bool init_config() {
do {
if (init_lua_config() == false) {
ERROR_LOG("%s", "初始化lua配置错误");
break;
}
if (init_net_config() == false) {
ERROR_LOG("%s", "初始化网络配置失败");
break;
}
if (init_net() == false) {
ERROR_LOG("%s", "初始化网络失败");
break;
}
protocol_init();
net::regist_connector_callback(connector_callback);
connect_gs();
return true;
} while (false);
return false;
}
void
xmpp_core_init(void)
{
CHAT_PROTOCOL_REC *rec;
rec = g_new0(CHAT_PROTOCOL_REC, 1);
rec->name = XMPP_PROTOCOL_NAME;
rec->fullname = "XMPP, Extensible messaging and presence protocol";
rec->chatnet = "xmppnet";
rec->case_insensitive = FALSE;
rec->create_chatnet = create_chatnet;
rec->create_server_setup = create_server_setup;
rec->create_server_connect = create_server_connect;
rec->create_channel_setup = create_channel_setup;
rec->destroy_server_connect =
(void (*)(SERVER_CONNECT_REC *))destroy_server_connect;
rec->server_init_connect = xmpp_server_init_connect;
rec->server_connect = (void (*)(SERVER_REC *))xmpp_server_connect;
rec->channel_create = channel_create;
rec->query_create = xmpp_query_create;
chat_protocol_register(rec);
g_free(rec);
xmpp_commands_init();
xmpp_servers_init();
xmpp_servers_reconnect_init();
xmpp_settings_init();
protocol_init();
rosters_init();
stanzas_init();
xep_init();
module_register("xmpp", "core");
}
void network_library_init(void)
{
socket_init();
address_module_init();
//SET MAC_MLME Handler
protocol_init();
}
void
client_protocol(
char *hostname,
char *auth,
char *service,
FILE *input_file)
{
GString *strbuf = g_string_new(NULL);
char *req, *req1;
g_string_append_printf(strbuf, "SERVICE %s\nOPTIONS features=%s\n",
service, our_feature_string);
req1 = g_malloc(1024);
while(fgets(req1, 1024, input_file) != NULL)
g_string_append(strbuf, req1);
g_free(req1);
protocol_init();
req = g_string_free(strbuf, FALSE);
start_host(hostname, auth, req);
protocol_run();
fflush(stdout);
amfree(our_feature_string);
return;
}
void
client_protocol(
char *hostname,
char *auth,
char *service,
FILE *input_file)
{
char *req, *req1;
req = g_strdup_printf("SERVICE %s\nOPTIONS features=%s\n",
service, our_feature_string);
req1 = malloc(1024);
while(fgets(req1, 1024, input_file) != NULL) {
vstrextend(&req, req1, NULL);
}
protocol_init();
start_host(hostname, auth, req);
protocol_run();
fflush(stdout);
amfree(our_feature_string);
return;
}
static void init() {
int initialized = protocol_init() && caps_init() && signal_init() && comm_init() && injectable_init();
if (!initialized) {
fatal("Initialization failed.");
cleanup();
exit(EXIT_FAILURE);
}
}
void
TSPluginInit(int argc, const char *argv[])
{
TSPluginRegistrationInfo info;
char *end;
int tmp;
info.plugin_name = "output-header";
info.vendor_name = "MyCompany";
info.support_email = "*****@*****.**";
if (TSPluginRegister(&info) != TS_SUCCESS) {
TSError("[protocol] Plugin registration failed.");
goto error;
}
/* default value */
accept_port = 4666;
server_port = 4666;
if (argc < 3) {
TSDebug("protocol", "Usage: protocol.so accept_port server_port");
printf("[protocol_plugin] Usage: protocol.so accept_port server_port\n");
printf("[protocol_plugin] Wrong arguments. Using deafult ports.\n");
} else {
tmp = strtol(argv[1], &end, 10);
if (*end == '\0') {
accept_port = tmp;
TSDebug("protocol", "using accept_port %d", accept_port);
printf("[protocol_plugin] using accept_port %d\n", accept_port);
} else {
printf("[protocol_plugin] Wrong argument for accept_port.");
printf("Using deafult port %d\n", accept_port);
}
tmp = strtol(argv[2], &end, 10);
if (*end == '\0') {
server_port = tmp;
TSDebug("protocol", "using server_port %d", server_port);
printf("[protocol_plugin] using server_port %d\n", server_port);
} else {
printf("[protocol_plugin] Wrong argument for server_port.");
printf("Using deafult port %d\n", server_port);
}
}
protocol_init(accept_port, server_port);
error:
TSError("[protocol] Plugin not initialized");
}
void
TSPluginInit(int argc, const char *argv[])
{
TSPluginRegistrationInfo info;
info.plugin_name = "output-header";
info.vendor_name = "MyCompany";
info.support_email = "*****@*****.**";
if (TSPluginRegister(TS_SDK_VERSION_3_0, &info) != TS_SUCCESS) {
TSError("[PluginInit] Plugin registration failed.\n");
goto error;
}
if (!check_ts_version()) {
TSError("[PluginInit] Plugin requires Traffic Server 3.0 or later\n");
goto error;
}
/* default value */
accept_port = 4666;
server_port = 4666;
if (argc < 3) {
TSDebug("protocol", "Usage: protocol.so accept_port server_port");
printf("[protocol_plugin] Usage: protocol.so accept_port server_port\n");
printf("[protocol_plugin] Wrong arguments. Using deafult ports.\n");
} else {
if (!isnan(atoi(argv[1]))) {
accept_port = atoi(argv[1]);
TSDebug("protocol", "using accept_port %d", accept_port);
printf("[protocol_plugin] using accept_port %d\n", accept_port);
} else {
printf("[protocol_plugin] Wrong argument for accept_port.");
printf("Using deafult port %d\n", accept_port);
}
if (!isnan(atoi(argv[2]))) {
server_port = atoi(argv[2]);
TSDebug("protocol", "using server_port %d", server_port);
printf("[protocol_plugin] using server_port %d\n", server_port);
} else {
printf("[protocol_plugin] Wrong argument for server_port.");
printf("Using deafult port %d\n", server_port);
}
}
protocol_init(accept_port, server_port);
error:
TSError("[PluginInit] Plugin not initialized");
}
void protocol_maintainerthread()
{
//struct peer_s *dstpeer;
protocol_init();
/*-TODO
while (1)
{
protocol_slidekeepalive ();
protocol_sendpacket (dstpeer, PROTOCOL1_KA);
sleep(PROTOCOL_HOLEPUNCHINGTIME);
}*/
}
int main(void)
{
protocol_init();
settings_init();
plan_init();
st_init();
spindle_init();
gc_init();
limits_init();
for(;;){
sleep_mode(); // Wait for it ...
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
void
TSPluginInit(int argc, const char *argv[])
{
TSPluginRegistrationInfo info;
char *end;
int tmp;
info.plugin_name = PLUGIN_NAME;
info.vendor_name = "Apache Software Foundation";
info.support_email = "*****@*****.**";
if (TSPluginRegister(&info) != TS_SUCCESS) {
TSError("[%s] Plugin registration failed", PLUGIN_NAME);
goto error;
}
/* default value */
accept_port = 4666;
server_port = 4666;
if (argc < 3) {
TSDebug(PLUGIN_NAME, "Usage: protocol.so <accept_port> <server_port>. Using default ports accept=%d server=%d", accept_port,
server_port);
} else {
tmp = strtol(argv[1], &end, 10);
if (*end == '\0') {
accept_port = tmp;
TSDebug(PLUGIN_NAME, "using accept_port %d", accept_port);
} else {
TSError("[%s] Wrong argument for accept_port, using default port %d", PLUGIN_NAME, accept_port);
}
tmp = strtol(argv[2], &end, 10);
if (*end == '\0') {
server_port = tmp;
TSDebug(PLUGIN_NAME, "using server_port %d", server_port);
} else {
TSError("[%s] Wrong argument for server_port, using default port %d", PLUGIN_NAME, server_port);
}
}
protocol_init(accept_port, server_port);
error:
TSError("[%s] Plugin not initialized", PLUGIN_NAME);
}
int main(void)
{
sei(); // Enable interrupts
serial_init(BAUD_RATE);
protocol_init();
settings_init();
plan_init();
st_init();
spindle_init();
gc_init();
limits_init();
while (1) {
// sleep_mode(); // Wait for it ...
