpk = &pkd.enc_keys[i].bytes[0];
if (crypto_box_open(buf,box.data.bytes+8,box.data.size-8,n,encpk,sk)
== 0) {
decrypted = 1;
break;
}
}
}
for (int i=0; i<crypto_box_SECRETKEYBYTES; i++) sk[i] = 0;
if (decrypted) {
int got = fwrite(buf+crypto_box_ZEROBYTES, 1, box.data.size-8-crypto_box_ZEROBYTES, stdout);
assert(got == box.data.size-8-crypto_box_ZEROBYTES);
got = fwrite(box.sender.bytes, 1, box.sender.size, stderr);
assert(got == box.sender.size);
}
return !decrypted;
}
bool decode_trace_context(google_trace_TraceContext *ctxt, uint8_t *buffer,
const size_t nbytes) {
// Create a stream that reads nbytes from the buffer.
pb_istream_t stream = pb_istream_from_buffer(buffer, nbytes);
// decode message
bool status = pb_decode(&stream, google_trace_TraceContext_fields, ctxt);
if (!status) {
gpr_log(GPR_DEBUG, "TraceContext decoding failed: %s",
PB_GET_ERROR(&stream));
return false;
}
// check fields
if (!ctxt->has_trace_id) {
gpr_log(GPR_DEBUG, "Invalid TraceContext: missing trace_id");
return false;
}
if (!ctxt->has_span_id) {
gpr_log(GPR_DEBUG, "Invalid TraceContext: missing span_id");
return false;
}
return true;
}
// Validate the contents of a Resource proto. `id` is the intended resource id.
static bool validate_resource_pb(const uint8_t *resource_pb,
size_t resource_pb_size, size_t id) {
GPR_ASSERT(id < n_resources);
if (resource_pb == NULL) {
return false;
}
google_census_Resource vresource;
vresource.name.funcs.decode = &validate_string;
vresource.name.arg = resources[id];
vresource.description.funcs.decode = &validate_string;
vresource.description.arg = resources[id];
vresource.unit.numerator.funcs.decode = &validate_units;
vresource.unit.numerator.arg = resources[id];
vresource.unit.denominator.funcs.decode = &validate_units;
vresource.unit.denominator.arg = resources[id];
pb_istream_t stream =
pb_istream_from_buffer((uint8_t *)resource_pb, resource_pb_size);
if (!pb_decode(&stream, google_census_Resource_fields, &vresource)) {
return false;
}
// A Resource must have a name, a unit, with at least one numerator.
return (resources[id]->name != NULL && vresource.has_unit &&
resources[id]->n_numerators > 0);
}
void processDataMsg(pb_istream_t *streamPtr) {
MotorMsg_Data motorData = MotorMsg_Data_init_zero;
if (pb_decode(streamPtr, MotorMsg_Data_fields, &motorData)) {
if (motorData.action == MotorMsg_Data_Action_GET) {
} else if (motorData.action == MotorMsg_Data_Action_RESULT) {
}
}
}
void cdc_rx_notify(uint8_t port) {
l("cdc_rx_notify [%d]", port);
uint8_t b = udi_cdc_getc();
if (b != 0x08) {
l("Protocol desync");
}
l("First byte ok");
uint32_t offset = 0;
do {
buffer[offset++] = b;
b = udi_cdc_getc();
l("-> 0x%02x", b);
} while (b & 0x80);
buffer[offset++] = b;
// Now we have enough to know the size
l("Length read, decoding...");
l("... 0x%02x 0x%02x", buffer[0], buffer[1]);
pb_istream_t istream = pb_istream_from_buffer(buffer + 1, USB_BUFFER_SIZE);
l("istream bytes_left before %d", istream.bytes_left);
uint64_t len = 0;
pb_decode_varint(&istream, &len);
l("message_length %d", (uint32_t)len);
l("offset %d", offset);
udi_cdc_read_buf(buffer + offset, len);
l("decode message");
istream = pb_istream_from_buffer(buffer + offset, len);
