static void
do_whichof(char *args[], int nargs, enum whichof_t flag,
char *buff, char **bp, dbref executor,
dbref caller, dbref enactor, NEW_PE_INFO *pe_info, int eflags,
int isbool)
{
int j;
char tbuf[BUFFER_LEN], *tp;
char sep[BUFFER_LEN];
char const *ap;
int first = 1;
tbuf[0] = '\0';
if (eflags <= 0)
eflags = PE_DEFAULT;
if (flag == DO_ALLOF) {
/* The last arg is a delimiter. Parse it in place. */
char *sp = sep;
const char *arglast = args[nargs - 1];
if (process_expression(sep, &sp, &arglast, executor,
caller, enactor, eflags, PT_DEFAULT, pe_info))
return;
*sp = '\0';
nargs--;
} else
sep[0] = '\0';
for (j = 0; j < nargs; j++) {
tp = tbuf;
ap = args[j];
if (process_expression(tbuf, &tp, &ap, executor, caller,
enactor, eflags, PT_DEFAULT, pe_info))
return;
*tp = '\0';
if ((isbool && parse_boolean(tbuf)) || (!isbool && strlen(tbuf))) {
if (!first && *sep) {
safe_str(sep, buff, bp);
} else
first = 0;
safe_str(tbuf, buff, bp);
if (flag == DO_FIRSTOF)
return;
}
}
if (flag == DO_FIRSTOF)
safe_str(tbuf, buff, bp);
}
static PyObject *
cu5_pennpy_eval_str(int id, const char *to_eval, char *wenv_buf, int wenv_argc)
{
char rbuff[BUFFER_LEN], *rp;
CU5_PennPy_Eval_State old_state;
int ii, pe_ret;
/* Evaluate string. */
cu5_pennpy_push_eval_state(&old_state);
for (ii = 0; ii < wenv_argc; ii++) {
global_eval_context.wenv[ii] = &wenv_buf[ii * BUFFER_LEN];
}
rp = rbuff;
pe_ret = process_expression(rbuff, &rp, &to_eval, id, id, GOD,
PE_DEFAULT, PT_DEFAULT, NULL);
cu5_pennpy_pop_eval_state(&old_state);
/* Return in Python string. */
if (pe_ret) {
PyErr_SetString(PyExc_RuntimeError, "CPU limit reached");
return NULL;
}
return PyString_FromStringAndSize(rbuff, rp - rbuff);
}
/** qsort() comparision routine used by sortby() */
int
u_comp(const void *s1, const void *s2)
{
char result[BUFFER_LEN], *rp;
char const *tbuf;
int n;
/* Our two arguments are passed as %0 and %1 to the sortby u-function. */
/* Note that this function is for use in conjunction with our own
* sane_qsort routine, NOT with the standard library qsort!
*/
global_eval_context.wenv[0] = (char *) s1;
global_eval_context.wenv[1] = (char *) s2;
/* Run the u-function, which should return a number. */
tbuf = ucomp_buff;
rp = result;
if (process_expression(result, &rp, &tbuf,
ucomp_executor, ucomp_caller, ucomp_enactor,
PE_DEFAULT, PT_DEFAULT, ucomp_pe_info))
return 0;
n = parse_integer(result);
return n;
}
int cell_expression(CELL *cell)
{
int return_value;
if (!cell->existing || !cell->alive)
return (0);
return_value = process_expression(&(cell->transsys_instance));
return (return_value);
}
static void
do_whichof(char *args[], int nargs, enum whichof_t flag,
char *buff, char **bp, dbref executor,
dbref caller, dbref enactor, PE_Info *pe_info, int isbool)
{
int j;
char tbuf[BUFFER_LEN], *tp;
char const *sp;
char sep = ' ';
int first = 1;
tbuf[0] = '\0';
if (flag == DO_ALLOF) {
/* The last arg is a delimiter. Parse it in place. */
char insep[BUFFER_LEN];
char *isep = insep;
const char *arglast = args[nargs - 1];
process_expression(insep, &isep, &arglast, executor,
caller, enactor, PE_DEFAULT, PT_DEFAULT, pe_info);
*isep = '\0';
strcpy(args[nargs - 1], insep);
if (!delim_check(buff, bp, nargs, args, nargs, &sep))
return;
nargs--;
}
for (j = 0; j < nargs; j++) {
tp = tbuf;
sp = args[j];
process_expression(tbuf, &tp, &sp, executor, caller,
enactor, PE_DEFAULT, PT_DEFAULT, pe_info);
*tp = '\0';
if ((isbool && parse_boolean(tbuf)) || (!isbool && strlen(tbuf))) {
if (!first) {
safe_chr(sep, buff, bp);
} else
first = 0;
safe_str(tbuf, buff, bp);
if (flag == DO_FIRSTOF)
return;
}
}
if (flag == DO_FIRSTOF)
safe_str(tbuf, buff, bp);
}
/** Change a player's password.
* \verbatim
* This function implements @password.
* \endverbatim
* \param executor the executor.
* \param enactor the enactor.
* \param old player's current password.
* \param newobj player's desired new password.