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
static uperf_shm_t *
master_init(workorder_t *w)
{
uperf_shm_t *shm;
if (protocol_init(NULL) == UPERF_FAILURE) {
return (NULL);
}
if (master_setup_signal_handler() != UPERF_SUCCESS) {
uperf_error("Error setting up signal handlers\n");
return (NULL);
}
if ((shm = shm_init(w)) == NULL) {
return (NULL);
}
if (create_control_connections(w) != UPERF_SUCCESS) {
shm_fini(shm);
return (NULL);
}
shm->endian = UPERF_ENDIAN_VALUE;
shm->global_error = 0;
shm->role = MASTER;
shm->workorder = w;
if (strand_init_all(shm, w) != UPERF_SUCCESS) {
uperf_error("error in strand_init_all");
shm_fini(shm);
return (NULL);
}
/* Initialize barriers */
if (shm_init_barriers_master(shm, shm->workorder) != 0) {
shm_fini(shm);
return (NULL);
}
return (shm);
}
int main()
{
FILE *fd;
FILE *fd_to;
char buffer[4096];
Buffer ctx;
json_val_t *val;
PtlHeader header;
char dist[20];
char *str;
protocol_init(&header);
protocol_set_key(&header, "user", "pwd");
buffer_init(&ctx);
if ((fd = fopen("test.json", "r")) == NULL) {
printf("Can't open file\n");
return 1;
}
while (1) {
int read = fread(buffer, 1, 4096, fd);
if (read <= 0)
break;
buffer_update(&ctx, buffer, read);
}
if ((fd_to = fopen("test.dec", "w")) == NULL) {
printf("Can't open file\n");
return 1;
}
protocol_encrypt_string(&ctx, &header);
fwrite(header.dist, 1, 20, fd_to);
fwrite(ctx.buffer, 1, ctx.pos, fd_to);
return 0;
}
int
_protocol_init(const char *prot_name, PROTO_PARA *ppp)
{
/* check whether the protocol version match the csf core version */
if (CORE_VER_REQUIRE > ppp->vcbp->lowest_ver)
return PROTO_VER_ERR;
logger_init(ppp->chp->logp, NULL, 0, 0);
mp_init(20, 100);
monitor_init(ppp->chp->mntp);
submit_request_init(ppp->chp->sribp);
g_pcp = ppp->pcp;
set_protocol_name(prot_name);
pthread_once(&init_done, pthr_key_create);
pthread_setspecific(pthread_key, NULL);
if (protocol_init(get_protocol_name()) < 0)
return PROTO_INIT_ERR;
return PROTO_INIT_OK;
}
int startGrbl(void)
{
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
st_init(); // Setup stepper pins and interrupt timers
sei(); // Enable interrupts
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sys.state = STATE_INIT; // Set alarm state to indicate unknown initial position
// Wire.begin();
for(;;) {
// Execute system reset upon a system abort, where the main program will return to this loop.
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
// reset to finish the initialization process.
if (sys.abort) {
// Reset system.
serial_reset_read_buffer(); // Clear serial read buffer
plan_init(); // Clear block buffer and planner variables
gc_init(); // Set g-code parser to default state
protocol_init(); // Clear incoming line data and execute startup lines
spindle_init();
coolant_init();
limits_init();
st_reset(); // Clear stepper subsystem variables.
syspos(&encdr_x,&encdr_y,&encdr_z);
ofst_x=encdr_x;
ofst_y=encdr_y;
ofst_z=encdr_z;
// Sync cleared gcode and planner positions to current system position, which is only
// cleared upon startup, not a reset/abort.
sys_sync_current_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
protocol_execute_startup();
}
}
protocol_execute_runtime();
// syspos(&encdr_x,&encdr_y);
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
void protocol_xbee_init(protocol_state_t * state)
{
protocol_init(state, PROTOCOL_XBEE_PACKET_START_BYTE, PROTOCOL_XBEE_PACKET_ESCAPE_BYTE);
}
//there has to be a better way to do this :/
void Run(void)
{
char *ce;
SetSig ();
Banner ();
if ((ce = (char *)get_config_entry("?omega", "version")))
{
if (CONFIG_VERSION != atoi(ce))
{
fprintf(stderr, "\033[1;31mCRITICAL\033[0m: Invalid configuration file version. [Given: %s][Required: %d]", ce, CONFIG_VERSION);
Exit(0);
}
} else {
fprintf(stderr, "\033[1;31mERROR\033[0m: Unable to determine the configuration file version. Please make sure you have all <?omega> intact\n");
fprintf(stderr, "Assuming configuration version \033[1;31m%d\033[0m\n\n", CONFIG_VERSION);
}
#ifdef HAVE_SETPROCTITLE
setproctitle("%s", CfgSettings.servername);
#endif
open_log ();
init_uid ();
AddEventEx ("House Keeping", 900, EVENT_UNLIMITED, ev_housekeeping);
AddEvent ("BURST", burst_local_users);
AddEvent ("BURST", burst_local_servers);
AddEvent ("CONNECT", introduce_users);
if ((Omega->me = new_serv(NULL, CfgSettings.servername)))
{
strlcpy (Omega->me->sid, CfgSettings.sid, sizeof(Omega->me->sid));
Omega->me->eos = 1; //mark us as already EOS'ed
}
else
{
fprintf (stderr, "Unable to create our server entry\n");
exit (0);
}
/*
* Initialize our core for running
*/
database_init ();
protocol_init ();
servsock = add_new_socket ((void*) psr_HandleEvent, NULL);
servsock->flags |= SOCK_UPLINK;
strlcpy (servsock->name, "Uplink", sizeof(servsock->name));
#ifdef HAVE_GNUTLS
servsock->tls_enabled = get_config_bool("link", "gnutls", 0);
#endif
psr_init ();
init_access();
init_modules();
introduce_users (0, NULL);
/*
* Connect to the IRCd if we don't connect Add an event to connect...
*/
printf ("\r\n");
printf ("Connecting to \033[1;32m%s\033[0m port \033[1;32m%d\033[0m\033[0m\n", CfgSettings.uplink, CfgSettings.port);
if (Connect (servsock, CfgSettings.uplink, CfgSettings.local_ip, CfgSettings.port))
ircd_connect ();
else
AddEventEx ("Connect Uplink", 60, 3, ev_connectuplink);
/*
* Okay begin
*/
OneTimeAround ();
return;
}
int main(int argc, char *argv[])
{
int sock_serv_fd;
struct sockaddr_in cliaddr;
struct connect_serv conn_serv;
unsigned int cid = 1011;
signal(SIGPIPE, sig_handler);
while(1)
{
if(!protocol_init(cid)){
printf("协议初始化失败...\n");
continue;
}
/*
protocol_req_ready(&ConnectREQ, &present_info);
{
char buff[20] = {0};
strncpy(buff, ConnectREQ.KEY, 6);
printf("开始打印协议:\n");
printf("key:%s\n", buff);
printf("Length:%d\n", ConnectREQ.Length);
printf("command:%#x\n", ConnectREQ.Command);
printf("CID:%d%d%d%d\n", ConnectREQ.CID[3], ConnectREQ.CID[2], ConnectREQ.CID[1], ConnectREQ.CID[0]);
printf("IP:%d.%d.%d.%d\n", ConnectREQ.IP[0],ConnectREQ.IP[1],ConnectREQ.IP[2], ConnectREQ.IP[3]);
printf("MAC:%02x-%02x-%02x-%02x-%02x-%02x\n", ConnectREQ.MAC[0], ConnectREQ.MAC[1], ConnectREQ.MAC[2], ConnectREQ.MAC[3], ConnectREQ.MAC[4],ConnectREQ.MAC[5]);
printf("presentDate:20%d-days:%d\n",*(unsigned short *)ConnectREQ.PresentDate & 0x7f, *(unsigned short *)ConnectREQ.PresentDate >> 7);
printf("presentTime:%d-%d\n", ConnectREQ.PresentTime[0], ConnectREQ.PresentTime[1]);
printf("model:%s\n", ConnectREQ.Model);
strncpy(buff, ConnectREQ.Series, 10);
printf("series:%s\n", buff);
printf("joinVersion:%d.%d\n", ConnectREQ.JoinConnectVersion[0], ConnectREQ.JoinConnectVersion[1]);
printf("chargerVersion:%d.%d\n", ConnectREQ.ChargerFWVersion[0], ConnectREQ.ChargerFWVersion[1]);
printf("CRC:%d\n", *(u16 *)ConnectREQ.CRC16);
}
*/
sock_serv_fd = sock_server_init(&cliaddr, JOIN_SERVER1_IP, JOIN_SERVER_PORT);
if( !connect_retry(sock_serv_fd, (const struct sockaddr *)&cliaddr, sizeof(cliaddr)) ){
// 连接失败，然后连接join_server2_ip
printf("jion server1 connect fail...\n");
close(sock_serv_fd);
if(!(sock_serv_fd = sock_server_init(&cliaddr, JOIN_SERVER2_IP, JOIN_SERVER_PORT))){
close(sock_serv_fd);
printf("join server2 connect fail...\n");
continue;
}
}
printf("客户端连接成功...\n");
char sock_buff[1024] = {0};
// 连接join server
if( !join_conn_serv(sock_serv_fd, &conn_serv)){
printf("与通信JOIN server 失败, 重新初始化...\n");
sleep(5);
continue;
}
// if(!join_comfirm_serv(sock_serv_fd, &conn_serv, CHARGER_READY, ONLINE)){
// printf("发送JOIN SERVER确认连接失败...\n");
// exit(1);
// }
// sleep(2);
// break;
printf("\n #############################################################\n");
printf(" #############################################################\n");
printf("关闭JOIN SERVER连接，开始连接CONNECT SERVER...\n"); // JOIN SERVER 连接
shutdown(sock_serv_fd, SHUT_RDWR);
close(sock_serv_fd);
sock_serv_fd = -1;
memset(&cliaddr, 0, sizeof(cliaddr));