DonglePiRequest request = {0};
request.config.i2c.funcs.decode = handle_i2c_config_cb;
request.config.uart.funcs.decode = handle_uart_config_cb;
request.config.spi.funcs.decode = handle_spi_config_cb;
request.config.gpio.pins.funcs.decode = handle_gpio_pin_config_cb;
request.data.i2c.writes.funcs.decode = handle_i2c_write_cb;
if (!pb_decode(&istream, DonglePiRequest_fields, &request)) {
l("failed to decode the packet, wait for more data");
return;
}
l("Request #%d received", request.message_nb);
if (request.has_data && request.data.has_gpio) {
handle_gpio_write(request.data.gpio);
}
pb_ostream_t ostream = pb_ostream_from_buffer(buffer, USB_BUFFER_SIZE);
DonglePiResponse response = {};
response.message_nb = request.message_nb;
l("Create response for #%d", response.message_nb);
handle_gpio_read(&response);
pb_encode_delimited(&ostream, DonglePiResponse_fields, &response);
l("Write response nb_bytes = %d", ostream.bytes_written);
uint32_t wrote = udi_cdc_write_buf(buffer, ostream.bytes_written);
l("Done. wrote %d bytes", wrote);
}
bool NetDecode(
ENetPacket *packet, void *dest, const pb_field_t *fields)
{
pb_istream_t stream = pb_istream_from_buffer(
packet->data + NET_MSG_SIZE, packet->dataLength - NET_MSG_SIZE);
bool status = pb_decode(&stream, fields, dest);
CASSERT(status, "Failed to decode pb");
return status;
}
bool decodeMotorMsgContents(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct) {
pb_istream_t substream;
bool status;
if (!pb_make_string_substream(stream, &substream))
return false;
status = pb_decode(&substream, fields, dest_struct);
pb_close_string_substream(stream, &substream);
return status;
}
static bool read_submsg(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
SubMessage submsg = {""};
if (!pb_decode(stream, SubMessage_fields, &submsg))
return false;
TEST(memcmp(&submsg, *arg, sizeof(submsg)));
return true;
}
/**
* Message EPS decode callback function
* @param stream
* @param field
* @param arg
* @return
*/
bool ss_eps_decode(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
EPS eps=EPS_init_zero;
if (!pb_decode(stream, EPS_fields, &eps))
return false;
return true;
}
static bool read_repeated_submsg(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
SubMessage** expected = (SubMessage**)arg;
SubMessage decoded = {""};
if (!pb_decode(stream, SubMessage_fields, &decoded))
return false;
TEST(memcmp((*expected)++, &decoded, sizeof(decoded)) == 0);
return true;
}
void msg_process(char type, uint16_t msg_id, const pb_field_t *fields, uint8_t *msg_raw, uint32_t msg_size)
{
static uint8_t msg_data[MSG_IN_SIZE];
pb_istream_t stream = pb_istream_from_buffer(msg_raw, msg_size);
bool status = pb_decode(&stream, fields, msg_data);
if (status) {
MessageProcessFunc(type, 'i', msg_id, msg_data);
} else {
fsm_sendFailure(FailureType_Failure_SyntaxError, stream.errmsg);
}
}
void msg_read_tiny(uint8_t *buf, int len)
{
if (len != 64) return;
if (buf[0] != '?' || buf[1] != '#' || buf[2] != '#') {
return;
}
uint16_t msg_id = (buf[3] << 8) + buf[4];
uint32_t msg_size = (buf[5] << 24) + (buf[6] << 16) + (buf[7] << 8) + buf[8];
if (msg_size > 64 || len - msg_size < 9) {
return;
}
const pb_field_t *fields = 0;
