uint32_t RoboClaw::Read4(uint8_t address, uint8_t cmd, bool *valid){
uint8_t crc;
if(valid)
*valid = false;
uint32_t value=0;
uint8_t trys=MAXRETRY;
int16_t data;
do{
flush();
crc_clear();
write(address);
crc_update(address);
write(cmd);
crc_update(cmd);
data = read(timeout);
crc_update(data);
value=(uint32_t)data<<24;
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data<<16;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data<<8;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data;
}
if(data!=-1){
uint16_t ccrc;
data = read(timeout);
if(data!=-1){
ccrc = data << 8;
data = read(timeout);
if(data!=-1){
ccrc |= data;
if(crc_get()==ccrc){
*valid = true;
return value;
}
}
}
}
}while(trys--);
return false;
}
bool RoboClaw::GetPinFunctions(uint8_t address, uint8_t &S3mode, uint8_t &S4mode, uint8_t &S5mode){
uint8_t crc;
bool valid = false;
uint8_t val1,val2,val3;
uint8_t trys=MAXRETRY;
int16_t data;
do{
flush();
crc_clear();
write(address);
crc_update(address);
write(GETPINFUNCTIONS);
crc_update(GETPINFUNCTIONS);
data = read(timeout);
crc_update(data);
val1=data;
if(data!=-1){
data = read(timeout);
crc_update(data);
val2=data;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
val3=data;
}
if(data!=-1){
uint16_t ccrc;
data = read(timeout);
if(data!=-1){
ccrc = data << 8;
data = read(timeout);
if(data!=-1){
ccrc |= data;
if(crc_get()==ccrc){
S3mode = val1;
S4mode = val2;
S5mode = val3;
return true;
}
}
}
}
}while(trys--);
return false;
}
bool RoboClaw::ReadVersion(uint8_t address,char *version){
uint8_t data;
uint8_t trys=MAXRETRY;
do{
flush();
data = 0;
crc_clear();
write(address);
crc_update(address);
write(GETVERSION);
crc_update(GETVERSION);
uint8_t i;
for(i=0;i<48;i++){
if(data!=-1){
data=read(timeout);
version[i] = data;
crc_update(version[i]);
if(version[i]==0){
uint16_t ccrc;
data = read(timeout);
if(data!=-1){
ccrc = data << 8;
data = read(timeout);
if(data!=-1){
ccrc |= data;
return crc_get()==ccrc;
}
}
break;
}
}
else{
break;
}
}
}while(trys--);
return false;
}
bool RoboClaw::write_n(uint8_t cnt, ... )
{
uint8_t trys=MAXRETRY;
do{
crc_clear();
//send data with crc
va_list marker;
va_start( marker, cnt ); /* Initialize variable arguments. */
for(uint8_t index=0;index<cnt;index++){
uint8_t data = va_arg(marker, uint16_t);
crc_update(data);
write(data);
}
va_end( marker ); /* Reset variable arguments. */
uint16_t crc = crc_get();
write(crc>>8);
write(crc);
if(read(timeout)==0xFF)
return true;
}while(trys--);
return false;
}
HWND GGPROTO::SearchAdvanced(HWND hwndDlg)
{
gg_pubdir50_t req;
TCHAR text[64];
char data[800] = "\0";
unsigned long crc;
// Check if connected
if (!isonline()) return (HWND)0;
if (!(req = gg_pubdir50_new(GG_PUBDIR50_SEARCH)))
{
#ifdef DEBUGMODE
debugLogA("SearchAdvanced(): ForkThread 14 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HWND)1;
}
// Fetch search data
GetDlgItemText(hwndDlg, IDC_FIRSTNAME, text, sizeof(text));
if (_tcslen(text))
{
char *firstName_utf8 = mir_utf8encodeT(text);
gg_pubdir50_add(req, GG_PUBDIR50_FIRSTNAME, firstName_utf8);
strncat(data, firstName_utf8, sizeof(data) - strlen(data));
mir_free(firstName_utf8);
}
/* 1 */ strncat(data, ".", sizeof(data) - strlen(data));
GetDlgItemText(hwndDlg, IDC_LASTNAME, text, sizeof(text));
if (_tcslen(text))
{
char *lastName_utf8 = mir_utf8encodeT(text);
gg_pubdir50_add(req, GG_PUBDIR50_LASTNAME, lastName_utf8);
strncat(data, lastName_utf8, sizeof(data) - strlen(data));
mir_free(lastName_utf8);
}
/* 2 */ strncat(data, ".", sizeof(data) - strlen(data));
GetDlgItemText(hwndDlg, IDC_NICKNAME, text, sizeof(text));
if (_tcslen(text))
{
char *nickName_utf8 = mir_utf8encodeT(text);
gg_pubdir50_add(req, GG_PUBDIR50_NICKNAME, nickName_utf8);
strncat(data, nickName_utf8, sizeof(data) - strlen(data));
mir_free(nickName_utf8);
}
/* 3 */ strncat(data, ".", sizeof(data) - strlen(data));
GetDlgItemText(hwndDlg, IDC_CITY, text, sizeof(text));
if (_tcslen(text))
{
char *city_utf8 = mir_utf8encodeT(text);
gg_pubdir50_add(req, GG_PUBDIR50_CITY, city_utf8);
strncat(data, city_utf8, sizeof(data) - strlen(data));
mir_free(city_utf8);
}
/* 4 */ strncat(data, ".", sizeof(data) - strlen(data));
GetDlgItemText(hwndDlg, IDC_AGEFROM, text, sizeof(text));
if (_tcslen(text))
{
int yearTo = _tstoi(text);