printf("conn IP:%s port:%d\n", conn_serv.IP, conn_serv.Port);
int g_CMD = SOCK_CMD_REQ;
while(1){
// printf("sock_conn_fd=%d\n", sock_serv_fd);
switch(g_CMD)
{
// 发送新连接
case SOCK_CMD_REQ:
if((sock_serv_fd = sock_conn_server(&cliaddr, &conn_serv))<0)
continue;
protocol_CSREQ_ready();
if( !CServer_send(sock_serv_fd, (u8 *)CServer_req, sizeof(CServer_REQ))){
sock_close(sock_serv_fd);
memset(&cliaddr, 0, sizeof(cliaddr));
printf("发送新连接失败...\n");
sleep(10);
continue;
}
sleep(1);
g_CMD = SOCK_CMD_FUP;
continue;
case SOCK_CMD_FUP:
// 发送全更新
if((sock_serv_fd = sock_conn_server(&cliaddr, &conn_serv))<0)
continue;
protocol_CSFUP_ready();
if( !CServer_send(sock_serv_fd, (u8 *)CS_FUP, sizeof(CServer_FULL_UPDATE))){
sock_close(sock_serv_fd);
memset(&cliaddr, 0, sizeof(cliaddr));
printf("发送全更新失败...\n");
sleep(10);
continue;
}
sleep(1);
g_CMD = SOCK_CMD_HB;
continue;
case SOCK_CMD_HB:
// 发送心跳
if((sock_serv_fd = sock_conn_server(&cliaddr, &conn_serv))<0)
continue;
protocol_CSHB_ready();
if( !CServer_send(sock_serv_fd, (u8 *)&CS_HB, sizeof(CS_HB))){
printf("发送心跳失败...\n");
sock_close(sock_serv_fd);
memset(&cliaddr, 0, sizeof(cliaddr));
sleep(2);
}
sleep(300);
break;
} // switch
} // while(1) of conn server
}
}
int main(int argc, char ** argv)
{
int event, arg;
struct FRAME r;
int len = 0;
int i;
protocol_init(argc, argv);
lprintf("Designed by JackalDire\n");
disable_network_layer();
for (;;) {
event = wait_for_event(&arg);
switch (event) {
case NETWORK_LAYER_READY:
get_packet(buffer[next_frame_to_send]); // fetch new packet from physical layer
nbuffered++;
send_data_frame();
inc(&next_frame_to_send);
break;
case PHYSICAL_LAYER_READY:
phl_ready = 1;
break;
case FRAME_RECEIVED:
len = recv_frame((unsigned char *)&r, sizeof r);
if (len < 5 || crc32((unsigned char *)&r, len) != 0) {
/* discard the error packet with wrong crc checksum */
/* TODO : add NAK to accelerate resending */
dbg_event("**** receiver error, bad CRC checksum, packet discarded.\n");
break;
}
if (r.kind == FRAME_DATA) {
dbg_frame("Recv DATA %d %d, ID %d\n", r.seq, r.ack, *(short *)r.data);
if (r.seq == frame_expected) {
/* transmit the receive packet to network layer */
put_packet(r.data, PKT_LEN); // 7 = 3B other fields + 4B crc code
inc(&frame_expected);
start_ack_timer(ACK_TIMER);
}
}
/* ACK n means packets earlier than n were received correctly,
* so make packet ack_expeced ~ r.ack acknowledged */
while (between(ack_expected, r.ack, next_frame_to_send)) {
--nbuffered;
stop_timer(ack_expected);
inc(&ack_expected);
}
break;
case DATA_TIMEOUT:
dbg_event("---- DATA %d timeout\n", arg);
next_frame_to_send = ack_expected;
/* retransmit all packets in the buffer when timeout */
for (i = 1; i <= nbuffered; ++i) {
send_data_frame();
inc(&next_frame_to_send);
}
break;
case ACK_TIMEOUT:
/* send a separate ACK frame if there is no outstream for a specific time */
dbg_event("---- ACK %d timeout\n", arg);
send_ack_frame();
}
/* disable networklayer when outstrem buffer if full */
if (nbuffered < MAX_SEQ && phl_ready)
enable_network_layer();
else
disable_network_layer();
}
}
int main(int argc, char **argv) {
// memtrack();
struct options_t *options = NULL;
struct ssdp_list_t *ssdp_list = NULL;
struct devices_t *dev = NULL;
struct JsonNode *json = NULL;
struct JsonNode *tmp = NULL;
char *recvBuff = NULL, *message = NULL, *output = NULL;
char *device = NULL, *state = NULL, *values = NULL;
char *server = NULL;
int has_values = 0, sockfd = 0, hasconfarg = 0;
unsigned short port = 0, showhelp = 0, showversion = 0;
log_file_disable();
log_shell_enable();
log_level_set(LOG_NOTICE);
if(!(progname = MALLOC(16))) {
logprintf(LOG_ERR, "out of memory");
exit(EXIT_FAILURE);
}
strcpy(progname, "pilight-control");
/* Define all CLI arguments of this program */
options_add(&options, 'H', "help", OPTION_NO_VALUE, 0, JSON_NULL, NULL, NULL);
options_add(&options, 'V', "version", OPTION_NO_VALUE, 0, JSON_NULL, NULL, NULL);
options_add(&options, 'd', "device", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, NULL);
options_add(&options, 's', "state", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, NULL);
options_add(&options, 'v', "values", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, NULL);
options_add(&options, 'S', "server", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, "^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5]).){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$");
options_add(&options, 'P', "port", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, "[0-9]{1,4}");
options_add(&options, 'C', "config", OPTION_HAS_VALUE, 0, JSON_NULL, NULL, NULL);
/* Store all CLI arguments for later usage
and also check if the CLI arguments where
used correctly by the user. This will also
fill all necessary values in the options struct */
while(1) {
int c;
c = options_parse(&options, argc, argv, 1, &optarg);
if(c == -1)
break;
if(c == -2) {
showhelp = 1;
break;
}
switch(c) {
case 'H':
showhelp = 1;
break;
case 'V':
showversion = 1;
break;
case 'd':
if((device = REALLOC(device, strlen(optarg)+1)) == NULL) {
logprintf(LOG_ERR, "out of memory");
exit(EXIT_FAILURE);
}
strcpy(device, optarg);
break;
case 's':
if((state = REALLOC(state, strlen(optarg)+1)) == NULL) {
logprintf(LOG_ERR, "out of memory");
exit(EXIT_FAILURE);
}
strcpy(state, optarg);
break;
case 'v':
if((values = REALLOC(values, strlen(optarg)+1)) == NULL) {
logprintf(LOG_ERR, "out of memory");
exit(EXIT_FAILURE);
}
strcpy(values, optarg);
break;
case 'C':
if(config_set_file(optarg) == EXIT_FAILURE) {
return EXIT_FAILURE;
}
hasconfarg = 1;
break;
case 'S':
if(!(server = REALLOC(server, strlen(optarg)+1))) {
logprintf(LOG_ERR, "out of memory");
exit(EXIT_FAILURE);
}
strcpy(server, optarg);
break;
case 'P':
port = (unsigned short)atoi(optarg);
break;
default:
printf("Usage: %s -l location -d device -s state\n", progname);
goto close;
break;
}
}
options_delete(options);
if(showversion == 1) {
printf("%s %s\n", progname, PILIGHT_VERSION);
goto close;
}
if(showhelp == 1) {
printf("\t -H --help\t\t\tdisplay this message\n");
printf("\t -V --version\t\t\tdisplay version\n");
printf("\t -S --server=x.x.x.x\t\tconnect to server address\n");
printf("\t -C --config\t\t\tconfig file\n");
printf("\t -P --port=xxxx\t\t\tconnect to server port\n");
printf("\t -d --device=device\t\tthe device that you want to control\n");
printf("\t -s --state=state\t\tthe new state of the device\n");
printf("\t -v --values=values\t\tspecific comma separated values, e.g.:\n");
printf("\t\t\t\t\t-v dimlevel=10\n");
goto close;
}
if(device == NULL || state == NULL ||
strlen(device) == 0 || strlen(state) == 0) {
printf("Usage: %s -d device -s state\n", progname);
goto close;
}
if(server && port > 0) {
if((sockfd = socket_connect(server, port)) == -1) {
logprintf(LOG_ERR, "could not connect to pilight-daemon");
goto close;
}
} else if(ssdp_seek(&ssdp_list) == -1) {
logprintf(LOG_ERR, "no pilight ssdp connections found");
goto close;
} else {
if((sockfd = socket_connect(ssdp_list->ip, ssdp_list->port)) == -1) {
logprintf(LOG_ERR, "could not connect to pilight-daemon");
goto close;
}
}
if(ssdp_list) {
ssdp_free(ssdp_list);
}
protocol_init();
config_init();
if(hasconfarg == 1) {
if(config_read() != EXIT_SUCCESS) {
goto close;
}
}
socket_write(sockfd, "{\"action\":\"identify\"}");
if(socket_read(sockfd, &recvBuff, 0) != 0
|| strcmp(recvBuff, "{\"status\":\"success\"}") != 0) {
goto close;
}
json = json_mkobject();
json_append_member(json, "action", json_mkstring("request config"));
output = json_stringify(json, NULL);
socket_write(sockfd, output);
json_free(output);
json_delete(json);
if(socket_read(sockfd, &recvBuff, 0) == 0) {
if(json_validate(recvBuff) == true) {
json = json_decode(recvBuff);
if(json_find_string(json, "message", &message) == 0) {
if(strcmp(message, "config") == 0) {
struct JsonNode *jconfig = NULL;
if((jconfig = json_find_member(json, "config")) != NULL) {