pb_istream_t stream = pb_istream_from_buffer(buf + 9, msg_size);
switch (msg_id) {
case MessageType_MessageType_PinMatrixAck:
fields = PinMatrixAck_fields;
break;
case MessageType_MessageType_ButtonAck:
fields = ButtonAck_fields;
break;
case MessageType_MessageType_PassphraseAck:
fields = PassphraseAck_fields;
break;
case MessageType_MessageType_Cancel:
fields = Cancel_fields;
break;
case MessageType_MessageType_Initialize:
fields = Initialize_fields;
break;
#if DEBUG_LINK
case MessageType_MessageType_DebugLinkDecision:
fields = DebugLinkDecision_fields;
break;
case MessageType_MessageType_DebugLinkGetState:
fields = DebugLinkGetState_fields;
break;
#endif
}
if (fields) {
bool status = pb_decode(&stream, fields, msg_tiny);
if (status) {
msg_tiny_id = msg_id;
} else {
fsm_sendFailure(FailureType_Failure_SyntaxError, stream.errmsg);
msg_tiny_id = 0xFFFF;
}
} else {
fsm_sendFailure(FailureType_Failure_UnexpectedMessage, "Unknown message");
msg_tiny_id = 0xFFFF;
}
}
int main(int argc, char** argv) {
int human = argc == 2 && argv[1][0] == '-' && argv[1][1] == 'h';
uint8_t buffer[256];
int len = fread(buffer, 1, sizeof(buffer), stdin);
pb_istream_t stream = pb_istream_from_buffer(buffer, len);
PublicKey pk;
if (!pb_decode(&stream, PublicKey_fields, &pk)) return 1;
PublicKeyData pkd;
stream = pb_istream_from_buffer(pk.publickey_msg.bytes,
pk.publickey_msg.size);
if (!pb_decode(&stream, PublicKeyData_fields, &pkd)) return 1;
for (int i=0; i<pkd.sig_keys_count; i++) {
if ( pk.sigs_count < i
|| pk.sigs[i].size < crypto_sign_BYTES
|| pkd.sig_keys[i].size < crypto_sign_PUBLICKEYBYTES
|| crypto_sign_detach_open(pk.publickey_msg.bytes,
pk.publickey_msg.size, pk.sigs[i].bytes, pkd.sig_keys[i].bytes)
!= 0) {
fprintf(stderr, "Invalid key\n");
return 2;
} else {
initialise(1344, 256, 128);
char* dgst = digest((char*)pkd.sig_keys[i].bytes,
pkd.sig_keys[i].size, 1);
for (int i=0; i<128/8; i+=2) {
if (i > 0 && human) {
fprintf(stdout, " ");
if (i == 8) fprintf(stdout, " ");
}
fprintf(stdout, "%X", (dgst[i]&0xF0)>>4);
fprintf(stdout, "%X", dgst[i]&0x0F);
fprintf(stdout, "%X", (dgst[i+1]&0xF0)>>4);
fprintf(stdout, "%X", dgst[i+1]&0x0F);
}
if (human) printf("\n");
else return 1;
dispose();
}
}
}
/**
* Message EPS decode callback function
* @param stream
* @param field
* @param arg
* @return
*/
bool ss_decode_eps(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
printf("eps_decode_callback executing\n");
EPS eps=EPS_init_zero;
if (!pb_decode(stream, EPS_fields, &eps))
return false;
printf("in eps decode function, profile_id:%s\n",eps.profile_id);
return true;
}
static bool read_submsg(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
SubMessage submsg = {""};
SubMessage *ref = *arg;
if (!pb_decode(stream, SubMessage_fields, &submsg))
return false;
TEST(strcmp(submsg.substuff1, ref->substuff1) == 0);
TEST(submsg.substuff2 == ref->substuff2);
TEST(submsg.has_substuff3 == ref->has_substuff3);
TEST(submsg.substuff3 == ref->substuff3);
return true;
}
grpc_grpclb_serverlist *grpc_grpclb_response_parse_serverlist(
grpc_slice encoded_grpc_grpclb_response) {
bool status;
decode_serverlist_arg arg;
pb_istream_t stream =
