static void config(int op)
{
FILE *f = config_open(op, "servo");
// scale factor and polarity of servo configuration,
// servo is controlled by an avr which takes +- 1000
config_float(op, f, "servo_scale", &servo_scale);
config_float(op, f, "min_hardover_period", &min_hardover_period);
fclose(f);
}
static void theme_read_module(THEME_REC *theme, const char *module)
{
CONFIG_REC *config;
config = config_open(theme->path, -1);
if (config != NULL)
config_parse(config);
theme_init_module(theme, module, config);
if (config != NULL) config_close(config);
}
// Parse whole file using callback
void config_parse( int( *callback )( char*, char* ) ) {
char *value, *token;
FILE *cf;
if( cf = config_open() ) {
printf( "Config [info]: Reading rc...\n" );
while( config_read_line( &value, &token, cf ) ) {
if( callback( value, token ) ) break;
}
callback( NULL, NULL );
fclose( cf );
}
}
static void theme_save(THEME_REC *theme, int save_all)
{
CONFIG_REC *config;
THEME_SAVE_REC data;
char *path;
int ok;
config = config_open(theme->path, -1);
if (config != NULL)
config_parse(config);
else {
if (g_ascii_strcasecmp(theme->name, "default") == 0) {
config = config_open(NULL, -1);
config_parse_data(config, default_theme, "internal");
config_change_file_name(config, theme->path, 0660);
} else {
config = config_open(theme->path, 0660);
if (config == NULL)
return;
config_parse(config);
}
}
data.config = config;
data.save_all = save_all;
g_hash_table_foreach(theme->modules, (GHFunc) module_save, &data);
/* always save the theme to ~/.irssi/ */
path = g_strdup_printf("%s/%s", get_irssi_dir(),
g_basename(theme->path));
ok = config_write(config, path, 0660) == 0;
printformat(NULL, NULL, MSGLEVEL_CLIENTNOTICE,
ok ? TXT_THEME_SAVED : TXT_THEME_SAVE_FAILED,
path, config_last_error(config));
g_free(path);
config_close(config);
}
static int _merge_config_cascade(struct cmd_context *cmd, struct dm_config_tree *cft_cascaded,
struct dm_config_tree **cft_merged)
{
if (!cft_cascaded)
return 1;
if (!*cft_merged && !(*cft_merged = config_open(CONFIG_MERGED_FILES, NULL, 0)))
return_0;
if (!_merge_config_cascade(cmd, cft_cascaded->cascade, cft_merged))
return_0;
return merge_config_tree(cmd, *cft_merged, cft_cascaded, CONFIG_MERGE_TYPE_RAW);
}
static int theme_read(THEME_REC *theme, const char *path)
{
CONFIG_REC *config;
THEME_READ_REC rec;
char *str;
config = config_open(path, -1) ;
if (config == NULL) {
/* didn't exist or no access? */
str = g_strdup_printf("Error reading theme file %s: %s",
path, g_strerror(errno));
read_error(str);
g_free(str);
return FALSE;
}
if (path == NULL)
config_parse_data(config, default_theme, "internal");
else
config_parse(config);
if (config_last_error(config) != NULL) {
str = g_strdup_printf("Ignored errors in theme %s:\n%s",
theme->name, config_last_error(config));
read_error(str);
g_free(str);
}
theme->default_color =
config_get_int(config, NULL, "default_color", -1);
theme->info_eol = config_get_bool(config, NULL, "info_eol", FALSE);
/* FIXME: remove after 0.7.99 */
if (theme->default_color == 0 &&
config_get_int(config, NULL, "default_real_color", -1) != -1)
theme->default_color = -1;
theme_read_replaces(config, theme);
if (path != NULL)
theme_copy_abstracts(theme, internal_theme);
theme_read_abstracts(config, theme);
rec.theme = theme;
rec.config = config;
g_hash_table_foreach(default_formats,
(GHFunc) theme_read_modules, &rec);
config_close(config);
return TRUE;
}
static gboolean sbar_node_isdefault(const char *name)
{
CONFIG_REC *config;
CONFIG_NODE *node;
/* read the default statusbar settings from internal config */
config = config_open(NULL, -1);
config_parse_data(config, default_config, "internal");
node = config_sbar_node(config, name, FALSE);
config_close(config);
return node != NULL ? TRUE : FALSE;
}
void config_start(char *config_path)
{
config_load(config_path);
FILE *f = config_open(NULL, info_paths, "r");
log_msg("CONFIG", "%p", f);
if (!f) {
char *path = fs_expand_path(info_paths[0]);
f = fopen(path, "w+");
if (f)
fclose(f);
free(path);
return;
}
info_read(f);
fclose(f);
}
static THEME_REC *read_internal_theme(void)
{
CONFIG_REC *config;
THEME_REC *theme;
theme = theme_create("internal", "_internal");
theme->refcount++;
theme_destroy(theme);
config = config_open(NULL, -1);