int match = 1;
while(match) {
struct JsonNode *jchilds = json_first_child(jconfig);
match = 0;
while(jchilds) {
if(strcmp(jchilds->key, "devices") != 0) {
json_remove_from_parent(jchilds);
tmp = jchilds;
match = 1;
}
jchilds = jchilds->next;
if(tmp != NULL) {
json_delete(tmp);
}
tmp = NULL;
}
}
config_parse(jconfig);
if(devices_get(device, &dev) == 0) {
JsonNode *joutput = json_mkobject();
JsonNode *jcode = json_mkobject();
JsonNode *jvalues = json_mkobject();
json_append_member(jcode, "device", json_mkstring(device));
if(values != NULL) {
char **array = NULL;
unsigned int n = explode(values, ",=", &array), q = 0;
for(q=0;q<n;q+=2) {
char *name = MALLOC(strlen(array[q])+1);
if(name == NULL) {
logprintf(LOG_ERR, "out of memory\n");
exit(EXIT_FAILURE);
}
strcpy(name, array[q]);
if(q+1 == n) {
for(q=0;q<n;q++) {
FREE(array[q]);
}
FREE(array);
logprintf(LOG_ERR, "\"%s\" is missing a value for device \"%s\"", name, device);
FREE(name);
break;
} else {
char *val = MALLOC(strlen(array[q+1])+1);
if(val == NULL) {
logprintf(LOG_ERR, "out of memory\n");
exit(EXIT_FAILURE);
}
strcpy(val, array[q+1]);
if(devices_valid_value(device, name, val) == 0) {
if(isNumeric(val) == EXIT_SUCCESS) {
char *ptr = strstr(array[q+1], ".");
int decimals = 0;
if(ptr != NULL) {
decimals = (int)(strlen(array[q+1])-((size_t)(ptr-array[q+1])+1));
}
json_append_member(jvalues, name, json_mknumber(atof(val), decimals));
} else {
json_append_member(jvalues, name, json_mkstring(val));
}
has_values = 1;
} else {
logprintf(LOG_ERR, "\"%s\" is an invalid value for device \"%s\"", name, device);
for(q=0;q<n;q++) {
FREE(array[q]);
}
FREE(array);
FREE(name);
json_delete(json);
goto close;
}
}
FREE(name);
}
unsigned int z = 0;
for(z=q;z<n;z++) {
FREE(array[z]);
}
if(n > 0) {
FREE(array);
}
}
if(devices_valid_state(device, state) == 0) {
json_append_member(jcode, "state", json_mkstring(state));
} else {
logprintf(LOG_ERR, "\"%s\" is an invalid state for device \"%s\"", state, device);
json_delete(json);
goto close;
}
if(has_values == 1) {
json_append_member(jcode, "values", jvalues);
} else {
json_delete(jvalues);
}
json_append_member(joutput, "action", json_mkstring("control"));
json_append_member(joutput, "code", jcode);
output = json_stringify(joutput, NULL);
socket_write(sockfd, output);
json_free(output);
json_delete(joutput);
if(socket_read(sockfd, &recvBuff, 0) != 0
|| strcmp(recvBuff, "{\"status\":\"success\"}") != 0) {
logprintf(LOG_ERR, "failed to control %s", device);
}
} else {
logprintf(LOG_ERR, "the device \"%s\" does not exist", device);
json_delete(json);
goto close;
}
}
}
}
json_delete(json);
}
}
close:
if(recvBuff) {
FREE(recvBuff);
}
if(sockfd > 0) {
socket_close(sockfd);
}
if(server != NULL) {
FREE(server);
}
if(device != NULL) {
FREE(device);
}
if(state != NULL) {
FREE(state);
}
if(values != NULL) {
FREE(values);
}
log_shell_disable();
socket_gc();
config_gc();
protocol_gc();
options_gc();
event_operator_gc();
event_action_gc();
dso_gc();
log_gc();
threads_gc();
gc_clear();
FREE(progname);
xfree();
return EXIT_SUCCESS;
}
void main1(int argc, char** argv) {
srand(time(0));
//init
protocol_init(argc, argv);
//arguments
windowSize = 22;
retimer = 3300;//retransmit timer
acktimer = 600;
bufferSize = windowSize / 2;//buffer size
//init datalink layer
senderLeft = 0;//left edge of sender
senderRight = 0;//right edge of sender, which has data unfilled
receiverLeft = 0;//left edge of receiver
//receiverRight = bufferSize - 1;//right edge of receiver
isPhysicalLayerReady = -1;
lastAck = windowSize - 1;
//init buffer
sender = (buffer*)malloc(sizeof(buffer)* bufferSize);
receiver = (buffer*)malloc(sizeof(buffer)* bufferSize);
for (int i = 0; i < bufferSize; i++) {
sender[i].frameArrived = false;
receiver[i].frameArrived = false;
sender[i].hasSent = false;
receiver[i].hasSent = false;
}
//init interfcace
enable_network_layer();
bool isNetworkEnabled = true;
//init event args
int eventArgs = -1;
int eventKind = -1;
//allocate temp space
unsigned char temp[MAX_PACKET_SIZE + 11];
//main loop
while (true) {
static int frameLength;
eventKind = wait_for_event(&eventArgs);//get event
switch (eventKind) {
case PHYSICAL_LAYER_READY:
isPhysicalLayerReady = 1;
break;
case NETWORK_LAYER_READY:
//if buffer nearly full
if (((senderRight > senderLeft) && (senderRight - senderLeft == bufferSize - 1)) || (senderRight < senderLeft) && (windowSize - senderLeft + senderRight == bufferSize - 1)) {
disable_network_layer();
isNetworkEnabled = false;
}
//store frame in buffer
sender[senderRight % bufferSize].length = get_packet(sender[senderRight % bufferSize].data);
//slide window
senderRight = (senderRight + 1) % windowSize;
break;
case FRAME_RECEIVED:
//init temperory variables
frameLength = recv_frame(temp, MAX_PACKET_SIZE + 7);
if (frameLength > MAX_PACKET_SIZE + 7)
;//frame is too large, discard it
else {
//check crc
if (crc32(temp, frameLength) != 0) {//crc faild
if (isInBuffer(senderLeft, senderRight, temp[0] == FRAME_DATA ? temp[2] : temp[1], false)) {
//send nak
temp[0] = FRAME_NAK;//if the 2nd byte is error, it may sends false nak, but it doesn't matter
mySendFrame(temp, 2);
}
}
else {
if (temp[0] == FRAME_ACK) {//if it's an ack frame
if (isInBuffer(senderLeft, senderRight, temp[1], false)) {
if (isInBuffer(lastAck, senderRight, temp[1], false))
lastAck = temp[1];
//else do noting
break;
}
}
else if (temp[0] == FRAME_NAK) {//if it's a nak frame
if (isInBuffer(senderLeft, senderRight, temp[1], false)) {
//retranmit
temp[0] = 1;
memcpy(temp + 3, sender[temp[1] % bufferSize].data, sender[temp[1] % bufferSize].length * sizeof(unsigned char));
mySendFrame(temp, sender[temp[1] % bufferSize].length + 3);
break;
}
}
else if (temp[0] == FRAME_DATA) {//if it's a data frame
if (isInBuffer(lastAck, senderRight, temp[2], false))
lastAck = temp[2];
if (isInBuffer(receiverLeft, (receiverLeft + bufferSize) % windowSize, temp[1], true)){
if (!receiver[temp[1] % bufferSize].frameArrived) {
receiver[temp[1] % bufferSize].frameArrived = true;
receiver[temp[1] % bufferSize].length = frameLength - 7;
for (int i = 0; i < frameLength - 7; i++) {
receiver[temp[1] % bufferSize].data[i] = temp[3 + i];
}
}
}
}
}
}
break;
case DATA_TIMEOUT:
//just retransmit the frame
if (isInBuffer(lastAck, senderRight, eventArgs, false) && isInBuffer(senderLeft, senderRight, eventArgs, false)) {
if (sender[eventArgs % bufferSize].hasSent) {//if it has been sent
if (eventArgs == senderLeft || rand() % 10 > 10) {
//build the frame
temp[0] = FRAME_DATA;
temp[1] = eventArgs;
memcpy((void*)(temp + 3), sender[eventArgs % bufferSize].data, sender[eventArgs % bufferSize].length * sizeof(unsigned char));
//transmit
mySendFrame(temp, sender[eventArgs % bufferSize].length + 3);
}
else
start_timer(eventArgs, retimer * (rand() % 10 / 10.0 + 1));
}
}
break;
case ACK_TIMEOUT:
//just send an ack
temp[0] = FRAME_ACK;
mySendFrame(temp, 2);
break;
}
//sliding the sender window
//send
{
int i = senderLeft;
while (isInBuffer(senderLeft, senderRight, i, false)) {
if (sender[i % bufferSize].hasSent == false){
if (isPhysicalLayerReady == 1 || isPhysicalLayerReady == -1 || phl_sq_len() < 1000) {
//build the frame
temp[0] = FRAME_DATA;
temp[1] = i % windowSize;
memcpy((void*)(temp + 3), sender[i % bufferSize].data, sender[i % bufferSize].length * sizeof(unsigned char));
//transmit
mySendFrame(temp, sender[i % bufferSize].length + 3);
sender[i % bufferSize].hasSent = true;
isPhysicalLayerReady = 0;
}
break;
}
i = (i + 1) % windowSize;
}
}
//slide
while (isInBuffer(senderLeft, senderRight, lastAck, false)) {//·â×°º¯Êý
sender[senderLeft % bufferSize].hasSent = false;
stop_timer(senderLeft);
senderLeft = (senderLeft + 1) % windowSize;
}
//enable network layer
if (!(((senderRight > senderLeft) && (senderRight - senderLeft == bufferSize)) || (senderRight < senderLeft) && (windowSize - senderLeft + senderRight == bufferSize)) && !isNetworkEnabled) {