pb_istream_from_buffer(GRPC_SLICE_START_PTR(encoded_grpc_grpclb_response),
GRPC_SLICE_LENGTH(encoded_grpc_grpclb_response));
pb_istream_t stream_at_start = stream;
grpc_grpclb_response res;
memset(&res, 0, sizeof(grpc_grpclb_response));
memset(&arg, 0, sizeof(decode_serverlist_arg));
res.server_list.servers.funcs.decode = decode_serverlist;
res.server_list.servers.arg = &arg;
arg.first_pass = true;
status = pb_decode(&stream, grpc_lb_v1_LoadBalanceResponse_fields, &res);
if (!status) {
gpr_log(GPR_ERROR, "nanopb error: %s", PB_GET_ERROR(&stream));
return NULL;
}
arg.first_pass = false;
status =
pb_decode(&stream_at_start, grpc_lb_v1_LoadBalanceResponse_fields, &res);
if (!status) {
gpr_log(GPR_ERROR, "nanopb error: %s", PB_GET_ERROR(&stream));
return NULL;
}
grpc_grpclb_serverlist *sl = gpr_zalloc(sizeof(grpc_grpclb_serverlist));
sl->num_servers = arg.num_servers;
sl->servers = arg.servers;
if (res.server_list.has_expiration_interval) {
sl->expiration_interval = res.server_list.expiration_interval;
}
return sl;
}
/**
* close the SACD device and clean up.
*/
static int sacd_net_input_close(sacd_input_t dev)
{
if (!dev)
{
return 0;
}
else
{
ServerRequest request;
ServerResponse response;
pb_istream_t input = pb_istream_from_socket(&dev->fd);
pb_ostream_t output = pb_ostream_from_socket(&dev->fd);
uint8_t zero = 0;
request.type = ServerRequest_Type_DISC_CLOSE;
if (!pb_encode(&output, ServerRequest_fields, &request))
{
goto error;
}
pb_write(&output, &zero, 1);
if (!pb_decode(&input, ServerResponse_fields, &response))
{
goto error;
}
if (response.result == 0 || response.type != ServerResponse_Type_DISC_CLOSED)
{
goto error;
}
}
error:
if(dev)
{
socket_destroy(&dev->fd);
socket_close();
if (dev->input_buffer)
{
free(dev->input_buffer);
dev->input_buffer = 0;
}
free(dev);
dev = 0;
}
return 0;
}
static bool read_repeated_submsg(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
SubMessage** expected = (SubMessage**)arg;
SubMessage submsg = {""};
if (!pb_decode(stream, SubMessage_fields, &submsg))
return false;
TEST(strcmp(submsg.substuff1, (*expected)->substuff1) == 0);
TEST(submsg.substuff2 == (*expected)->substuff2);
TEST(submsg.has_substuff3 == (*expected)->has_substuff3);
TEST(submsg.substuff3 == (*expected)->substuff3);
(*expected)++;
return true;
}
bool motorCmdParamCallback(pb_istream_t *stream, const pb_field_t *field, void **arg) {
bool returnVal = true;
if (gCmdParamNum < MAX_CMD_PARAMS) {
MotorMsg_Cmd_Param param = MotorMsg_Cmd_Param_init_zero;
gCmdParams[gCmdParamNum] = param;
if (!pb_decode(stream, MotorMsg_Cmd_Param_fields, &gCmdParams[gCmdParamNum])) {
returnVal = false;
}
gCmdParamNum++;
}
return returnVal;
}
/**
* Message devlist decode callback funciton
* @param stream
* @param field
* @param arg
* @return
*/
bool ss_decode_devlist(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
Dev devlist=Dev_init_zero;
log_printf(LOG_VERBOSE,"Devlist SubMessage Decoding!\n");
devlist.eps.funcs.decode=&ss_decode_eps;
if (!pb_decode(stream, Dev_fields, &devlist))
{
//printf("devlist_decode_callback failed!\n");
return false;
}
//printf("ieee:%s\n",devlist.nwk_addr);
return true;
}
grpc_grpclb_initial_response *grpc_grpclb_initial_response_parse(