* \param queue_entry the queue entry \@password is being executed in
*/
void
do_password(dbref executor, dbref enactor, const char *old, const char *newobj,
MQUE *queue_entry)
{
if (!queue_entry->port) {
char old_eval[BUFFER_LEN];
char new_eval[BUFFER_LEN];
char const *sp;
char *bp;
sp = old;
bp = old_eval;
if (process_expression(old_eval, &bp, &sp, executor, executor, enactor,
PE_DEFAULT, PT_DEFAULT, NULL))
return;
*bp = '\0';
old = old_eval;
sp = newobj;
bp = new_eval;
if (process_expression(new_eval, &bp, &sp, executor, executor, enactor,
PE_DEFAULT, PT_DEFAULT, NULL))
return;
*bp = '\0';
newobj = new_eval;
}
if (!password_check(executor, old)) {
notify(executor, T("The old password that you entered was incorrect."));
} else if (!ok_password(newobj)) {
notify(executor, T("Bad new password."));
} else {
(void) atr_add(executor, pword_attr, password_hash(newobj, NULL), GOD, 0);
notify(executor, T("You have changed your password."));
}
}
char *CHSInterface::EvalExpression(char *input, HS_DBREF executor,
HS_DBREF caller, HS_DBREF enactor)
{
#ifdef PENNMUSH
static char tbuf[BUFFER_LEN];
#else
static char tbuf[LBUF_SIZE];
#endif
*tbuf = '\0';
#ifdef PENNMUSH // No change in code between versions
char *bp;
const char *p;
//char *rsaves[10];
bp = tbuf;
p = input;
process_expression(tbuf, &bp, &p, executor, caller, enactor,
PE_DEFAULT, PT_DEFAULT, NULL);
*bp = '\0';
#endif
#if defined(TM3) || defined(MUX)
char *bp, *str;
bp = tbuf;
str = input;
#ifdef TM3
exec(tbuf, &bp, 0, executor, enactor, EV_EVAL,
&input, wenv, m_uiEnvVariableCount);
#endif
#ifdef MUX
mux_exec(tbuf, &bp, 0, executor, enactor, EV_EVAL,
&input, wenv, m_uiEnvVariableCount);
#endif
*bp = '\0';
#endif
return tbuf;
}
grammar load_grammar(std::string const & nameOfMain, std::map<std::string, wirth_production_def> const & productions) {
(void)dont_care;
parser p;
std::map<std::string, production_def> temp;
std::map<std::u32string, std::shared_ptr<details::literal>> literalNodes;
std::map<std::string, std::shared_ptr<details::production>> productionNodes;
for (auto const & entry : productions) {
production_def def;
abstract_syntax_graph asg = p.parse(builtins::wirth, expressionDfa, entry.second.definition);
def.tree = process_expression(entry.second.definition, asg.root, asg, literalNodes, productionNodes);
def.assoc = entry.second.assoc;
def.precedences = entry.second.precedences;
def.filter = entry.second.filter;
temp[entry.first] = def;
}
return grammar(nameOfMain, temp);
}
/** Helper function for calling \@functioned funs.
* \param buff string to store result of evaluation.
* \param bp pointer into end of buff.
* \param obj object on which the ufun is stored.
* \param attrib pointer to attribute on which the ufun is stored.
* \param nargs number of arguments passed to the ufun.
* \param args array of arguments passed to the ufun.
* \param executor executor.
* \param caller caller (unused).
* \param enactor enactor.
* \param pe_info pointer to structure for process_expression data.
* \param extra_flags extra PE_ flags to pass in (PE_USERFN or 0).
*/
void
do_userfn(char *buff, char **bp, dbref obj, ATTR *attrib, int nargs,
char **args, dbref executor, dbref caller
__attribute__ ((__unused__)), dbref enactor, NEW_PE_INFO *pe_info,
int extra_flags)
{
int j;
int made_pe_info = 0;
char *tbuf;
char const *tp;
int pe_flags = PE_DEFAULT | extra_flags;
PE_REGS *pe_regs;
if (nargs > 10)
nargs = 10; /* maximum ten args */
/* save our stack */
if (!pe_info) {
made_pe_info = 1;
pe_info = make_pe_info("pe_info-do_userfn");
}
/* copy the appropriate args into pe_regs */
pe_regs = pe_regs_localize(pe_info, PE_REGS_ARG, "do_userfn");
for (j = 0; j < nargs; j++) {
pe_regs_setenv_nocopy(pe_regs, j, args[j]);
}
tp = tbuf = safe_atr_value(attrib);
if (AF_NoDebug(attrib))
pe_flags |= PE_NODEBUG; /* no_debug overrides debug */
else if (AF_Debug(attrib))
pe_flags |= PE_DEBUG;
process_expression(buff, bp, &tp, obj, executor, enactor, pe_flags,
PT_DEFAULT, pe_info);
free(tbuf);
pe_regs_restore(pe_info, pe_regs);
pe_regs_free(pe_regs);
if (made_pe_info) {
free_pe_info(pe_info);
}
}
/** Given a ufun, executor, enactor, PE_Info, and arguments for %0-%9,
* call the ufun with appropriate permissions on values given for
* wenv_args. The value returned is stored in the buffer pointed to
* by ret, if given.
* \param ufun The ufun_attrib that was initialized by fetch_ufun_attrib
* \param ret If desired, a pointer to a buffer in which the results
* of the process_expression are stored in.