enable_network_layer();
isNetworkEnabled = true;
}
//sliding the receiver window
{
int i = 0;
for (i = 0; i < bufferSize; i++) {
if (receiver[(receiverLeft + i) % bufferSize].frameArrived) {
put_packet(receiver[(receiverLeft + i) % bufferSize].data, receiver[(receiverLeft + i) % bufferSize].length);
receiver[(receiverLeft + i) % bufferSize].frameArrived = false;
}
else break;
}
receiverLeft = (receiverLeft + i) % windowSize;
}
}
}
static int tora_handler( request_rec *r ) {
mcontext ctx, *c = &ctx;
if( strcmp(r->handler,"tora-handler") != 0)
return DECLINED;
// init context
c->need_discard = false;
c->is_multipart = false;
c->headers_sent = false;
c->is_form_post = false;
c->r = r;
c->post_data = NULL;
c->xff = NULL;
c->client_ip = NULL;
c->p = NULL;
c->r->content_type = "text/html";
config.hits++;
// read post data
{
const char *ctype = ap_table_get(r->headers_in,"Content-Type");
ap_setup_client_block(r,REQUEST_CHUNKED_ERROR);
if( ctype && strstr(ctype,"multipart/form-data") )
c->is_multipart = true;
else if( ap_should_client_block(r) ) {
int tlen = 0;
c->post_data = (char*)malloc(config.max_post_size);
while( true ) {
int len = ap_get_client_block(r,c->post_data + tlen,config.max_post_size - tlen);
if( len <= 0 )
break;
tlen += len;
}
if( tlen >= config.max_post_size ) {
discard_body(c);
free(c->post_data);
log_error(c,"Maximum POST data exceeded. Try using multipart encoding");
return OK;
}
c->post_data[tlen] = 0;
c->post_data_size = tlen;
c->is_form_post = ctype == NULL || (strstr(ctype,"urlencoded") != NULL);
}
}
// init protocol
{
protocol_infos infos;
request_rec *first = r;
while( first->prev != NULL )
first = first->prev;
infos.custom = c;
infos.script = r->filename;
infos.uri = first->uri;
infos.hostname = r->hostname ? r->hostname : "";
if( config.proxy_mode ) {
const char *xff = ap_table_get(r->headers_in,"X-Forwarded-For");
if( xff == NULL )
infos.client_ip = r->connection->remote_ip;
else {
char tmp;
char *xend = (char*)xff + strlen(xff) - 1;
while( xend > xff && *xend != ' ' && *xend != ',' )
xend--;
c->client_ip = strdup(xend);
infos.client_ip = c->client_ip;
if( xend > xff && *xend == ' ' && xend[-1] == ',' )
xend--;
tmp = *xend;
*xend = 0;
c->xff = strdup(xff);
*xend = tmp;
}
} else
infos.client_ip = inet_ntoa(REMOTE_ADDR(r->connection));
infos.http_method = r->method;
infos.get_data = r->args;
infos.post_data = c->post_data;
infos.post_data_size = c->post_data_size;
infos.content_type = ap_table_get(r->headers_in,"Content-Type");
infos.do_get_headers = do_get_headers;
infos.do_get_params = do_get_params;
infos.do_set_header = do_set_header;
infos.do_set_return_code = do_set_return_code;
infos.do_print = do_print;
infos.do_flush = do_flush;
infos.do_log = do_log;
infos.do_stream_data = c->is_multipart ? do_stream_data : NULL;
c->p = protocol_init(&infos);
}
// run protocol
{
int port = config.port_min + (config.hits % (1 + config.port_max - config.port_min));
if( !protocol_connect(c->p,config.host,port) ||
!protocol_send_request(c->p) ||
!protocol_read_answer(c->p) )
log_error(c,protocol_get_error(c->p));
}
// cleanup
protocol_free(c->p);
free(c->xff);
free(c->client_ip);
free(c->post_data);
send_headers(c); // in case...
if( c->need_discard )
discard_body(c);
return OK;
}
int threads_linux_init(void)
{
int status = 0;
int n = 0;
int return_value = THREADS_LINUX_SUCCESS;
// Init data
status = sensors_init(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data);
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = calibration_init(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = gps_init(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = imu_init(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = magnetometer_init(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = sonar_init(&sonar_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = estimation_init(ESTIMATION_DO_NOT_ESTIMATE_ACCEL_BIAS, &estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = control_init(&control_data);
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = protocol_init();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = ui_init();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = datalogger_init();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
// Main Loop
if(return_value != THREADS_LINUX_FAILURE)
{
threads_linux_timer_start_task_1();
usleep(0.5*task_1_period_us);
threads_linux_timer_start_task_2();
usleep(5*task_1_period_us);
while(quittask == 0)
{
#if ANU_COMPILE_FOR_OVERO
#else
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_update_IPC();
#endif
if(++n>100)
{
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_write_file();
n = 0;
}
usleep(5*task_1_period_us);
}
threads_linux_timer_stop_task_1();
usleep(TASK1_PERIOD_US);
threads_linux_timer_stop_task_2();
usleep(TASK2_PERIOD_US);
}
status = datalogger_close();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = ui_close();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = protocol_close();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = control_close();
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = estimation_close(&estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = magnetometer_close(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = imu_close(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = gps_close(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = calibration_close(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = sensors_close();
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
return return_value;
}
int main(void)
{
// Initialize system
serial_init(BAUD_RATE); // Setup serial baud rate and interrupts
st_init(); // Setup stepper pins and interrupt timers
sei(); // Enable interrupts
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
for(;;) {
// Execute system reset upon a system abort, where the main program will return to this loop.
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
// reset to finish the initialization process.
if (sys.abort) {
// Retain last known machine position and work coordinate offset(s). If the system abort
// occurred while in motion, machine position is not guaranteed, since a hard stop can cause
// the steppers to lose steps. Always perform a feedhold before an abort, if maintaining
// accurate machine position is required.
// TODO: Report last position and coordinate offset to users to help relocate origins. Future
// releases will auto-reset the machine position back to [0,0,0] if an abort is used while
// grbl is moving the machine.
/// by LETARTARE 3-> 4
int32_t last_position[4];
double last_coord_system[N_COORDINATE_SYSTEM][3];
memcpy(last_position, sys.position, sizeof(sys.position)); // last_position[] = sys.position[]
memcpy(last_coord_system, sys.coord_system, sizeof(sys.coord_system)); // last_coord_system[] = sys.coord_system[]
// Reset system.
memset(&sys, 0, sizeof(sys)); // Clear all system variables
serial_reset_read_buffer(); // Clear serial read buffer
settings_init(); // Load grbl settings from EEPROM
protocol_init(); // Clear incoming line data
plan_init(); // Clear block buffer and planner variables
gc_init(); // Set g-code parser to default state
spindle_init();
limits_init();
coolant_init();
st_reset(); // Clear stepper subsystem variables.
// Reload last known machine position and work systems. G92 coordinate offsets are reset.
memcpy(sys.position, last_position, sizeof(last_position)); // sys.position[] = last_position[]
memcpy(sys.coord_system, last_coord_system, sizeof(last_coord_system)); // sys.coord_system[] = last_coord_system[]
gc_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS],last_position[C_AXIS]);
plan_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS],last_position[C_AXIS]);
// Set system runtime defaults
// TODO: Eventual move to EEPROM from config.h when all of the new settings are worked out.