grpc_slice encoded_grpc_grpclb_response) {
pb_istream_t stream =
pb_istream_from_buffer(GRPC_SLICE_START_PTR(encoded_grpc_grpclb_response),
GRPC_SLICE_LENGTH(encoded_grpc_grpclb_response));
grpc_grpclb_response res;
memset(&res, 0, sizeof(grpc_grpclb_response));
if (!pb_decode(&stream, grpc_lb_v1_LoadBalanceResponse_fields, &res)) {
gpr_log(GPR_ERROR, "nanopb error: %s", PB_GET_ERROR(&stream));
return NULL;
}
grpc_grpclb_initial_response *initial_res =
gpr_malloc(sizeof(grpc_grpclb_initial_response));
memcpy(initial_res, &res.initial_response,
sizeof(grpc_grpclb_initial_response));
return initial_res;
}
/**
* Message SSMsg decode function
* @param buffer
* @param buf_len
* @param ssmsg
* @return
*/
int ss_pb_decode(uint8_t *buffer,int buf_len,SSMsg *ssmsg)
{
bool status;
pb_istream_t stream = pb_istream_from_buffer(buffer, buf_len);
//ssmsg->devlist.funcs.decode=&ss_decode_devlist;
log_printf(LOG_VERBOSE,"SSMsg Decoding! \n");
status=pb_decode(&stream, SSMsg_fields, ssmsg);
if (!status)
{
log_printf(LOG_ERROR,"Decoding failed: %s\n", PB_GET_ERROR(&stream));
return -1;
}
return 1;
}
/* This function is called once from main(), it handles
the decoding and printing. */
bool print_person(pb_istream_t *stream)
{
int i;
Person person = Person_init_zero;
if (!pb_decode(stream, Person_fields, &person))
return false;
/* Now the decoding is done, rest is just to print stuff out. */
printf("name: \"%s\"\n", person.name);
printf("id: %ld\n", (long)person.id);
if (person.has_email)
printf("email: \"%s\"\n", person.email);
for (i = 0; i < person.phone_count; i++)
{
Person_PhoneNumber *phone = &person.phone[i];
printf("phone {\n");
printf(" number: \"%s\"\n", phone->number);
if (phone->has_type)
{
switch (phone->type)
{
case Person_PhoneType_WORK:
printf(" type: WORK\n");
break;
case Person_PhoneType_HOME:
printf(" type: HOME\n");
break;
case Person_PhoneType_MOBILE:
printf(" type: MOBILE\n");
break;
}
}
printf("}\n");
}
return true;
}
int main()
{
TestResults results = {};
AllTypes message = {};
pb_istream_t istream = pb_istream_from_buffer((uint8_t*)input_data, sizeof(input_data));
results.success = pb_decode(&istream, AllTypes_fields, &message);
results.success &= (message.end == 1099);
results.has_stack_usage = true;
results.stack_usage = platform_stack_usage();
uint8_t buf[16];
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&ostream, TestResults_fields, &results);
platform_write(buf, ostream.bytes_written);
return 0;
}
static bool read_limits(pb_istream_t *stream, const pb_field_t *field, void **arg)
{
Limits decoded = {0};
if (!pb_decode(stream, Limits_fields, &decoded))
return false;
TEST(decoded.int32_min == INT32_MIN);
TEST(decoded.int32_max == INT32_MAX);
TEST(decoded.uint32_min == 0);
TEST(decoded.uint32_max == UINT32_MAX);
TEST(decoded.int64_min == INT64_MIN);
TEST(decoded.int64_max == INT64_MAX);
TEST(decoded.uint64_min == 0);
TEST(decoded.uint64_max == UINT64_MAX);
TEST(decoded.enum_min == HugeEnum_Negative);
TEST(decoded.enum_max == HugeEnum_Positive);
return true;
}
static int decode_msg(pbring_inst_t *p, pb_istream_t *stream, const hal_funct_args_t *fa)
{
if (!pb_decode(stream, pb_Container_fields, &p->rx)) {