config_parse_data(config, default_theme, "internal");
theme_read_abstracts(config, theme);
config_close(config);
return theme;
}
struct volume_group *text_vg_import_fd(struct format_instance *fid,
const char *file,
int single_device,
struct device *dev,
off_t offset, uint32_t size,
off_t offset2, uint32_t size2,
checksum_fn_t checksum_fn,
uint32_t checksum,
time_t *when, char **desc)
{
struct volume_group *vg = NULL;
struct dm_config_tree *cft;
struct text_vg_version_ops **vsn;
_init_text_import();
*desc = NULL;
*when = 0;
if (!(cft = config_open(CONFIG_FILE, file, 0)))
return_NULL;
if ((!dev && !config_file_read(cft)) ||
(dev && !config_file_read_fd(cft, dev, offset, size,
offset2, size2, checksum_fn, checksum))) {
log_error("Couldn't read volume group metadata.");
goto out;
}
/*
* Find a set of version functions that can read this file
*/
for (vsn = &_text_vsn_list[0]; *vsn; vsn++) {
if (!(*vsn)->check_version(cft))
continue;
if (!(vg = (*vsn)->read_vg(fid, cft, single_device)))
goto_out;
(*vsn)->read_desc(vg->vgmem, cft, when, desc);
break;
}
out:
config_destroy(cft);
return vg;
}
static void statusbar_reset_defaults(void)
{
CONFIG_REC *config;
CONFIG_NODE *node;
while (statusbar_groups != NULL)
statusbar_group_destroy(statusbar_groups->data);
active_statusbar_group = NULL;
/* read the default statusbar settings from internal config */
config = config_open(NULL, -1);
config_parse_data(config, default_config, "internal");
node = config_node_traverse(config, "statusbar", FALSE);
if (node != NULL)
read_statusbar_config_from_node(node);
config_close(config);
}
bool check_mainscript_version(void)
{
//Open the file
FILE *config_file_in = config_open(config_path_mainscript, "rt");
char config_line[BBI_MAX_LINE_LENGTH];
if (config_file_in)
{
if ( fgets(config_line, sizeof config_line, config_file_in)
&& config_line[0] == '!'
&& strstr(config_line, "0.9.9")
) { fclose(config_file_in); return true; }
fclose(config_file_in);
}
return false;
}
static void sig_init_finished(void)
{
CONFIG_REC *session;
if (session_file == NULL)
return;
session = config_open(session_file, -1);
if (session == NULL)
return;
config_parse(session);
signal_emit("session restore", 1, session);
config_close(session);
unlink(session_file);
}
int pmd_system_init() {
create_config();
if (config_open() != 0) {
return 1;
}
if(can_net_init(10000000, 100) != 0) {
return 2;
}
interrupt_init();
if(net_device_init() != 0) {
return 3;
}
//Non-smb message handler
cb_records[0].check.port_min = 0;
cb_records[0].check.port_max = -1;
cb_records[0].check.id_min = 0;
cb_records[0].check.id_max = -1;
cb_records[0].check.smb_min = 0;
cb_records[0].check.smb_max = 0;
cb_records[0].callback = non_smb_net_cb;
cb_records[0].cb_ctx = NULL;
//smb message handler
cb_records[1].check.port_min = 0;
cb_records[1].check.port_max = -1;
cb_records[1].check.id_min = 0;
cb_records[1].check.id_max = -1;
cb_records[1].check.smb_min = 1;
cb_records[1].check.smb_max = 1;
cb_records[1].callback = smb_net_cb;
cb_records[1].cb_ctx = NULL;
can_net_add_callback( &(cb_records[0]) );
can_net_add_callback( &(cb_records[1]) );
operation_mode = OPERATION_MODE_NORMAL;
heartbeat_msg_init(&heartbeat_msg);
ftimer_register_func(send_heartbeat, NULL, 1000);
return 0;
}
PROCESS_THREAD(eeprom_write_contiki_test, ev, data) {
PROCESS_BEGIN();
static config_section_t * led_conf = 0;
int i;
led_conf = config_cnf_create_section(config_get());
strcpy(led_conf->name, "led");
config_section_set_uint(led_conf, "ddr", 39);
config_section_set_uint(led_conf, "port", 40);
config_section_set_uint(led_conf, "offset", 0);
config_save();
config_close();
config_init();
if (config_open() == -1) alarma(10);
modules_init();
devices_init();
if (admin_get_device_by_id(2) && admin_get_device_by_id(1)) {
static led_t * led_m = 0;
static led_t * led = 0;
led_m = (led_t *)admin_get_device_by_id(2)->device;
led = (led_t *)admin_get_device_by_id(1)->device;
led->init(led);
led_m->init(led_m);
if (module_get(MODULE_LED1)->config == led_conf) {
for (i = 0; i < 10; ++i) {
led->on(led);
_delay_ms(50);
led->off(led);
_delay_ms(50);
}
}
led->on(led);
led_m->on(led_m);
}
PROCESS_END();
}
static CONFIG_NODE *sbar_find_item_with_defaults(const char *statusbar, const char *item,
gboolean create)
{