// Mainly to avoid having to maintain several different versions.
#ifdef CYCLE_AUTO_START
sys.auto_start = true;
#endif
// TODO: Install G20/G21 unit default into settings and load appropriate settings.
}
protocol_execute_runtime();
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
void fc_init()
{
DEBUG(" *** Flight computer init ***\n");
//start values
active_page = config.gui.last_page;
if (active_page >= config.gui.number_of_pages)
active_page = 0;
//reset flight status
fc_reset();
//using fake data
#ifdef FAKE_ENABLE
return;
#endif
//temperature state machine
fc.temp.step = 0;
//init DMA
DMA_PWR_ON;
//init calculators
vario_init();
audio_init();
logger_init();
protocol_init();
wind_init();
gps_init();
if (config.connectivity.use_gps)
gps_start();
bt_init();
if (config.connectivity.use_bt)
bt_module_init();
//VCC to baro, acc/mag gyro + i2c pull-ups
mems_power_on();
//init and test i2c
//HW_REW_1504 have two mems enable pins, both have to be enabled!
//HW_REW_1506 have standalone ldo for mems, hence only one pin is needed
if (!mems_i2c_init())
{
DEBUG("ERROR I2C, Wrong board rev? (%02X)\n", hw_revision);
hw_revision = HW_REW_1504;
eeprom_busy_wait();
eeprom_update_byte(&config_ro.hw_revision, hw_revision);
eeprom_busy_wait();
mems_power_init();
io_init();
mems_power_on();
assert(mems_i2c_init());
}
else
{
if (hw_revision == HW_REW_UNKNOWN)
{
hw_revision = HW_REW_1506;
eeprom_busy_wait();
eeprom_update_byte(&config_ro.hw_revision, hw_revision);
eeprom_busy_wait();
mems_power_init();
io_init();
mems_power_on();
mems_i2c_init();
}
}
if (!mems_i2c_init())
{
DEBUG("I2C error!\nUnable to init flight computer!\n");
return;
}
//Barometer
ms5611.Init(&mems_i2c, MS5611_ADDRESS_CSB_LO);
//Magnetometer + Accelerometer
lsm303d_settings lsm_cfg;
lsm_cfg.enabled = true;
lsm_cfg.accOdr = lsm_acc_1600Hz;
lsm_cfg.accScale = lsm_acc_16g;
lsm_cfg.magOdr = lsm_mag_100Hz;
lsm_cfg.magScale = lsm_mag_4g;
lsm_cfg.magHiRes = true;
lsm_cfg.tempEnable = false;
//Acceleration calculation init
accel_calc_init();
//Magnetic field calculation init
mag_calc_init();
//Gyro
l3gd20_settings l3g_cfg;
l3g_cfg.enabled = true;
l3g_cfg.bw = l3g_50Hz;
l3g_cfg.odr = l3g_760Hz;
l3g_cfg.scale = l3g_2000dps;
//SHT21
sht21_settings sht_cfg;
sht_cfg.rh_enabled = true;
sht_cfg.temp_enabled = true;
//XXX: do self-test?
lsm303d.Init(&mems_i2c, lsm_cfg);
lsm303d.Start();
l3gd20.Init(&mems_i2c, l3g_cfg);
l3gd20.Start();
sht21.Init(&mems_i2c, sht_cfg);
//Measurement timer
FC_MEAS_TIMER_PWR_ON;
fc_meas_timer.Init(FC_MEAS_TIMER, timer_div1024);
fc_meas_timer.SetInterruptPriority(MEDIUM);
fc_meas_timer.EnableInterrupts(timer_overflow | timer_compareA | timer_compareB | timer_compareC);
//tight timing! 1 tick 0.032 ms
//MS pressure conversion 9.040 ms
// temperature conversion 0.600 ms
//MAG read 0.152 ms
//ACC read 1.600 ms
//Gyro read 1.000 ms
fc_meas_timer.SetTop(313); // == 10ms
fc_meas_timer.SetCompare(timer_A, 27); // == 0.78 ms
fc_meas_timer.SetCompare(timer_B, 70); // == 2 ms
fc_meas_timer.SetCompare(timer_C, 200); // == 6 ms
ms5611.StartTemperature();
lsm303d.StartReadMag(); //it takes 152us to transfer
_delay_ms(1);
fc_meas_timer.Start();
DEBUG(" *** FC init done ***\n");
}
int
main(
int argc,
char ** argv)
{
int i;
time_t timer;
char *lineread = NULL;
struct sigaction act, oact;
extern char *optarg;
extern int optind;
char *line = NULL;
const security_driver_t *secdrv;
char *req = NULL;
int response_error;
struct tm *tm;
config_overrides_t *cfg_ovr;
char *starting_hostname = NULL;
/*
* Configure program for internationalization:
* 1) Only set the message locale for now.
* 2) Set textdomain for all amanda related programs to "amanda"
* We don't want to be forced to support dozens of message catalogs.
*/
setlocale(LC_MESSAGES, "C");
textdomain("amanda");
safe_fd(-1, 0);
set_pname("amrecover");
/* Don't die when child closes pipe */
signal(SIGPIPE, SIG_IGN);
dbopen(DBG_SUBDIR_CLIENT);
/* treat amrecover-specific command line options as the equivalent
* -o command-line options to set configuration values */
cfg_ovr = new_config_overrides(argc/2);
/* If the first argument is not an option flag, then we assume
* it is a configuration name to match the syntax of the other
* Amanda utilities. */
if (argc > 1 && argv[1][0] != '-') {
add_config_override(cfg_ovr, "conf", argv[1]);
/* remove that option from the command line */
argv[1] = argv[0];
argv++; argc--;
}
/* now parse regular command-line '-' options */
while ((i = getopt(argc, argv, "o:C:s:t:d:Uh:")) != EOF) {
switch (i) {
case 'C':
add_config_override(cfg_ovr, "conf", optarg);
break;
case 's':
add_config_override(cfg_ovr, "index_server", optarg);
break;
case 't':
add_config_override(cfg_ovr, "tape_server", optarg);
break;
case 'd':
add_config_override(cfg_ovr, "tapedev", optarg);
break;
case 'o':
add_config_override_opt(cfg_ovr, optarg);
break;
case 'h':
starting_hostname = g_strdup(optarg);
break;
case 'U':
case '?':
(void)g_printf(USAGE);
return 0;
}
}
if (optind != argc) {
(void)g_fprintf(stderr, USAGE);
exit(1);
}
/* load the base client configuration */
set_config_overrides(cfg_ovr);
config_init(CONFIG_INIT_CLIENT, NULL);
if (config_errors(NULL) >= CFGERR_WARNINGS) {
config_print_errors();
if (config_errors(NULL) >= CFGERR_ERRORS) {
g_critical(_("errors processing config file"));
}
}
/* and now try to load the configuration named in that file */
config_init(CONFIG_INIT_CLIENT | CONFIG_INIT_EXPLICIT_NAME | CONFIG_INIT_OVERLAY,
getconf_str(CNF_CONF));
check_running_as(RUNNING_AS_ROOT);
dbrename(get_config_name(), DBG_SUBDIR_CLIENT);
our_features = am_init_feature_set();
our_features_string = am_feature_to_string(our_features);
if (!starting_hostname) {
starting_hostname = g_malloc(MAX_HOSTNAME_LENGTH+1);
if (gethostname(starting_hostname, MAX_HOSTNAME_LENGTH) != 0) {
error(_("cannot determine local host name\n"));
/*NOTREACHED*/
}
starting_hostname[MAX_HOSTNAME_LENGTH] = '\0';
}
server_name = NULL;
if (getconf_seen(CNF_INDEX_SERVER) == -2) { /* command line argument */
server_name = getconf_str(CNF_INDEX_SERVER);
}
if (!server_name) {
server_name = getenv("AMANDA_SERVER");
if (server_name) {
g_printf(_("Using index server from environment AMANDA_SERVER (%s)\n"), server_name);
}
}
if (!server_name) {
server_name = getconf_str(CNF_INDEX_SERVER);
}
if (!server_name) {
error(_("No index server set"));
/*NOTREACHED*/
}
server_name = g_strdup(server_name);
tape_server_name = NULL;
if (getconf_seen(CNF_TAPE_SERVER) == -2) { /* command line argument */
tape_server_name = getconf_str(CNF_TAPE_SERVER);
}
if (!tape_server_name) {
tape_server_name = getenv("AMANDA_TAPE_SERVER");
if (!tape_server_name) {
tape_server_name = getenv("AMANDA_TAPESERVER");
if (tape_server_name) {
g_printf(_("Using tape server from environment AMANDA_TAPESERVER (%s)\n"), tape_server_name);
}
} else {
g_printf(_("Using tape server from environment AMANDA_TAPE_SERVER (%s)\n"), tape_server_name);
}
}
if (!tape_server_name) {
tape_server_name = getconf_str(CNF_TAPE_SERVER);
}
if (!tape_server_name) {
error(_("No tape server set"));
/*NOTREACHED*/
}
tape_server_name = g_strdup(tape_server_name);
amfree(tape_device_name);
tape_device_name = getconf_str(CNF_TAPEDEV);
if (!tape_device_name ||
strlen(tape_device_name) == 0 ||
!getconf_seen(CNF_TAPEDEV)) {
tape_device_name = NULL;
} else {
tape_device_name = g_strdup(tape_device_name);
}
authopt = g_strdup(getconf_str(CNF_AUTH));
amfree(disk_name);