* \param caller The caller (%@).
* \param enactor The enactor. (%#)
* \param pe_info The pe_info passed to the FUNCTION
* \param user_regs Other arguments that may want to be added. This nests BELOW
* the pe_regs created by call_ufun. (It is checked first)
* \param data a void pointer to extra data. Currently only used to pass the
* name to use, when UFUN_NAME is given.
* \retval 0 success
* \retval 1 process_expression failed. (CPU time limit)
*/
bool
call_ufun_int(ufun_attrib * ufun, char *ret, dbref caller, dbref enactor,
NEW_PE_INFO *pe_info, PE_REGS *user_regs, void *data)
{
char rbuff[BUFFER_LEN];
char *rp, *np = NULL;
int pe_ret;
char const *ap;
char old_attr[BUFFER_LEN];
int made_pe_info = 0;
PE_REGS *pe_regs;
PE_REGS *pe_regs_old;
int pe_reg_flags = 0;
/* Make sure we have a ufun first */
if (!ufun)
return 1;
if (!pe_info) {
pe_info = make_pe_info("pe_info.call_ufun");
made_pe_info = 1;
} else {
strcpy(old_attr, pe_info->attrname);
}
pe_regs_old = pe_info->regvals;
if (ufun->ufun_flags & UFUN_LOCALIZE)
pe_reg_flags |= PE_REGS_Q;
else {
pe_reg_flags |= PE_REGS_NEWATTR;
if (ufun->ufun_flags & UFUN_SHARE_STACK)
pe_reg_flags |= PE_REGS_ARGPASS;
}
pe_regs = pe_regs_localize(pe_info, pe_reg_flags, "call_ufun");
rp = pe_info->attrname;
if (*ufun->attrname == '\0') {
safe_str("#LAMBDA", pe_info->attrname, &rp);
safe_chr('/', pe_info->attrname, &rp);
safe_str(ufun->contents, pe_info->attrname, &rp);
} else {
safe_dbref(ufun->thing, pe_info->attrname, &rp);
safe_chr('/', pe_info->attrname, &rp);
safe_str(ufun->attrname, pe_info->attrname, &rp);
}
*rp = '\0';
/* If the user doesn't care about the return of the expression,
* then use our own rbuff. */
if (!ret)
ret = rbuff;
rp = ret;
/* Anything the caller wants available goes on the bottom of the stack */
if (user_regs) {
user_regs->prev = pe_info->regvals;
pe_info->regvals = user_regs;
}
if (ufun->ufun_flags & UFUN_NAME) {
char *name = (char *) data;
if (!name || !*name)
name = (char *) Name(enactor);
safe_str(name, ret, &rp);
if (!(ufun->ufun_flags & UFUN_NAME_NOSPACE))
safe_chr(' ', ret, &rp);
np = rp;
}
/* And now, make the call! =) */
ap = ufun->contents;
pe_ret = process_expression(ret, &rp, &ap, ufun->thing, caller,
enactor, ufun->pe_flags, PT_DEFAULT, pe_info);
*rp = '\0';
if ((ufun->ufun_flags & UFUN_NAME) && np == rp) {
/* Attr was empty, so we take off the name again */
*ret = '\0';
}
/* Restore call_ufun's pe_regs */
if (user_regs) {
pe_info->regvals = user_regs->prev;
}
/* Restore the pe_regs stack. */
pe_regs_restore(pe_info, pe_regs);
pe_regs_free(pe_regs);
pe_info->regvals = pe_regs_old;
if (!made_pe_info) {
/* Restore the old attrname. */
strcpy(pe_info->attrname, old_attr);
} else {
free_pe_info(pe_info);
}
return pe_ret;
}
/** The switch command.
* \verbatim
* For lack of better place the @switch code is here.
* @switch expression=args
* \endverbatim
* \param executor the executor.
* \param expression the expression to test against cases.
* \param argv array of cases and actions.
* \param enactor the object that caused this code to run.
* \param first if 1, run only first matching case; if 0, run all matching cases.
* \param notifyme if 1, perform a notify after executing matched cases.
* \param regexp if 1, do regular expression matching; if 0, wildcard globbing.