CONFIG_REC *config, *close_config;
CONFIG_NODE *node;
close_config = NULL;
config = mainconfig;
node = sbar_node(statusbar, FALSE);
if (node == NULL) {
/* we are looking up defaults from the internal config */
close_config = config = config_open(NULL, -1);
config_parse_data(config, default_config, "internal");
node = config_sbar_node(config, statusbar, FALSE);
}
if (node == NULL) {
printformat(NULL, NULL, MSGLEVEL_CLIENTERROR, TXT_STATUSBAR_NOT_FOUND, statusbar);
if (close_config != NULL)
config_close(close_config);
return NULL;
}
node = config_sbar_items_section(config, node, create);
if (node == NULL || (!create && config_node_section(config, node, item, -1) == NULL)) {
printformat(NULL, NULL, MSGLEVEL_CLIENTERROR, TXT_STATUSBAR_ITEM_NOT_FOUND, item);
if (close_config != NULL)
config_close(close_config);
return NULL;
}
if (config != mainconfig) {
/* we need to copy default to user config */
node = statusbar_copy_config(config, node, sbar_node(statusbar, TRUE));
}
if (close_config != NULL)
config_close(close_config);
return node;
}
CacheConfig::CacheConfig(const GMConfig& config):
_cache_max(100),
_cache_min(100),
_log_file("/var/log/arc/cache-clean.log"),
_log_level("INFO") ,
_lifetime("0"),
_clean_timeout(0) {
// Load conf file
std::ifstream cfile;
if(!config_open(cfile,config.ConfigFile())) throw CacheConfigException("Can't open configuration file");
/* detect type of file */
switch(config_detect(cfile)) {
case config_file_XML: {
Arc::XMLNode cfg;
if(!cfg.ReadFromStream(cfile)) {
config_close(cfile);
throw CacheConfigException("Can't interpret configuration file as XML");
};
config_close(cfile);
try {
parseXMLConf(cfg);
} catch (CacheConfigException& e) {
config_close(cfile);
throw;
}
}; break;
case config_file_INI: {
ConfigSections cf(cfile);
try {
parseINIConf(cf);
} catch (CacheConfigException& e) {
config_close(cfile);
throw;
}
}; break;
default: {
config_close(cfile);
throw CacheConfigException("Can't recognize type of configuration file");
}; break;
};
config_close(cfile);
}
PROCESS_THREAD(config_test_contiki_app, ev, data) {
PROCESS_BEGIN();
printf("Hello, World!!\n\n");
config_init();
int st = config_open();
if(st == 1) {
printf("Parse success!\n");
config_print();
printf("\n");
config_cnf_t * cnf = config_get();
config_section_t * sect = list_head(cnf->sections);
printf("Set first section:\n");
printf("\topt = Ololo [string]\n");
printf("\topt1 = 100500 [int]\n");
if(config_section_set_str(sect, "opt", "Ololo") == -1) {
printf("Set opt failed\n");
}
if(config_section_set_int(sect, "opt1", 100500) == -1) {
printf("Set opt1 failed\n");
}
config_print();
printf("Writing config\n");
if(config_save() == 1) {
printf("Successfully written\n");
} else {
printf("Write failed\n");
}
} else {
printf("Epic Fail :(\n");
}
printf("\nGoodbye, World!!\n");
PROCESS_END();
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
int config_load(char *filename, module* caller, const char *section)
{
//Open the file
FILE *config_file_in = config_open(filename, "rt");
char config_line[BBI_MAX_LINE_LENGTH];
if (config_file_in)
{
bool wanted_section = NULL == section;
while (config_read_line(config_line, config_file_in))
{
if (config_line[0] == '[')
{
if (wanted_section) break;
if (0 == stricmp(config_line, section))
wanted_section = true;
continue;
}
if (false == wanted_section)
continue;
if (config_line[0] == '@')
{
//Interpret the message
message_interpret(config_line, false, caller);
}
}
//Close the file
fclose(config_file_in);
return 0;
}
//Must have been an error
if (!plugin_suppresserrors)
{
sprintf(config_line, "%s:\nThere was an error loading the configuration file.", filename);
MessageBox(NULL, config_line, szAppName, MB_OK|MB_SYSTEMMODAL);
}
return 1;
}
void reset_avr() {
reset_clients();
if (verbose) printf("Reset AVR\n");
linuxgpio_initpin(config.reset_gpio);
linuxgpio_highpulsepin(config.reset_gpio, 500);
linuxgpio_close();
//mssleep(2000);
avrstatus=-1;
if (autoconfig) {
int ret = config_open(&config,CFG_PATH);
if (ret<0) {
printf("Disabling AUTOCONFIG\n");
//printf("Failed to initiate config! [%s]\n", strerror(ret));
autoconfig = 0;
return;
}
clock_gettime(CLOCK_REALTIME, &reset_time_prev);
reset_timeout = initTimeout;
}
}
static void botuser_config_read(void)
{
CONFIG_NODE *node;