*(p->decodefail) += 1;
rtapi_print_msg(RTAPI_MSG_ERR, "%s: pb_decode(Container) failed: '%s'\n",
fa_funct_name(fa), PB_GET_ERROR(stream));
return -1;
}
if (p->rx.has_motcmd) {
rtapi_print_msg(RTAPI_MSG_ERR, "Container.motcmd command=%d num=%d\n",
p->rx.motcmd.command,p->rx.motcmd.commandNum);
if (p->rx.motcmd.has_pos) {
char buf[200];
rtapi_format_pose(buf, sizeof(buf), &p->rx.motcmd.pos);
rtapi_print_msg(RTAPI_MSG_ERR, "motcmd: %s\n", buf);
}
}
return 0;
}
/* Test the 'AnonymousOneOfMessage' */
int test_oneof_1(pb_istream_t *stream, int option)
{
AnonymousOneOfMessage msg;
int status = 0;
/* To better catch initialization errors */
memset(&msg, 0xAA, sizeof(msg));
if (!pb_decode(stream, AnonymousOneOfMessage_fields, &msg))
{
printf("Decoding failed: %s\n", PB_GET_ERROR(stream));
return 1;
}
/* Check that the basic fields work normally */
TEST(msg.prefix == 123);
TEST(msg.suffix == 321);
/* Check that we got the right oneof according to command line */
if (option == 1)
{
TEST(msg.which_values == AnonymousOneOfMessage_first_tag);
TEST(msg.first == 999);
}
else if (option == 2)
{
TEST(msg.which_values == AnonymousOneOfMessage_second_tag);
TEST(strcmp(msg.second, "abcd") == 0);
}
else if (option == 3)
{
TEST(msg.which_values == AnonymousOneOfMessage_third_tag);
TEST(msg.third.array[0] == 1);
TEST(msg.third.array[1] == 2);
TEST(msg.third.array[2] == 3);
TEST(msg.third.array[3] == 4);
TEST(msg.third.array[4] == 5);
}
return status;
}
void handle_connection(int connfd)
{
ListFilesRequest request;
ListFilesResponse response;
pb_istream_t input = pb_istream_from_socket(connfd);
pb_ostream_t output = pb_ostream_from_socket(connfd);
DIR *directory;
if (!pb_decode(&input, ListFilesRequest_fields, &request))
{
printf("Decoding failed.\n");
return;
}
directory = opendir(request.path);
printf("Listing directory: %s\n", request.path);
if (directory == NULL)
{
perror("opendir");
response.has_path_error = true;
response.path_error = true;
response.file.funcs.encode = NULL;
}
else
{
response.has_path_error = false;
response.file.funcs.encode = &listdir_callback;
response.file.arg = directory;
}
if (!pb_encode(&output, ListFilesResponse_fields, &response))
{
printf("Encoding failed.\n");
}
}
void processCmdMsg(pb_istream_t *streamPtr) {
pb_istream_t substream;
gCmdParamNum = 0;
double degSec;
double pos;
EMotorDirection dir;
if (pb_make_string_substream(streamPtr, &substream)) {
MotorMsg_Cmd motorCmd = MotorMsg_Cmd_init_zero;
motorCmd.params.funcs.decode = &motorCmdParamCallback;
//motorCmd.params.arg = (void *) (&motorCmd.action);
pb_decode(&substream, MotorMsg_Cmd_fields, &motorCmd);
pb_close_string_substream(streamPtr, &substream);
switch (motorCmd.action) {
case MotorMsg_Cmd_Action_UNKNOWN:
break;
case MotorMsg_Cmd_Action_BRAKE:
motorBrake();
break;
case MotorMsg_Cmd_Action_FREEWHEEL:
motorFreewheel();
break;
case MotorMsg_Cmd_Action_RUN:
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorRun(dir, degSec);
break;
case MotorMsg_Cmd_Action_GOTO_POS:
pos = getMotorParam(MotorMsg_Cmd_Param_Id_POSITION, gCmdParams, gCmdParamNum);
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorGotoPos(dir, pos, degSec);
break;
}
}
}