* \param queue_type the type of queue to run any new commands as
* \param queue_entry the queue entry \@switch is being run in
*/
void
do_switch(dbref executor, char *expression, char **argv, dbref enactor,
int first, int notifyme, int regexp, int queue_type,
MQUE *queue_entry)
{
int any = 0, a;
char buff[BUFFER_LEN], *bp;
char const *ap;
char *tbuf1;
PE_REGS *pe_regs;
if (!argv[1])
return;
/* now try a wild card match of buff with stuff in coms */
for (a = 1;
!(first && any) && (a < (MAX_ARG - 1)) && argv[a] && argv[a + 1];
a += 2) {
/* eval expression */
ap = argv[a];
bp = buff;
if (process_expression(buff, &bp, &ap, executor, enactor, enactor,
PE_DEFAULT, PT_DEFAULT, queue_entry->pe_info)) {
return;
}
*bp = '\0';
/* check for a match */
pe_regs = pe_regs_create(PE_REGS_SWITCH | PE_REGS_CAPTURE, "do_switch");
pe_regs_set(pe_regs, PE_REGS_SWITCH, "t0", expression);
if (regexp ? regexp_match_case_r(buff, expression, 0,
NULL, 0, NULL, 0, pe_regs, 0)
: local_wild_match(buff, expression, pe_regs)) {
tbuf1 = replace_string("#$", expression, argv[a + 1]);
if (!any) {
/* Add the new switch context to the parent queue... */
any = 1;
}
if (queue_type & QUEUE_INPLACE) {
new_queue_actionlist(executor, enactor, enactor, tbuf1, queue_entry,
PE_INFO_SHARE, queue_type, pe_regs);
} else {
new_queue_actionlist(executor, enactor, enactor, tbuf1, queue_entry,
PE_INFO_CLONE, queue_type, pe_regs);
}
mush_free(tbuf1, "replace_string.buff");
}
}
/* do default if nothing has been matched */
if ((a < MAX_ARG) && !any && argv[a]) {
tbuf1 = replace_string("#$", expression, argv[a]);
pe_regs = pe_regs_create(PE_REGS_SWITCH | PE_REGS_CAPTURE, "do_switch");
pe_regs_set(pe_regs, PE_REGS_SWITCH, "t0", expression);
if (queue_type & QUEUE_INPLACE) {
new_queue_actionlist(executor, enactor, enactor, tbuf1, queue_entry,
PE_INFO_SHARE, queue_type, pe_regs);
} else {
new_queue_actionlist(executor, enactor, enactor, tbuf1, queue_entry,
PE_INFO_CLONE, queue_type, pe_regs);
}
mush_free(tbuf1, "replace_string.buff");
}
if (!(queue_type & QUEUE_INPLACE) && notifyme) {
parse_que(executor, enactor, "@notify me", NULL);
}
}
int main(int argc, char *argv[])
{
uint8_t *tab_rp_bits;
uint16_t *tab_rp_registers;
uint16_t *rd_position_registers;
uint16_t *tab_rp_registers_bad;
modbus_t *ctx;
/***********************************************************************
* feedback is used to store the return value of every called function
* rc is used to store the return value of the modbus command
* resend is used to define the resend times if the command is failed
* i is used for the loop parameter
* insert_bit is used to indicate the calibarate function if there is value to set
* num is used to store the number of data blocks in database
* use_backend is used to indicate the modbus mode is rtu
* next_option is used to take the command options
* pre_step, curr_step are used to indicate the previous step number and current position step number
* pre_length and value indicate the latest posiotion in database and current position
* SLEN is a kind of struct used to store the database blocks
************************************************************************/
int feedback,i;
int insert_bit, nb_points,num =0;
int next_option;
long curr_step;
long pystep = -1;
double value;
double pdepth,pspacing,pdwell,pinterval;
double profiled,stopped;
double depth,dwell,spacing,interval;
double last_position;
int profilebit =0,feedback1,feedback2;
int modbus=0;
int motor_stop = 0;
char * command_arg = "";
char * return_value;
double in_position = 0;
SLEN *examp;
ARF *config, *profile,*off_set;
modbus_mapping_t *mb_mapping;
int ShmID;
int *ShmPTR;
int stop_indicator = 0;
key_t MyKey;
MyKey = ftok(".", 's');
ShmID = shmget(MyKey, sizeof(int), IPC_CREAT | 0666);
ShmPTR = (int *) shmat(ShmID, NULL, 0);
tab_rp_registers = (uint16_t *) malloc(4 * sizeof(uint16_t));
rd_position_registers = (uint16_t *) malloc(2 * sizeof(uint16_t));
tab_rp_registers_bad = (uint16_t *) malloc(2 * sizeof(uint16_t));
config = (ARF*)malloc( 10 * sizeof(ARF) );
if ( config == NULL )
{
printf("Error: Out of Memory, use ./master reset to reset memory\n");
exit(1);
}
const char *const short_options = "hd::u::l:p::cD::w::s::i::gSmt::";
const struct option long_options[] = {
{ "help", 0,NULL, 'h'},
{ "down", 2,NULL, 'd'},
{ "up", 2,NULL, 'u'},
{ "length", 1,NULL, 'l'},
{ "position", 2,NULL, 'p'},
{ "count", 0,NULL, 'c'},
{ "Depth", 2,NULL, 'D'},
{ "well", 2,NULL, 'w'},
{ "spacing", 2,NULL, 's'},
{ "interval", 2,NULL, 'i'},
{ "go", 0,NULL, 'g'},
{ "System", 0,NULL, 'S'},
{ "motor", 0,NULL, 'm'},
{ "time", 2,NULL, 't'},
{ NULL, 0, NULL, 0 },
};
if (argc < 2)
{
print_comusage (stderr, 1);
return_value = json_option("status:",-1);
return return_value;
}
program_name = argv[0];
/*Get the first argument that passed through main function but does not contain*/
command_name = argv[1];
if(argc > 2)
{
command_arg = argv[2];
}
/*******************************************************************************************
* The next three command_name are used to control the motor through modbus (need modbus) *