GSList *tmp;
char *fname;
/* Read users from ~/.irssi/users */
fname = g_strdup_printf("%s/users", get_irssi_dir());
userconfig = config_open(fname, 0600);
g_free(fname);
if (userconfig == NULL)
return; /* access denied?! */
config_parse(userconfig);
node = config_node_traverse(userconfig, "users", FALSE);
tmp = node == NULL ? NULL : node->value;
for (; tmp != NULL; tmp = tmp->next)
botuser_config_read_user(tmp->data);
}
const char *text_vgname_import(const struct format_type *fmt,
struct device *dev,
off_t offset, uint32_t size,
off_t offset2, uint32_t size2,
checksum_fn_t checksum_fn, uint32_t checksum,
struct id *vgid, uint64_t *vgstatus,
char **creation_host)
{
struct dm_config_tree *cft;
struct text_vg_version_ops **vsn;
const char *vgname = NULL;
_init_text_import();
if (!(cft = config_open(CONFIG_FILE, NULL, 0)))
return_NULL;
if ((!dev && !config_file_read(cft)) ||
(dev && !config_file_read_fd(cft, dev, offset, size,
offset2, size2, checksum_fn, checksum)))
goto_out;
/*
* Find a set of version functions that can read this file
*/
for (vsn = &_text_vsn_list[0]; *vsn; vsn++) {
if (!(*vsn)->check_version(cft))
continue;
if (!(vgname = (*vsn)->read_vgname(fmt, cft, vgid, vgstatus,
creation_host)))
goto_out;
break;
}
out:
config_destroy(cft);
return vgname;
}
bool config_isolate_section(config_t *current_conf,
config_line_t *current_line, config_t *isolated)
{
long startpos, endpos;
bool r = false;
*isolated = *current_conf;
if (current_conf->error_message)
return false;
if (current_line->type != CONFIG_LINE_TYPE_SECTION)
return false;
startpos = ftell(current_conf->file);
if (startpos < 0)
return false;
if (!find_section_end(current_conf, current_line, 0))
goto resetpos;
endpos = ftell(current_conf->file);
if (endpos < 0)
goto resetpos;
if (!config_open(isolated, current_conf->path))
goto resetpos;
if (fseek(isolated->file, startpos, SEEK_SET) < 0)
goto resetpos;
isolated->isolated.end = endpos;
r = true;
resetpos:
if (fseek(current_conf->file, startpos, SEEK_SET) < 0) {
config_error(current_conf, "Could not reset file position");
return false;
}
if (!r)
config_error(current_conf, "Unknown error while isolating section");
return r;
}
void config_init()
{
NEW( config*, g_conf, sizeof(config) );
if( !g_conf ) return;
if( config_open( g_conf, "./qqconfig.txt" ) < 0 ){
perror("can't not open qqconfig.txt file.");
exit(-1);
}
char* log_dir = config_readstr( g_conf, "QQLogDir" );
uint log_terminal = config_readint( g_conf, "QQTerminalLog" );
if( log_terminal ){
debug_term_on();
}else{
debug_term_off();
}
if( log_dir == NULL ){
debug_file_off();
}else{
debug_set_dir( log_dir );
debug_file_on();
}
}
bool cached_versions_match(void)
{
struct win_version_info d3d8_ver = {0};
struct win_version_info d3d9_ver = {0};
struct win_version_info dxgi_ver = {0};
bool ver_mismatch = false;
config_t *config;
char *ver_file;
int ret;
ver_mismatch |= !get_32bit_system_dll_ver(L"d3d8.dll", &d3d8_ver);
ver_mismatch |= !get_32bit_system_dll_ver(L"d3d9.dll", &d3d9_ver);
ver_mismatch |= !get_32bit_system_dll_ver(L"dxgi.dll", &dxgi_ver);
ver_file = obs_module_config_path("version.ini");
if (!ver_file)
return false;
ret = config_open(&config, ver_file, CONFIG_OPEN_ALWAYS);
if (ret != CONFIG_SUCCESS)
goto failed;
ver_mismatch |= config_ver_mismatch(config, "d3d8", &d3d8_ver);
ver_mismatch |= config_ver_mismatch(config, "d3d9", &d3d9_ver);
ver_mismatch |= config_ver_mismatch(config, "dxgi", &dxgi_ver);
if (ver_mismatch) {
write_config_ver(config, "d3d8", &d3d8_ver);
write_config_ver(config, "d3d9", &d3d9_ver);
write_config_ver(config, "dxgi", &dxgi_ver);
config_save_safe(config, "tmp", NULL);
}
failed:
bfree(ver_file);
config_close(config);
return !ver_mismatch;
}
static void botnet_config_read(void)
{
CONFIG_REC *config;
CONFIG_NODE *node;
GSList *tmp;
char *fname;
/* Read botnets from ~/.irssi/botnets */
fname = g_strdup_printf("%s/.irssi/botnets", g_get_home_dir());
config = config_open(fname, -1);
g_free(fname);
if (config == NULL)
return;
config_parse(config);
node = config_node_traverse(config, "botnets", FALSE);
tmp = node == NULL ? NULL : node->value;
for (; tmp != NULL; tmp = tmp->next)
botnet_config_read_botnet(tmp->data);
config_close(config);
}
static void load_crontab(const char *fileName)