amfree(mount_point);
amfree(disk_path);
dump_date[0] = '\0';
/* Don't die when child closes pipe */
signal(SIGPIPE, SIG_IGN);
/* set up signal handler */
act.sa_handler = sigint_handler;
sigemptyset(&act.sa_mask);
act.sa_flags = 0;
if (sigaction(SIGINT, &act, &oact) != 0) {
error(_("error setting signal handler: %s"), strerror(errno));
/*NOTREACHED*/
}
proplist = g_hash_table_new_full(g_str_hash, g_str_equal, &g_free, &free_property_t);
protocol_init();
/* We assume that amindexd support fe_amindexd_options_features */
/* and fe_amindexd_options_auth */
/* We should send a noop to really know */
req = g_strdup_printf("SERVICE amindexd\n"
"OPTIONS features=%s;auth=%s;\n",
our_features_string, authopt);
secdrv = security_getdriver(authopt);
if (secdrv == NULL) {
error(_("no '%s' security driver available for host '%s'"),
authopt, server_name);
/*NOTREACHED*/
}
protocol_sendreq(server_name, secdrv, generic_client_get_security_conf,
req, STARTUP_TIMEOUT, amindexd_response, &response_error);
amfree(req);
protocol_run();
g_printf(_("AMRECOVER Version %s. Contacting server on %s ...\n"),
VERSION, server_name);
if(response_error != 0) {
g_fprintf(stderr,"%s\n",errstr);
exit(1);
}
/* get server's banner */
if (grab_reply(1) == -1) {
aclose(server_socket);
exit(1);
}
if (!server_happy()) {
dbclose();
aclose(server_socket);
exit(1);
}
/* try to get the features from the server */
{
char *their_feature_string = NULL;
indexsrv_features = NULL;
line = g_strdup_printf("FEATURES %s", our_features_string);
if(exchange(line) == 0) {
their_feature_string = g_strdup(server_line+13);
indexsrv_features = am_string_to_feature(their_feature_string);
if (!indexsrv_features)
g_printf(_("Bad feature string from server: %s"), their_feature_string);
}
if (!indexsrv_features)
indexsrv_features = am_set_default_feature_set();
amfree(their_feature_string);
amfree(line);
}
/* set the date of extraction to be today */
(void)time(&timer);
tm = localtime(&timer);
if (tm)
strftime(dump_date, sizeof(dump_date), "%Y-%m-%d", tm);
else
error(_("BAD DATE"));
g_printf(_("Setting restore date to today (%s)\n"), dump_date);
line = g_strdup_printf("DATE %s", dump_date);
if (converse(line) == -1) {
aclose(server_socket);
exit(1);
}
amfree(line);
line = g_strdup_printf("SCNF %s", get_config_name());
if (converse(line) == -1) {
aclose(server_socket);
exit(1);
}
amfree(line);
if (server_happy()) {
/* set host we are restoring to this host by default */
amfree(dump_hostname);
set_host(starting_hostname);
if (dump_hostname)
g_printf(_("Use the setdisk command to choose dump disk to recover\n"));
else
g_printf(_("Use the sethost command to choose a host to recover\n"));
}
quit_prog = 0;
do {
if ((lineread = readline("amrecover> ")) == NULL) {
clearerr(stdin);
putchar('\n');
break;
}
if (lineread[0] != '\0')
{
add_history(lineread);
dbprintf(_("user command: '%s'\n"), lineread);
process_line(lineread); /* act on line's content */
}
amfree(lineread);
} while (!quit_prog);
dbclose();
aclose(server_socket);
return 0;
}
/*
* Use global *tty_tmp and term_parent
*/
int
main( int argc, char **argv )
{
struct cl_args *cl_args;
struct term_node *tty_node = NULL;
pid_t pid;
pid_t parent_id;
#if defined(HAVE_PTHREAD_SETCONCURRENCY) && !defined(LINUX)
int concurrent;
#endif
handle_signals_parent();
tcgetattr(0, &term_parent);
parent_id = getpid();
if ((pid = fork()) < 0)
{
exit(1);
}
else
{
if (pid != 0)
{
wait(NULL);
tcsetattr(0, TCSANOW, &term_parent);
exit(0);
}
}
fatal_error = 4;
/* Disable all signals while initializing data...*/
handle_signals();
setvbuf(stdout, NULL, _IONBF, 0);
tty_tmp = (struct term_tty *)calloc(1,sizeof(struct term_tty));
if (tty_tmp == NULL)
{
printf("Out of memory on calloc tty_tmp\n");
clean_exit();
}
tty_tmp->term = (struct termios *)calloc(1,sizeof(struct termios));
if (tty_tmp->term == NULL)
{
printf("Out of memory on calloc tty_tmp->term\n");
clean_exit();
}
/* default values */
tty_tmp->interactive = 0;
tty_tmp->gtk = 0;
tty_tmp->attack = -1;
tty_tmp->mac_spoofing = -1;
tty_tmp->splash = -1;
strncpy(tty_tmp->username, VTY_USER, MAX_USERNAME);
strncpy(tty_tmp->password, VTY_PASS, MAX_PASSWORD);
strncpy(tty_tmp->e_password, VTY_ENABLE, MAX_PASSWORD);
tty_tmp->port = VTY_PORT;
tty_tmp->ip_filter = NULL;
#ifdef HAVE_GTK
tty_tmp->buffer_log = NULL;
#endif
cl_args = (struct cl_args *)calloc(1,sizeof(struct cl_args));
if (cl_args == NULL)
{
printf("Out of memory on calloc cl_args\n");
clean_exit();
}
if ( argc == 1 )
{
printf("GNU %s %s %s\n", PACKAGE, VERSION,
"$Date: 2006/03/23 08:40:14 $");
printf("Try '%s -h' to display the help.\n",PACKAGE);
clean_exit();
}
if (getuid() != 0)
{
printf("You must be root to run %s %s\n", PACKAGE, VERSION);
clean_exit();
}
if (term_init() < 0)
g00dbye();
/* Register all the protocols */
protocol_init();
cl_args->proto_index = -1;
if (parser_initial(tty_tmp, cl_args, argc, argv) < 0) {
clean_exit();
}
init_log();
#if defined(HAVE_PTHREAD_SETCONCURRENCY) && !defined(LINUX)
/* concurrent = pthread_getconcurrency();*/
concurrent = 15;/*(MAX_TERMS*MAX_PROTOCOLS*MAX_THREAD_ATTACK*2)+3;*/
if (pthread_setconcurrency(concurrent) != 0)
{
thread_error("init pthread_setconcurrency()",errno);
g00dbye();
}
#endif
if (interfaces_init(&terms->pcap_listen_th) < 0 )
g00dbye();
/* Establish TERM signal handler...*/
posix_signal(SIGTERM, final);
#ifdef HAVE_REMOTE_ADMIN
if (tty_tmp->daemonize)
{
if (admin_init(tty_tmp) < 0)
g00dbye();
}
#endif
if (thread_create(&terms->uptime_th.id, &th_uptime, (void *)NULL) < 0)
g00dbye();
/* Command line and ncurses cannot be choosed simultaneously...*/
if ((!tty_tmp->interactive) && (!tty_tmp->gtk) && (cl_args->proto_index != -1))
{
terms->work_state = INITIAL;
tty_node = term_type[TERM_TTY].list;
if (thread_create(&tty_node[0].thread.id, &th_tty_peer,
(void *)cl_args) < 0)
g00dbye();
while(terms->work_state != STOPPED)
thread_usleep(100000);
}
#ifdef HAS_CURSES
if (tty_tmp->interactive)
{
terms->work_state = INITIAL;
if (thread_create(&terms->gui_th.id, &ncurses_gui, NULL) < 0 )
g00dbye();
/* Wait until the ncurses GUI is over */
while(terms->work_state != STOPPED)
thread_usleep(100000);
}
else
{
#endif
#ifdef HAVE_GTK
if (tty_tmp->gtk)
{
terms->work_state = INITIAL;
if (thread_create(&terms->gui_gtk_th.id, >k_gui, NULL) < 0 )
g00dbye();
/* Wait until the GTK GUI is over */
while(terms->work_state != STOPPED)
thread_usleep(100000);
}
#endif
#ifdef HAS_CURSES
}
#endif
#ifdef HAVE_REMOTE_ADMIN
if (tty_tmp->daemonize)
{
/* Ok, now that console (ncurses) is finished
* we can become a true daemon... */
become_daemon(parent_id);
/* Wait until some important thread exits due to fatal_error...*/
while (fatal_error == 4)
thread_usleep(100000);
}
#endif
g00dbye();
exit(1);
}
int main(int argc, char **argv) {
log_file_disable();
log_shell_enable();
log_level_set(LOG_NOTICE);
progname = malloc(16);
strcpy(progname, "pilight-control");
struct options_t *options = NULL;
struct ssdp_list_t *ssdp_list = NULL;
int sockfd = 0;
char *recvBuff = NULL;
char *message = NULL;
char *pch = NULL;
steps_t steps = WELCOME;
char device[50];
char location[50];
char state[10] = {'\0'};
char values[255] = {'\0'};
struct conf_locations_t *slocation = NULL;
struct conf_devices_t *sdevice = NULL;
int has_values = 0;
char *server = NULL;
unsigned short port = 0;
JsonNode *json = NULL;
JsonNode *jconfig = NULL;
JsonNode *jcode = NULL;
JsonNode *jvalues = NULL;