********************************************************************************************/
if ( strcmp(command_name, "go") == 0 ) {
double curr_position;
char *recd = (char*)malloc(10*sizeof(char));
double offset;
int re_send = 0;
*ShmPTR = 0;
modbus = 0;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if (next_option == -1) print_comusage (stderr, 1);
while (next_option != -1)
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'd':
godown:
enable(0);
initbus(1);
/* sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = godown(ctx);
if((feedback == -1)&&(re_send <1))
{
enable(0);
initbus(0);
re_send++;
goto godown;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
*/
feedback = process_go_down(1);
if((feedback == 0) && (re_send < 1))
{
printf("get false recycle power\n");
enable(0);
initbus(0);
re_send++;
goto godown;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
break;
case 'u':
goup:
enable(0);
initbus(1);
/*
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = goup(ctx);
if((feedback == -1)&&(re_send <1))
{
enable(0);
initbus(0);
re_send++;
goto goup;
}
*/
feedback = process_go_up(1);
if((feedback == 0) && (re_send < 1))
{
printf("Get false recycle power\n");
enable(0);
initbus(0);
re_send++;
goto goup;
}
return_value = json_option("status",feedback);
printf("%s\n",return_value);
break;
case 'p':
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
in_position = atof(optarg);
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
in_position = in_position - offset;
//printf("inposition is %f offset is %f\n",in_position,offset);
free(off_set);
//system("/home/sampler/kingkong.sh");
gotoposition:
if (in_position <= 0)
{
if( process_read_home_switch(1) == 0)
{
feedback = process_go_home(1);
}
else
feedback = 1;
}
else
{
pystep = process_read_step(1);
curr_position = process_position(pystep);
if ( !(( (in_position -0.1) <= curr_position ) && ( curr_position <= (in_position + 0.1) )) )
{
feedback = process_go_position(1,in_position);
return_value = json_option("status",feedback);
}
}
if((feedback == 0)&&(re_send <1))
{
printf("get false recycle power");
enable(0);
initbus(0);
enable(0);
initbus(1);
re_send++;
goto gotoposition;
}
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
//If the go command is failed, then exit the current process and power off the controller
if(feedback == 0)
{
printf("1\n");
//*ShmPTR = 1;
enable(0);
initbus(0);
return_value = json_option("status",-1);
return return_value;
}
do{
usleep(5000);
stop_indicator = process_check(1);
}while(stop_indicator != 0);
//printf("stop\n");
sleep(1);
pystep = process_read_step(1);
curr_position = process_position(pystep);
//printf("cur position is %f\n",curr_position);
if(curr_position != -1)
{
login("Go to command set last position");
curr_position = curr_position + offset;
setconfig(9,curr_position);
// In order to avoid "Read status command shutdown the power by accident
enable(0);
initbus(0);
return_value = json_option("status",1);
}
else return_value = json_option("status",-1);
}
if ( strcmp(command_name, "stop") == 0 )
{
if(check_power() == 1)
{
/*sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = stop(ctx);
if(feedback == -1)stop(ctx);
*/
process_stop(1);
}
}
if ( strcmp(command_name, "position") == 0 )
{
login("Check position command");
int resend = 0;
double temp_position,offset;
char *rec = (char*)malloc(10*sizeof(char));
stop_indicator = *ShmPTR;
uint16_t * position_registers = (uint16_t *) malloc(2 * sizeof(uint16_t));
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
checkposition:
if (check_power()== 1)
{
ctx = modbusconnection(ctx);
modbus = 1;
temp_position = checkposition(ctx,position_registers);
sprintf(rec,"The position read is %f",temp_position);
login(rec);
if(temp_position != -1)
{
login("Check position set last position");
//This sentence is used to show the position with offset
temp_position = temp_position + offset;
feedback = setconfig(9,temp_position);
}
else
{
if(resend < 2)
{
resend++;
goto checkposition;
}
else return -100;
}
}
else
{
config = getconfig(&num,config);
temp_position = config[8].value;
}
return_value = json_float_option("status",temp_position);
printf("%s\n",return_value);
}
/***********************************************************************
* 0: motor is stopped *
* 1: motor is going down *
* 2: motor is going up *
* 3: motor is ramp up *
* 4: motor is ramp down *
* (need modbus) *
* *
************************************************************************/
if(strcmp(command_name, "status") == 0)
{
stop_indicator = *ShmPTR;
if (check_power()== 1)
{
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if(next_option == -1) print_comusage (stderr, 1);
while(next_option != -1)
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'S':
feedback = checksystemstatus(ctx,tab_rp_registers);
return_value = json_option("status",feedback);
break;
case 'm':
feedback = checkmotorstatus(ctx,tab_rp_registers);
return_value = json_option("status",feedback);
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if(feedback == -1)
{
return_value = json_option("status",0);
}
}
else
{
return_value = json_option("status",0);
//login("Check status from database");