{
struct parser_t *parser;
struct stat sbuf;
int maxLines;
char *tokens[6];
#if ENABLE_FEATURE_CROND_CALL_SENDMAIL
char *mailTo = NULL;
#endif
char *shell = NULL;
delete_cronfile(fileName);
if (!getpwnam(fileName)) {
log7("ignoring file '%s' (no such user)", fileName);
return;
}
parser = config_open(fileName);
if (!parser)
return;
maxLines = (strcmp(fileName, "root") == 0) ? 65535 : MAXLINES;
if (fstat(fileno(parser->fp), &sbuf) == 0 && sbuf.st_uid == DAEMON_UID) {
CronFile *file = xzalloc(sizeof(CronFile));
CronLine **pline;
int n;
file->cf_username = xstrdup(fileName);
pline = &file->cf_lines;
while (1) {
CronLine *line;
if (!--maxLines) {
bb_error_msg("user %s: too many lines", fileName);
break;
}
n = config_read(parser, tokens, 6, 1, "# \t", PARSE_NORMAL | PARSE_KEEP_COPY);
if (!n)
break;
log5("user:%s entry:%s", fileName, parser->data);
/* check if line is setting MAILTO= */
if (is_prefixed_with(tokens[0], "MAILTO=")) {
#if ENABLE_FEATURE_CROND_CALL_SENDMAIL
free(mailTo);
mailTo = (tokens[0][7]) ? xstrdup(&tokens[0][7]) : NULL;
#endif /* otherwise just ignore such lines */
continue;
}
if (is_prefixed_with(tokens[0], "SHELL=")) {
free(shell);
shell = xstrdup(&tokens[0][6]);
continue;
}
//TODO: handle HOME= too? "man crontab" says:
//name = value
//
//where the spaces around the equal-sign (=) are optional, and any subsequent
//non-leading spaces in value will be part of the value assigned to name.
//The value string may be placed in quotes (single or double, but matching)
//to preserve leading or trailing blanks.
//
//Several environment variables are set up automatically by the cron(8) daemon.
//SHELL is set to /bin/sh, and LOGNAME and HOME are set from the /etc/passwd
//line of the crontab's owner. HOME and SHELL may be overridden by settings
//in the crontab; LOGNAME may not.
/* check if a minimum of tokens is specified */
if (n < 6)
continue;
*pline = line = xzalloc(sizeof(*line));
/* parse date ranges */
ParseField(file->cf_username, line->cl_Mins, 60, 0, NULL, tokens[0]);
ParseField(file->cf_username, line->cl_Hrs, 24, 0, NULL, tokens[1]);
ParseField(file->cf_username, line->cl_Days, 32, 0, NULL, tokens[2]);
ParseField(file->cf_username, line->cl_Mons, 12, -1, MonAry, tokens[3]);
ParseField(file->cf_username, line->cl_Dow, 7, 0, DowAry, tokens[4]);
/*
* fix days and dow - if one is not "*" and the other
* is "*", the other is set to 0, and vise-versa
*/
FixDayDow(line);
#if ENABLE_FEATURE_CROND_CALL_SENDMAIL
/* copy mailto (can be NULL) */
line->cl_mailto = xstrdup(mailTo);
#endif
line->cl_shell = xstrdup(shell);
/* copy command */
line->cl_cmd = xstrdup(tokens[5]);
pline = &line->cl_next;
//bb_error_msg("M[%s]F[%s][%s][%s][%s][%s][%s]", mailTo, tokens[0], tokens[1], tokens[2], tokens[3], tokens[4], tokens[5]);
}
*pline = NULL;
file->cf_next = G.cron_files;
G.cron_files = file;
}
config_close(parser);
#if ENABLE_FEATURE_CROND_CALL_SENDMAIL
free(mailTo);
#endif
free(shell);
}
void stagealign(int fcnum, int lane_num, int initialize)
{
short unsigned int *testimage;
short unsigned int *baseimage;
FILE *baseimgfp;
FILE *offsetfp;
/* used to dump score matrix to file when debugging */
FILE *score_matrixfp;
/* Maestro declarations */
int m_sock; /* socket for the Maestro controller */
char config_value[255];
char logfilename[255];
char offsetfilename[255];
char stagealign_baseimgfilename[255];
char acqcfgpath[255];
/* Used to send commands and receive responses from Maestro */
char command[255];
char response[255];
int response_length;
/* Image acquisition settings, populated from config file */
int stagealign_integration_inmsec;
int stagealign_gain;
int stagealign_well;
int stagealign_wells_per_fc;
/* Values used for conversion between pixels and stage units */
int stagealign_optical_mag;
int ccd_pixel_size;
double pixelsize_at_stage; /* size of a pixel at the stage in microns */
/* Hold offsets found by alignment in pixels and stageunits */
int pixel_offset_x, pixel_offset_y;
double stageunit_offset_x, stageunit_offset_y;
int lane_index;
/* Holds previous offsets from controller in case the alignment doesn't work */
int curr_offset_x, curr_offset_y;
/* Holds encoder resolutions from controller, used for calculating distance of move */
double encoder_res_X, encoder_res_Y;