/* Define all CLI arguments of this program */
options_add(&options, 'H', "help", no_value, 0, NULL);
options_add(&options, 'V', "version", no_value, 0, NULL);
options_add(&options, 'l', "location", has_value, 0, NULL);
options_add(&options, 'd', "device", has_value, 0, NULL);
options_add(&options, 's', "state", has_value, 0, NULL);
options_add(&options, 'v', "values", has_value, 0, NULL);
options_add(&options, 'S', "server", has_value, 0, "^(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5]).){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$");
options_add(&options, 'P', "port", has_value, 0, "[0-9]{1,4}");
/* Store all CLI arguments for later usage
and also check if the CLI arguments where
used correctly by the user. This will also
fill all necessary values in the options struct */
while(1) {
int c;
c = options_parse(&options, argc, argv, 1, &optarg);
if(c == -1)
break;
if(c == -2)
c = 'H';
switch(c) {
case 'H':
printf("\t -H --help\t\t\tdisplay this message\n");
printf("\t -V --version\t\t\tdisplay version\n");
printf("\t -S --server=x.x.x.x\t\tconnect to server address\n");
printf("\t -P --port=xxxx\t\t\tconnect to server port\n");
printf("\t -l --location=location\t\tthe location in which the device resides\n");
printf("\t -d --device=device\t\tthe device that you want to control\n");
printf("\t -s --state=state\t\tthe new state of the device\n");
printf("\t -v --values=values\t\tspecific comma separated values, e.g.:\n");
printf("\t\t\t\t\t-v dimlevel=10\n");
exit(EXIT_SUCCESS);
break;
case 'V':
printf("%s %s\n", progname, VERSION);
exit(EXIT_SUCCESS);
break;
case 'l':
strcpy(location, optarg);
break;
case 'd':
strcpy(device, optarg);
break;
case 's':
strcpy(state, optarg);
break;
case 'v':
strcpy(values, optarg);
break;
case 'S':
server = realloc(server, strlen(optarg)+1);
strcpy(server, optarg);
break;
case 'P':
port = (unsigned short)atoi(optarg);
break;
default:
printf("Usage: %s -l location -d device -s state\n", progname);
exit(EXIT_SUCCESS);
break;
}
}
options_delete(options);
if(strlen(location) == 0 || strlen(device) == 0 || strlen(state) == 0) {
printf("Usage: %s -l location -d device -s state\n", progname);
exit(EXIT_SUCCESS);
}
if(server && port > 0) {
if((sockfd = socket_connect(server, port)) == -1) {
logprintf(LOG_ERR, "could not connect to pilight-daemon");
exit(EXIT_FAILURE);
}
} else if(ssdp_seek(&ssdp_list) == -1) {
logprintf(LOG_ERR, "no pilight ssdp connections found");
goto close;
} else {
if((sockfd = socket_connect(ssdp_list->ip, ssdp_list->port)) == -1) {
logprintf(LOG_ERR, "could not connect to pilight-daemon");
goto close;
}
sfree((void *)&ssdp_list);
}
protocol_init();
while(1) {
if(steps > WELCOME) {
/* Clear the receive buffer again and read the welcome message */
if(steps == CONFIG) {
if((recvBuff = socket_read_big(sockfd)) != NULL) {
json = json_decode(recvBuff);
json_find_string(json, "message", &message);
} else {
goto close;
}
} else {
if((recvBuff = socket_read(sockfd)) != NULL) {
json = json_decode(recvBuff);
json_find_string(json, "message", &message);
} else {
goto close;
}
}
usleep(100);
}
switch(steps) {
case WELCOME:
socket_write(sockfd, "{\"message\":\"client controller\"}");
steps=IDENTIFY;
break;
case IDENTIFY:
if(strcmp(message, "accept client") == 0) {
steps=REQUEST;
}
if(strcmp(message, "reject client") == 0) {
steps=REJECT;
}
case REQUEST:
socket_write(sockfd, "{\"message\":\"request config\"}");
steps=CONFIG;
json_delete(json);
break;
case CONFIG:
if((jconfig = json_find_member(json, "config")) != NULL) {
config_parse(jconfig);
if(config_get_location(location, &slocation) == 0) {
if(config_get_device(location, device, &sdevice) == 0) {
JsonNode *joutput = json_mkobject();
jcode = json_mkobject();
jvalues = json_mkobject();
json_append_member(jcode, "location", json_mkstring(location));
json_append_member(jcode, "device", json_mkstring(device));
pch = strtok(values, ",=");
while(pch != NULL) {
char *name = strdup(pch);
pch = strtok(NULL, ",=");
if(pch == NULL) {
break;
} else {
char *val = strdup(pch);
if(pch != NULL) {
if(config_valid_value(location, device, name, val) == 0) {
if(isNumeric(val) == EXIT_SUCCESS) {
json_append_member(jvalues, name, json_mknumber(atoi(val)));
} else {
json_append_member(jvalues, name, json_mkstring(val));
}
has_values = 1;
} else {
logprintf(LOG_ERR, "\"%s\" is an invalid value for device \"%s\"", name, device);
goto close;
}
} else {
logprintf(LOG_ERR, "\"%s\" is an invalid value for device \"%s\"", name, device);
goto close;
}
pch = strtok(NULL, ",=");
if(pch == NULL) {
break;
}
}
}
if(config_valid_state(location, device, state) == 0) {
json_append_member(jcode, "state", json_mkstring(state));
} else {
logprintf(LOG_ERR, "\"%s\" is an invalid state for device \"%s\"", state, device);
goto close;
}
if(has_values == 1) {
json_append_member(jcode, "values", jvalues);
} else {
json_delete(jvalues);
}
json_append_member(joutput, "message", json_mkstring("send"));
json_append_member(joutput, "code", jcode);
char *output = json_stringify(joutput, NULL);
socket_write(sockfd, output);
sfree((void *)&output);
json_delete(joutput);
} else {
logprintf(LOG_ERR, "the device \"%s\" does not exist", device);
goto close;
}
} else {
logprintf(LOG_ERR, "the location \"%s\" does not exist", location);
goto close;
}
}
json_delete(json);
goto close;
break;
case REJECT:
default:
json_delete(json);
goto close;
break;
}
}
close:
if(sockfd > 0) {
socket_close(sockfd);
}
if(server) {
sfree((void *)&server);
}
log_shell_disable();
config_gc();
protocol_gc();
socket_gc();
options_gc();
log_gc();
sfree((void *)&progname);
return EXIT_SUCCESS;
}
int main(void)
{
#ifdef PART_LM4F120H5QR // ARM code
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN ); //set system clock to 80 MHz
FPUEnable(); //enable the Floating Point Unit
// FPULazyStackingEnable(); // Enable stacking for interrupt handlers
#endif
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
st_init(); // Setup stepper pins and interrupt timers
#ifdef PART_LM4F120H5QR // ARM code
IntMasterEnable();
#else // AVR code
sei(); // Enable interrupts
#endif
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sys.state = STATE_INIT; // Set alarm state to indicate unknown initial position
for(;;) {
// Execute system reset upon a system abort, where the main program will return to this loop.
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
// reset to finish the initialization process.
if (sys.abort) {
// Reset system.
serial_reset_read_buffer(); // Clear serial read buffer
plan_init(); // Clear block buffer and planner variables
gc_init(); // Set g-code parser to default state
protocol_init(); // Clear incoming line data and execute startup lines
spindle_init();
coolant_init();
limits_init();
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position, which is only
// cleared upon startup, not a reset/abort.
sys_sync_current_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
protocol_execute_startup();
}
}
protocol_execute_runtime();
protocol_process(); // ... process the serial protocol
// When the serial protocol returns, there are no more characters in the serial read buffer to
// be processed and executed. This indicates that individual commands are being issued or
// streaming is finished. In either case, auto-cycle start, if enabled, any queued moves.
if (sys.auto_start) { st_cycle_start(); }
}
// return 0; /* never reached */
}