}
printf("%s\n",return_value);
}
/****************************************************************************************
* The next three command_name are used to control the database through sqlite3 *
*****************************************************************************************/
if ( strcmp(command_name, "factory_default") == 0 )
{
feedback1 = reset(0);
feedback2 = dbinit(0);
if ( (feedback1 == 1) && (feedback2 == 1))
{
return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
else
{
return_value = json_float_option("status",-1);
printf("%s\n",return_value);
}
}
if ( strcmp(command_name, "reset") == 0 )
{
feedback = reset(0);
if(feedback == 1)
{
feedback = expected_time_reset();
}
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "init") == 0 )
{
feedback = -1;
if ( strcmp(command_arg, "all") == 0 )
{
feedback = dbinit(0);
if(feedback == 1)
{
feedback = expected_time_init();
}
}
if ( strcmp(command_arg, "calibrate" ) == 0 )
{
setconfig(6,0);
feedback = dbinit(1);
}
if ( strcmp(command_arg, "configure" ) == 0 )
{
feedback = dbinit(2);
}
if ( feedback == -1 )
{
return_value = json_float_option("status",-1);
print_comusage (stderr, 1);
}
else return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name,"get") == 0 )
{
examp = getall(&num,examp);
return_value = json_array_option(num,examp);
free(examp);
printf("%s",return_value);
}
if ( strcmp(command_name,"set_offset") == 0 )
{
double offset;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
while( next_option != -1 )
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'l':
if(optarg!=0)offset = strtod(optarg,NULL);
insert_bit = 1;
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
feedback = setconfig(11,offset);
return_value = json_option("status",feedback);
printf("%s",return_value);
}
if ( strcmp(command_name,"get_offset") == 0 )
{
double offset;
off_set = (ARF*)malloc(15*sizeof(ARF));
off_set = getconfig(&num,off_set);
offset = off_set[10].value;
return_value = json_float_option("status",offset);
printf("%s",return_value);
free(off_set);
}
/**************************************************************************
* The next three command_name are used to calibrate (need modbus) *
***************************************************************************/
if ( strcmp(command_name, "calibrate") == 0 )
{
double calibrate;
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
config = getconfig(&num,config);
calibrate = config[5].value;
if ( calibrate == 0 )
{
reset(1);
setconfig(6,1.0);
set(num,0,0);
}
while( next_option != -1 )
{
switch (next_option)
{
case 'h':
print_comusage(stdout, 0);
case 'l':
if(optarg!=0)value = atof(optarg);
insert_bit = 1;
break;
case 'c':
getall(&num,examp);
return_value = json_option("status",num);
printf("%s\n",return_value);
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if ( insert_bit == 1 )
{
curr_step = checksteps(ctx,rd_position_registers);
if ( curr_step < 0 ) curr_step =0;//do not need
feedback = checkvalue(curr_step,value);
if ( feedback == 1 )
{
feedback = set(num,curr_step,value);
return_value = json_option("status",feedback);
}
else
{
return_value = json_option("status",-1);
}
}
/*if ( checkmotorstatus(ctx,tab_rp_registers) == 0 )
{
enable(0);
initbus(0);
}*/
printf("%s\n",return_value);
}
/***********************************************************************
* The following functions are used for profile *
* *
************************************************************************/
if ( strcmp(command_name, "profile") == 0 )
{
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if ( next_option == -1 ) print_comusage (stderr, 1);
while ( next_option != -1 )
{
switch (next_option) {
case 'h':
print_comusage(stdout, 0);
case 'd':
if(optarg!=0)depth = atof(optarg);
profilebit = 1;
break;
case 's':
if(optarg!=0)spacing = atof(optarg);
profilebit = 1;
break;
case 'w':
if(optarg!=0)dwell = atof(optarg);
profilebit = 1;
break;
case 'i':
//if(optarg!=0)interval = atof(optarg);
if(optarg!=0)interval = strtod(optarg,NULL);
profilebit = 1;
break;
case '?':
print_comusage (stderr, 1);
default:
abort ();
}
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
}
if ( profilebit == 1 )
{
feedback = set_profile(depth,spacing,dwell,interval);
}
//Want to get the expected profile time and save it in database
profile_time_check(interval);
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "profileget" ) == 0)
{
profile = getconfig(&num,config);
return_value = json_profile_option(num-2,profile);
free(profile);
printf("%s",return_value);
}
if ( strcmp(command_name, "profile_check" ) == 0)
{
int *expected_profile_time;
long remain_profile_time;
config = getconfig(&num,config);
pinterval = config[3].value;
if(pinterval == 0)
{
printf("-999\n");
return -999;
}
expected_profile_time = (int*)malloc(10*sizeof(int));
if(expected_profile_time == NULL){printf("error\n");exit(1);}
expected_time_get(expected_profile_time);
remain_profile_time = auto_run(0,expected_profile_time);
if(remain_profile_time <=0 )remain_profile_time = 0;
printf("%d\n",remain_profile_time);
free(expected_profile_time);
return remain_profile_time;
}