/* 'score' of best alignment */
int score;
/* Largest pixel offset allowable _after_ the adjustment has been made */
/* if there is still a shift larger than this, conclude something is wrong */
/* and go back to the previous offset */
int successful_move_threshold = 150; /*RCT was = 12*/
int i;
/* in debugging mode, dump internal data to files */
#ifdef DEBUG_STAGEALIGN
FILE *imgfp;
sprintf(command, "%s/stagealign-image%d_%d.raw", output_directory, fcnum, lane_num);
imgfp = fopen(command, "w");
sprintf(command, "%s/stagealign-scorematrix%d_%d", output_directory, fcnum, lane_num);
score_matrixfp = fopen(command, "w");
#endif
p_log_simple("awesome2\n");
/* Open config file */
strcpy(acqcfgpath, getenv("POLONATOR_PATH"));
strcat(acqcfgpath, "/config_files/polonator-acq.cfg");
config_open(acqcfgpath);
p_log_simple("awesome1\n");
/* Initialize variables */
if(!config_getvalue("stagealign_logfilename", config_value)){
fprintf(stderr, "ERROR:\tPolonator-stagealign: config_getval(key logfilename) returned no value\n");
exit(0);
}
p_log_simple("awesome0\n");
strcpy(logfilename, log_dir);
strcat(logfilename, "/");
strcat(logfilename, config_value);
sprintf(command, "%d", fcnum);
strcat(logfilename, command);
strcat(logfilename, ".log");
p_log_simple(logfilename);
start_logger(logfilename, 1);
strcpy(offsetfilename, log_dir);
strcat(offsetfilename, "/");
strcat(offsetfilename, config_value);
strcat(offsetfilename, command);
strcat(offsetfilename, ".offsetlog");
fprintf(stdout, offsetfilename);
fflush(stdout);
/*
if this is being run in 'initialize mode' -- the first scan of a run --
overwrite the offset logfile
*/
p_log_simple("awesome66\n");
if(initialize){
offsetfp = fopen(offsetfilename, "w");
}
else{
offsetfp = fopen(offsetfilename, "a");
}
p_log_simple("awesome00\n");
if(!config_getvalue("stagealign_baseimgfilename", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_baseimgfilename) returned no value");
exit(0);
}
sprintf(stagealign_baseimgfilename, "%s/%s%s_%d.raw", output_directory, config_value, command, lane_num);
p_log_simple("awesome01\n");
if(!config_getvalue("stagealign_integration_inmsec", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_integration_inmsec) returned no value");
exit(0);
}
stagealign_integration_inmsec = atoi(config_value);
p_log_simple("awesome02\n");
if(!config_getvalue("stagealign_gain", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_gain) returned no value");
exit(0);
}
stagealign_gain = atoi(config_value);
p_log_simple("awesome03\n");
if(!config_getvalue("stagealign_optical_mag", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_optical_mag) returned no value");
exit(0);
}
stagealign_optical_mag = atoi(config_value);
p_log_simple("awesome04\n");
if(!config_getvalue("stagealign_ccd_pixel_size", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_ccd_pixel_size) returned no value");
exit(0);
}
ccd_pixel_size = atoi(config_value);
p_log_simple("awesome05\n");
if(!config_getvalue("stagealign_wells_per_fc", config_value)){
p_log("ERROR:\tPolonator-stagealign: config_getval(key stagealign_wells_per_fc) returned no value");
exit(0);
}
stagealign_wells_per_fc = atoi(config_value);
config_close();
p_log_simple("awesome06\n");
stagealign_well = lane_num;
lane_index = (fcnum * stagealign_wells_per_fc) + stagealign_well;
baseimage = (short unsigned int*)malloc(1000000 * sizeof(short unsigned int));
/*--------------------------------------------------------------------------
//
// MAESTRO SETUP
/*/
p_log_simple("STATUS:\tPolonator-stagealign: Opening connection to Maestro...");
maestro_open(&m_sock);
/*
//--------------------------------------------------------------------------
*/
/*--------------------------------------------------------------------------
//
// CAMERA SETUP
/*/
p_log_simple("STATUS:\tPolonator-stagealign: Opening camera handle...");
py_cameraInit(0); /* use non-TDI config file */
py_set_gain(stagealign_gain);
py_setupSnap(); /* setup capture software to wait for images from camera */
/*
//--------------------------------------------------------------------------
*/
/*p_log("STATUS:\tPolonator-stagealign: Darkfield illuminator on..."); rolony*/
/*maestro_darkfield_on(m_sock);
p_log("STATUS:\tPolonator-stagealign: Select darkfield filter block..."); rolony*/