int yearFrom;
time_t t = time(NULL);
struct tm *lt = localtime(&t);
int ay = lt->tm_year + 1900;
char age[16];
GetDlgItemTextA(hwndDlg, IDC_AGETO, age, sizeof(age));
yearFrom = atoi(age);
// Count & fix ranges
if (!yearTo)
yearTo = ay;
else
yearTo = ay - yearTo;
if (!yearFrom)
yearFrom = 0;
else
yearFrom = ay - yearFrom;
mir_sntprintf(text, sizeof(text), _T("%d %d"), yearFrom, yearTo);
char *age_utf8 = mir_utf8encodeT(text);
gg_pubdir50_add(req, GG_PUBDIR50_BIRTHYEAR, age_utf8);
strncat(data, age_utf8, sizeof(data) - strlen(data));
mir_free(age_utf8);
}
/* 5 */ strncat(data, ".", sizeof(data) - strlen(data));
switch(SendDlgItemMessage(hwndDlg, IDC_GENDER, CB_GETCURSEL, 0, 0))
{
case 1:
gg_pubdir50_add(req, GG_PUBDIR50_GENDER, GG_PUBDIR50_GENDER_FEMALE);
strncat(data, GG_PUBDIR50_GENDER_MALE, sizeof(data) - strlen(data));
break;
case 2:
gg_pubdir50_add(req, GG_PUBDIR50_GENDER, GG_PUBDIR50_GENDER_MALE);
strncat(data, GG_PUBDIR50_GENDER_FEMALE, sizeof(data) - strlen(data));
break;
}
/* 6 */ strncat(data, ".", sizeof(data) - strlen(data));
if (IsDlgButtonChecked(hwndDlg, IDC_ONLYCONNECTED))
{
gg_pubdir50_add(req, GG_PUBDIR50_ACTIVE, GG_PUBDIR50_ACTIVE_TRUE);
strncat(data, GG_PUBDIR50_ACTIVE_TRUE, sizeof(data) - strlen(data));
}
/* 7 */ strncat(data, ".", sizeof(data) - strlen(data));
// No data entered
if (strlen(data) <= 7 || (strlen(data) == 8 && IsDlgButtonChecked(hwndDlg, IDC_ONLYCONNECTED))) return (HWND)0;
// Count crc & check if the data was equal if yes do same search with shift
crc = crc_get(data);
if (crc == last_crc && next_uin)
gg_pubdir50_add(req, GG_PUBDIR50_START, ditoa(next_uin));
else
last_crc = crc;
gg_pubdir50_seq_set(req, GG_SEQ_SEARCH);
if (isonline())
{
gg_EnterCriticalSection(&sess_mutex, "SearchAdvanced", 52, "sess_mutex", 1);
if (!gg_pubdir50(sess, req))
{
gg_LeaveCriticalSection(&sess_mutex, "SearchAdvanced", 52, 1, "sess_mutex", 1);
#ifdef DEBUGMODE
debugLogA("SearchAdvanced(): ForkThread 15 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HWND)1;
}
gg_LeaveCriticalSection(&sess_mutex, "SearchAdvanced", 52, 2, "sess_mutex", 1);
}
debugLogA("SearchAdvanced(): Seq %d.", req->seq);
gg_pubdir50_free(req);
return (HWND)1;
}
HANDLE GGPROTO::SearchByName(const PROTOCHAR *nick, const PROTOCHAR *firstName, const PROTOCHAR *lastName)
{
gg_pubdir50_t req;
unsigned long crc;
char data[512] = "\0";
// Check if connected and if there's a search data
if (!isonline())
return 0;
if (!nick && !firstName && !lastName)
return 0;
if (!(req = gg_pubdir50_new(GG_PUBDIR50_SEARCH)))
{
#ifdef DEBUGMODE
debugLogA("SearchByName(): ForkThread 12 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HANDLE)1;
}
// Add nick,firstName,lastName and search it
if (nick)
{
char *nick_utf8 = mir_utf8encodeT(nick);
gg_pubdir50_add(req, GG_PUBDIR50_NICKNAME, nick_utf8);
strncat(data, nick_utf8, sizeof(data) - strlen(data));
mir_free(nick_utf8);
}
strncat(data, ".", sizeof(data) - strlen(data));
if (firstName)
{
char *firstName_utf8 = mir_utf8encodeT(firstName);
gg_pubdir50_add(req, GG_PUBDIR50_FIRSTNAME, firstName_utf8);
strncat(data, firstName_utf8, sizeof(data) - strlen(data));
mir_free(firstName_utf8);
}
strncat(data, ".", sizeof(data) - strlen(data));
if (lastName)
{
char *lastName_utf8 = mir_utf8encodeT(lastName);
gg_pubdir50_add(req, GG_PUBDIR50_LASTNAME, lastName_utf8);
strncat(data, lastName_utf8, sizeof(data) - strlen(data));
mir_free(lastName_utf8);
}
strncat(data, ".", sizeof(data) - strlen(data));
// Count crc & check if the data was equal if yes do same search with shift
crc = crc_get(data);
if (crc == last_crc && next_uin)
gg_pubdir50_add(req, GG_PUBDIR50_START, ditoa(next_uin));
else
last_crc = crc;
gg_pubdir50_seq_set(req, GG_SEQ_SEARCH);
gg_EnterCriticalSection(&sess_mutex, "SearchByName", 51, "sess_mutex", 1);
if (!gg_pubdir50(sess, req))
{
gg_LeaveCriticalSection(&sess_mutex, "SearchByName", 51, 1, "sess_mutex", 1);
#ifdef DEBUGMODE
debugLogA("SearchByName(): ForkThread 13 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HANDLE)1;
}
gg_LeaveCriticalSection(&sess_mutex, "SearchByName", 51, 2, "sess_mutex", 1);
debugLogA("SearchByName(): Seq %d.", req->seq);
gg_pubdir50_free(req);
return (HANDLE)1;
}
bool RoboClaw::read_n(uint8_t cnt,uint8_t address,uint8_t cmd,...)