if ( strcmp(command_name, "profile_reset") == 0 )
{
//feedback = dbinit(2);
//reading_hourly();
system("ps aux | grep -e 'master profilego' | grep -v grep | awk '{print $2}' | xargs -i kill {}");
feedback = set_profile(0,0,0,0);
return_value = json_float_option("status",feedback);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "profilego") == 0 )
{
double stayposition, curr_position,tmp,cal_position;
double sdl_read,offset;
long wait_time,motor_status;
int year;
time_t fail_time;
int stop_check = -1;
int count,fini_count,re_try1 = 0,re_power1 =0,re_try = 0,re_send=0;
int i=1,sample = 0,profile_times,sample_indicator;
int * expected_tm, *curr_time,inter_val;
setconfig(10,0);
profile:
/* The following eight lines are used to get profile arguments from database */
config = getconfig(&num,config);
pdepth = config[0].value;
pspacing = config[1].value;
pdwell = config[2].value;
pinterval = config[3].value;
profiled = config[4].value;
sample = config[9].value;
offset = config[10].value;
profile_times = 1+(pdepth - offset)/pspacing; // Caculate the profile times
inter_val = (int)pinterval;
if(pinterval == 0){schedule_reading();goto profile;}
if(profiled == 0 )
{
config = getconfig(&num,config);
pdepth = config[0].value;
pspacing = config[1].value;
pdwell = config[2].value;
pinterval = config[3].value;
profiled = config[4].value;
sample = config[9].value;
/*
The following part are used to get the expected profile time and
compare with current time
*/
expected_tm = (int*)malloc(10*sizeof(int));
curr_time = (int*)malloc(10*sizeof(int));
if(curr_time == NULL){printf("error\n");exit(1);}
if(expected_tm == NULL){printf("error\n");exit(1);}
do{
config = getconfig(&num,config);
sample = config[9].value;
expected_time_get(expected_tm);
wait_time= auto_run(0,expected_tm);
curr_time = check_time(curr_time);
sample_indicator = curr_time[3]%inter_val;
printf("Wait for next profile\n");
//because the board will boot up 3 minutes after clock time
if(wait_time < -600)
{
profile_time_check(pinterval);
goto profile;
}
sleep(1);
}while(wait_time>0);
free(expected_tm);
four_minute_delay:
sleep(1);
curr_time = check_time(curr_time);
if((curr_time[4]>=4) &&(curr_time[4]<=10))goto start_profile;
if(curr_time[4]<4)goto four_minute_delay;
if(curr_time[4]>10)goto profile;
}
start_profile:
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
if(ctx == NULL)goto profile;
modbus = 1;
sleep(9);
if ( profiled == 0 )
{
if (process_syncclock() == 0)
{
login("Failed in connectting with SDL");
return;
}
if (process_expression(3,1,profile_times,0) == 0)
{
login("Failed in send profile to SDL");
return;
}
login("Start Profiling");
if( process_read_home_switch(1) == 0)
{
gotoposition(ctx, 0,rd_position_registers); //Do not need to check if it is home because we want it home anyway
do{
usleep(5000);
stop_check = process_check(1);
}while(stop_check != 0);
if(process_pass_through_check() == 0)initbus(0);
setconfig(5,1); //Set the profile flag
sleep(pdwell);
}
else
{
setconfig(5,1);
sleep(pdwell);
}
}
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
/* This following part is used to determine where is destination */
curr_position = checkposition(ctx,tab_rp_registers) + offset;
cal_position = i*pspacing + offset;
if ( cal_position < pdepth )
{
stayposition = cal_position;
}
else
stayposition = pdepth;
i++;
stayposition = stayposition - offset;
gotoposition(ctx,stayposition,tab_rp_registers);
position1:
sleep(1);
ctx = modbusconnection(ctx);
curr_position = checkposition(ctx,tab_rp_registers) + offset;
if(curr_position == -1)
{
if(re_power1 < 3)
{
if(re_try1 < 2)
{
sleep(3);
re_try1++;
goto position1;
}
else
{
re_try1 = 0;
enable(0);
initbus(0);
sleep(3);
initbus(1);
sleep(1);
re_power1++;
goto position1;
}
}
else
{
enable(0);
initbus(0);
enable(1);
re_power1 = 0;
return -1;
}
}
if (!((stayposition -0.1) <= curr_position ) && (curr_position <= (stayposition + 0.1)))goto position1;
wait_for_stop(ctx, tab_rp_registers);
//Here check position in order to determine if it is destination now
curr_position = checkposition(ctx,tab_rp_registers)+offset;
setconfig(9,curr_position);
printf("Go to sleep for dwell time\n");
if(process_pass_through_check() == 0)initbus(0); // Add this part to check if it is passing command
sleep(pdwell);
if (((pdepth -0.1) <= curr_position) && (curr_position <= (pdepth + 0.1)))
{
setconfig(5,0); //Set profile flag here to avoid reprofile if something wrong happens during following
profile_time_check(pinterval); // Set next profile time
enable(0);
initbus(1);
ctx = modbusconnection(ctx);
gotoposition(ctx,0,rd_position_registers); // After finish profile, go home
wait_for_stop(ctx, tab_rp_registers);
sleep(1);
enable(0);
if(process_pass_through_check() == 0) initbus(0); //Check is pass through
enable(1);
setconfig(9,offset); //Save the position 0
sleep(40);
goto profile;
}
goto profile;
}
/***********************************************************************
* The next three command_name are used *
* to control the date and time *
************************************************************************/
if ( strcmp(command_name, "checktime") == 0 )
{
/*
char *sdate;