maestro_setcolor(m_sock, "cy5");
/* IF INITIALIZING, RESET OFFSETS */
if(initialize){
p_log_simple("INITIALIZING STAGEALIGN");
sprintf(command, "PolonatorScan.OFFSET_X[%d]=0\n\r", lane_index);
p_log_simple(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log_simple(response);
sprintf(command, "PolonatorScan.OFFSET_Y[%d]=0\n\r", lane_index);
p_log_simple(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log_simple(response);
}
/* GET OFFSETS IN CASE ALIGNMENT FAILS */
else{
p_log_simple("Storing current offsets...");
sprintf(command, "PolonatorScan.OFFSET_X[%d]\n\r", lane_index);
p_log_simple(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log_simple(response);
curr_offset_x = atoi(response);
sprintf(command, "PolonatorScan.OFFSET_Y[%d]\n\r", lane_index);
p_log_simple(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log_simple(response);
curr_offset_y = atoi(response);
}
/* MOVE STAGE TO ORIGIN */
maestro_gotostagealign_position(m_sock, fcnum, lane_num);
p_log_simple("awesome fool00\n");
/* ACQUIRE IMAGE */
p_log("STATUS:\tPolonator-stagealign: Acquire image...");
maestro_snap(m_sock, stagealign_integration_inmsec, 1); /*rolony*/
while(!py_snapReceived()){;}
testimage = py_getSnapImage();
/* IF INITIALIZING, RE-WRITE THE BASE IMAGE; THE OFFSET FOUND SHOULD BE ZERO */
p_log_simple(stagealign_baseimgfilename);
if(initialize){
baseimgfp = fopen(stagealign_baseimgfilename, "w");
fwrite(testimage, 1000000, sizeof(short unsigned int), baseimgfp);
fclose(baseimgfp);
}
p_log_simple("awesome fool01\n");
#ifdef DEBUG_STAGEALIGN
fwrite(testimage, 1000000, sizeof(short unsigned int), imgfp);
#endif
/* LOAD BASE IMAGE */
p_log("STATUS:\tPolonator-stagealign: Load base image and determine offset...");
baseimgfp = fopen(stagealign_baseimgfilename, "r");
fread(baseimage, 1000000, sizeof(short unsigned int), baseimgfp);
fclose(baseimgfp);
p_log("STATUS:\tPolonator-stagealign: Load base image and determine offset2...");
/* DETERMINE OFFSETS */
register_image(baseimage, testimage, &pixel_offset_x, &pixel_offset_y, &score, score_matrixfp);
sprintf(log_string, "STATUS:\tPolonator-stagealign: Found pixel offsets X:%d, Y:%d, score:%d", pixel_offset_x, pixel_offset_y, score);
p_log(log_string);
/* LOAD ENCODER RESOLUTIONS FOR CONVERSION BELOW; THESE ARE STORED ON */
/* THE CONTROLLER AS COUNTS PER MILLIMETER */
p_log("Retrieving encoder resolutions...");
sprintf(command, "PolonatorScan.cENCODER_X_RESOLUTION\n\r");
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
encoder_res_X = atof(response);
sprintf(command, "PolonatorScan.cENCODER_Y_RESOLUTION\n\r");
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
encoder_res_Y = atof(response);
/* CONVERT FROM PIXELS TO STAGE UNITS */
/* CALCULATE PIXEL SIZE IN MILLIMTERS AT THE STAGE BASED */
/* ON THE MAGNIFICATION AND THE CCD PIXEL SIZE */
pixelsize_at_stage = ((double)ccd_pixel_size / (double)stagealign_optical_mag) / 1000;
stageunit_offset_x = (double)pixel_offset_x * pixelsize_at_stage * encoder_res_X * -1;
stageunit_offset_y = (double)pixel_offset_y * pixelsize_at_stage * encoder_res_Y * -1;
/* SET NEW OFFSETS ON CONTROLLER USING VALUES */
/* CALCULATED ABOVE */
sprintf(command, "PolonatorScan.OFFSET_X[%d]\n\r", lane_index);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
fprintf(offsetfp, "%d\t%d\t", fcnum, stagealign_well);
fprintf(offsetfp, "%d\t", atoi(response));
sprintf(command, "PolonatorScan.OFFSET_Y[%d]\n\r", lane_index);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
fprintf(offsetfp, "%d\t", atoi(response));
fprintf(offsetfp, "%d\t%d\t%d\t%d\t", (int)stageunit_offset_x, (int)stageunit_offset_y, pixel_offset_x, pixel_offset_y);
/* ISSUE COMMANDS TO ADJUST STAGE COORDS */
p_log("STATUS:\tPolonator-stagealign: Set offset variables on Maestro...");
sprintf(command, "PolonatorScan.OFFSET_X[%d]=PolonatorScan.OFFSET_X[%d]+%d\n\r", lane_index, lane_index, (int)stageunit_offset_x);
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
sprintf(command, "PolonatorScan.OFFSET_Y[%d]=PolonatorScan.OFFSET_Y[%d]+%d\n\r", lane_index, lane_index, (int)stageunit_offset_y);
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
/* MOVE, THEN ACQUIRE ANOTHER IMAGE TO VERIFY OFFSET WORKED */