{
uint32_t value=0;
uint8_t trys=MAXRETRY;
int16_t data;
do{
flush();
data=0;
crc_clear();
write(address);
crc_update(address);
write(cmd);
crc_update(cmd);
//send data with crc
va_list marker;
va_start( marker, cnt ); /* Initialize variable arguments. */
for(uint8_t index=0;index<cnt;index++){
uint32_t *ptr = (uint32_t *)va_arg(marker, uint16_t);
if(data!=-1){
data = read(timeout);
crc_update(data);
value=(uint32_t)data<<24;
}
else{
break;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data<<16;
}
else{
break;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data<<8;
}
else{
break;
}
if(data!=-1){
data = read(timeout);
crc_update(data);
value|=(uint32_t)data;
}
else{
break;
}
*ptr = value;
}
va_end( marker ); /* Reset variable arguments. */
if(data!=-1){
uint16_t ccrc;
data = read(timeout);
if(data!=-1){
ccrc = data << 8;
data = read(timeout);
if(data!=-1){
ccrc |= data;
return crc_get()==ccrc;
}
}
}
}while(trys--);
return false;
}
HANDLE GGPROTO::SearchByName(const TCHAR *nick, const TCHAR *firstName, const TCHAR *lastName)
{
// Check if connected and if there's a search data
if (!isonline())
return 0;
if (!nick && !firstName && !lastName)
return 0;
gg_pubdir50_t req = gg_pubdir50_new(GG_PUBDIR50_SEARCH);
if (req == NULL) {
#ifdef DEBUGMODE
debugLogA("SearchByName(): ForkThread 12 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HANDLE)1;
}
// Add nick,firstName,lastName and search it
CMStringA szQuery;
if (nick)
{
T2Utf nick_utf8(nick);
gg_pubdir50_add(req, GG_PUBDIR50_NICKNAME, nick_utf8);
szQuery.Append(nick_utf8);
}
szQuery.AppendChar('.');
if (firstName)
{
T2Utf firstName_utf8(firstName);
gg_pubdir50_add(req, GG_PUBDIR50_FIRSTNAME, firstName_utf8);
szQuery.Append(firstName_utf8);
}
szQuery.AppendChar('.');
if (lastName)
{
T2Utf lastName_utf8(lastName);
gg_pubdir50_add(req, GG_PUBDIR50_LASTNAME, lastName_utf8);
szQuery.Append(lastName_utf8);
}
szQuery.AppendChar('.');
// Count crc & check if the data was equal if yes do same search with shift
unsigned long crc = crc_get(szQuery.GetBuffer());
if (crc == last_crc && next_uin)
gg_pubdir50_add(req, GG_PUBDIR50_START, ditoa(next_uin));
else
last_crc = crc;
gg_pubdir50_seq_set(req, GG_SEQ_SEARCH);
gg_EnterCriticalSection(&sess_mutex, "SearchByName", 51, "sess_mutex", 1);
if (!gg_pubdir50(sess, req))
{
gg_LeaveCriticalSection(&sess_mutex, "SearchByName", 51, 1, "sess_mutex", 1);
#ifdef DEBUGMODE
debugLogA("SearchByName(): ForkThread 13 GGPROTO::searchthread");
#endif
ForkThread(&GGPROTO::searchthread, NULL);
return (HANDLE)1;
}
gg_LeaveCriticalSection(&sess_mutex, "SearchByName", 51, 2, "sess_mutex", 1);
debugLogA("SearchByName(): Seq %d.", req->seq);
gg_pubdir50_free(req);
return (HANDLE)1;
}