if ( (sdate = malloc( 80 * sizeof(char) ) )== NULL)return NULL;
sdate = current_time(sdate);
return_value = json_option_string("status",sdate);
printf("%s\n",return_value);
free(sdate);
*/
//long pystep = process_read_step(1);
//process_position(pystep);
//process_expression(3,1,3,1);
//process_pass_through_check();
//process_syncclock();
process_expression(3,1,3,0);
process_read_home_switch(1);
}
if ( strcmp(command_name, "settime") == 0 )
{
if ( argc < 4 )
{
print_comusage (stderr, 1);
}
char *date = argv[2];
char *time = argv[3];
int *buf = (int*)malloc(6*sizeof(int));
parse(buf,date,time);
int i,m_buf[6];
for(i=0;i<=5;i++)
{
m_buf[i]=*(buf+i);
}
feedback = set_time(&m_buf);
return_value = json_option("status:",feedback);
printf("%s\n",return_value);
login("Set local time");
login(return_value);
sleep(5);
}
if ( strcmp(command_name, "voltage") == 0 )
{
double voltage;
voltage = voltage_read();
return_value = json_float_option("status",voltage);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "temp") == 0 )
{
double temp;
temp = temp_read();
return_value = json_float_option("status",temp);
printf("%s\n",return_value);
}
if(strcmp(command_name, "enable_power") == 0)
{
enable(0);
initbus(1);
return_value = json_option("status:",1);
}
if(strcmp(command_name, "disable_power") == 0)
{
enable(0);
initbus(0);
return_value = json_option("status:",1);
}
if ( strcmp(command_name, "backup") == 0 )
{
feedback = system("cp /home/sampler/lr.sl3 /home/sampler/lr_default.sl3");
if(feedback == -1)
{
return_value = json_float_option("status",-1);
}
else return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "restore") == 0 )
{
feedback = system("cp /home/sampler/lr_default.sl3 /home/sampler/lr.sl3");
if(feedback == -1)
{
return_value = json_float_option("status",-1);
}
else return_value = json_float_option("status",1);
printf("%s\n",return_value);
}
if ( strcmp(command_name, "debug") == 0 )
{
long return_steps;
char *debug_result;
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
uint16_t *debug_position_registers = (uint16_t*)malloc(2*sizeof(uint16_t));
debug_result = (char*)malloc(50*sizeof(char));
return_steps = checksteps(ctx,debug_position_registers);
sprintf(debug_result,"%x,%x,%x\n",debug_position_registers[0],debug_position_registers[1],return_steps);
json_option_string("status",debug_result);
printf("%s\n",debug_result);
initbus(0);
}
if ( strcmp(command_name, "power_check") == 0 )
{
int power_status = check_power();
printf("Power is %d\n",power_status);
}
if ( strcmp(command_name, "sdl") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl != NULL)
{
double vol = sdltest(sdl);
return_value = json_float_option("status",vol);
printf("%s\n",return_value);
setsdl(30000,vol);
login("Read SDL");
login(return_value);
}
else setsdl(30000,-100000);
modbus_close(sdl);
modbus_free(sdl);
}
if ( strcmp(command_name, "sdl_reset") == 0 )
{
resetsdl();
}
if ( strcmp(command_name, "sdl_get") == 0 )
{
int num_records;
SLEN * sdl_records;
sdl_records = (SLEN*)malloc(100*sizeof(SLEN));
sdl_records = getsdl(&num_records, sdl_records);
return_value = json_sdl_option(num_records,sdl_records);
printf("%s\n",return_value);
free(sdl_records);
}
if ( strcmp(command_name, "sdl_uploadtime") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_setuploadtime(sdl,12,5,21,12,50,0);
}
if ( strcmp(command_name, "sdl_settime") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_rtc_time(sdl,12,5,25,7,58,0);
}
if ( strcmp(command_name, "sdl_readsize") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_readbuffsize(sdl);
}
if ( strcmp(command_name, "sdl_readsensor") == 0 )
{
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else sdl_read_sensor(sdl,1,1);
}
if ( strcmp(command_name, "sdl_upload") == 0 )
{
//sdl_read_log_data(16);
int number;
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else
{
profile_save_data(sdl);
}
modbus_close(sdl);
}
if ( strcmp(command_name, "sdl_sample") == 0 )
{
int number;
modbus_t * sdl;
sdl = sdl_connection(sdl);
if(sdl == NULL)
{
setsdl(30000,-100000);
}
else
{
sdl_read_sensor(sdl,1,1);
sleep(60);
sample_save_data(sdl);
//sdl_start_profile(sdl,2);
}
modbus_close(sdl);
}
if ( strcmp(command_name, "shutdown") == 0 )
{
feedback = system("/sbin/shutdown now");
}
if ( strcmp(command_name, "maxstep") == 0 )
{
enable(0);
initbus(1);
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = set_max_step(ctx,rd_position_registers);
return_value = json_option("status",feedback);
initbus(0);
}
if(strcmp(command_name, "slave") == 0)
{
slave();
}
if(strcmp(command_name, "motor_status") == 0)
{
if (check_power()== 1)
{
sleep(1);
ctx = modbusconnection(ctx);
modbus = 1;
feedback = checkmotorstatus(ctx,tab_rp_registers);
if(feedback == -1)
{
printf("0\n");
return 0;
}
else
{
printf("%d\n",feedback);
return feedback;
}
}
else
{
printf("0\n");
return 0;
}
}
close:
/* Free the memory */
free(config);
free(tab_rp_registers);
free(rd_position_registers);
//modbus_mapping_free(mb_mapping);
/* Close the connection */
if (modbus == 1)
{
modbus_close(ctx);
}
if (motor_stop == 1)
{
printf("stop setting\n");
setconfig(9,last_position);
}
return return_value;
}