/* maestro_gotostagealign_position(m_sock, fcnum, lane_num);
maestro_snap(m_sock, stagealign_integration_inmsec, 0);
while(!py_snapReceived()){;}
testimage = py_getSnapImage();
*/
#ifdef DEBUG_STAGEALIGN
fwrite(testimage, 1000000, sizeof(short unsigned int), imgfp);
fclose(imgfp);
#endif
/* DETERMINE OFFSET TO CONFIRM */
/* p_log("STATUS:\tPolonator-stagealign: Re-compute alignment to verify move...");
register_image(baseimage, testimage, &pixel_offset_x, &pixel_offset_y, &score, score_matrixfp);
sprintf(log_string, "STATUS:\tPolonator-stagealign: Found pixel offsets X:%d, Y:%d, score:%d", pixel_offset_x, pixel_offset_y, score);
p_log(log_string);
fprintf(offsetfp, "%d\t%d", pixel_offset_x, pixel_offset_y);
*/
/* DID THE MOVE WORK? */
if(((abs(pixel_offset_x)>successful_move_threshold) || (abs(pixel_offset_y)>successful_move_threshold)) && (!initialize))
{
sprintf(log_string, "ERROR:\tPolonator-stagealign: one or more offsets are greater that the %d-pixel maximum; X:%d, Y:%d",
successful_move_threshold,
pixel_offset_x,
pixel_offset_y);
p_log(log_string);
fprintf(offsetfp, "*");
/* mark current line in offsetlog, since offsets found will not be the offsets stored on the controller */
sprintf(log_string, "Restoring previous offsets X:%d, Y:%d", curr_offset_x, curr_offset_y);
sprintf(command, "PolonatorScan.OFFSET_X[%d]=%d\n\r", lane_index, curr_offset_x);
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
sprintf(command, "PolonatorScan.OFFSET_Y[%d]=%d\n\r", lane_index, curr_offset_y);
p_log(command);
send(m_sock, command, strlen(command), 0);
maestro_readresponse(m_sock, response, &response_length);
p_log(response);
}
/* EXIT */
#ifdef DEBUG_STAGEALIGN
fclose(score_matrixfp);
#endif
fprintf(offsetfp, "\n");
fclose(offsetfp);
/*maestro_darkfield_off(m_sock); rolony*/
py_cameraClose();
free(baseimage);
close_logger();
p_log_simple("awesome fool02\n");
}
int main() {
struct sched_param param;
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
param.sched_priority = 49;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
stack_prefault();
err=config_open("/var/local/rpicopter.config");
if (err<0) {
printf("Failed to initiate config! [%s]\n", strerror(err));
return -1;
}
err=flog_open("/var/local/");
if (err<0) {
printf("Failed to initiate log! [%s]\n", strerror(err));
return -1;
}
err = sc_open();
if (err != 0) {
printf("Failed to initiate speedcontroller! [%s]\n", strerror(err));
return -1;
}
err=ms_open(GYRO_RATE);
if (err != 0) {
printf("Failed to initiate gyro! [%s]\n", strerror(err));
return -1;
}
err=rec_open();
if (err<0) {
printf("Failed to initiate receiver! [%s]\n", strerror(err));
return -1;
}
/*
err=bs_open();
if (err<0) {
printf("Failed to initiate pressure sensor! [%s]\n", strerror(err));
return -1;
}
*/
printf("Waiting for MPU calibration... \n");
delay_ms(1000);
controller_stable(NULL);
return 0;
}
/*
* Find out vgname on a given device.
*/
int text_read_metadata_summary(const struct format_type *fmt,
struct device *dev, dev_io_reason_t reason,
off_t offset, uint32_t size,
off_t offset2, uint32_t size2,
checksum_fn_t checksum_fn,
int checksum_only,
struct lvmcache_vgsummary *vgsummary)
{
struct dm_config_tree *cft;
struct text_vg_version_ops **vsn;
int r = 0;
_init_text_import();
if (!(cft = config_open(CONFIG_FILE_SPECIAL, NULL, 0)))
return_0;
if (dev) {
log_debug_metadata("Reading metadata summary from %s at %llu size %d (+%d)",
dev_name(dev), (unsigned long long)offset,
size, size2);
if (!config_file_read_fd(cft, dev, reason, offset, size,
offset2, size2, checksum_fn,
vgsummary->mda_checksum,
checksum_only, 1)) {
/* FIXME: handle errors */
log_error("Couldn't read volume group metadata from %s.", dev_name(dev));
goto out;
}
} else {
if (!config_file_read(cft)) {
log_error("Couldn't read volume group metadata from file.");
goto out;
}
}
if (checksum_only) {
/* Checksum matches already-cached content - no need to reparse. */
log_debug_metadata("Skipped parsing metadata on %s", dev_name(dev));
r = 1;
goto out;
}
/*
* Find a set of version functions that can read this file
*/
for (vsn = &_text_vsn_list[0]; *vsn; vsn++) {
if (!(*vsn)->check_version(cft))
continue;
if (!(*vsn)->read_vgsummary(fmt, cft, vgsummary))
goto_out;
r = 1;
break;
}
out:
config_destroy(cft);
return r;
}
