// --------------------------------------------------------------------------
// ARDrone::open(IP address of AR.Drone)
// Description : Initialize the AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::open(const char *ardrone_addr)
{
// Initialize FFmpeg
av_register_all();
avformat_network_init();
av_log_set_level(AV_LOG_QUIET);
// Save IP address
strncpy(ip, ardrone_addr, 16);
// Get version information
if (!getVersionInfo()) return 0;
printf("AR.Drone Ver. %d.%d.%d\n", version.major, version.minor, version.revision);
//// getVersionInfo() takes too long before realising the drone is not connected
//// it call tcp open, which makes a socket and tries to connect to it
//// using the connect method, which has too big of a timeout.
//// making a smaller, 5 sec timeout before checking the verison to see if drone connected.
//// if not, return 0
//if (!version.major) {
// // create timeout and wait 5 sec
// printf("Waiting for drone to connect...\n");
// msleep(5000);
// // check again
// if (!version.major) return 0;
//}
// Initialize AT command
if (!initCommand()) return 0;
// Initialize Navdata
if (!initNavdata()) return 0;
// Initialize Video
if (!initVideo()) return 0;
// Wait for updating state
//msleep(500);
// Get configurations
if (!getConfig()) return 0;
// Reset emergency
resetWatchDog();
resetEmergency();
return 1;
}
/////////////////////////////////////////////////
//登录
int login()
{
command com;
initCommand(&com, IPMSG_BR_ENTRY);
com.peer.sin_family = AF_INET;
com.peer.sin_port = htons(IPMSG_DEFAULT_PORT);
if (inet_pton(AF_INET, allHosts, &com.peer.sin_addr)<0)
printf("login: Ip error.\n");
strncpy(com.additional, pwd->pw_name, MSGLEN);
sendMsg(&com);
}
void KisStrokeStrategyUndoCommandBasedTest::testFinishedStroke()
{
QString result;
KUndo2CommandSP initCommand(new TestingUndoCommand(kundo2_noi18n("init"), result));
KUndo2CommandSP dabCommand(new TestingUndoCommand(kundo2_noi18n("dab"), result));
KUndo2CommandSP finishCommand(new TestingUndoCommand(kundo2_noi18n("finish"), result));
KisStrokeStrategy *strategy =
new KisStrokeStrategyUndoCommandBased(kundo2_noi18n("test"), false, 0,
initCommand, finishCommand);
KisStroke stroke(strategy);
stroke.addJob(
new KisStrokeStrategyUndoCommandBased::Data(dabCommand));
stroke.endStroke();
executeStrokeJobs(&stroke);
SCOMPARE(result.trimmed(), "init_redo dab_redo finish_redo");
}
// --------------------------------------------------------------------------
// ARDrone::open(IP address of AR.Drone)
// Description : Initialize the AR.Drone.
// Return value : SUCCESS: 1 FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::open(const char *ardrone_addr)
{
#if _WIN32
// Initialize WSA
WSAData wsaData;
WSAStartup(MAKEWORD(1,1), &wsaData);
#endif
// Initialize FFmpeg
av_register_all();
avformat_network_init();
av_log_set_level(AV_LOG_QUIET);
// Save IP address
strncpy(ip, ardrone_addr, 16);
// Get version information
if (!getVersionInfo()) return 0;
printf("AR.Drone Ver. %d.%d.%d\n", version.major, version.minor, version.revision);
// Get configurations
if (!getConfig()) return 0;
// Initialize AT command
if (!initCommand()) return 0;
// Initialize Navdata
if (!initNavdata()) return 0;
// Initialize Video
if (!initVideo()) return 0;
// Wait for updating state
msleep(500);
// Reset emergency
resetWatchDog();
resetEmergency();
return 1;
}
int AbstractCommand::init( KCmdLineArgs *parsedArgs )
{
parsedArgs->clear();
KCmdLineArgs::reset();
KCmdLineOptions options;
setupCommandOptions( options );
KCmdLineArgs::addCmdLineOptions( options );
KCmdLineArgs::addStdCmdLineOptions( KCmdLineArgs::CmdLineArgNone );
KCmdLineArgs *parseCommandArgs = KCmdLineArgs::parsedArgs();
Q_ASSERT( parseCommandArgs != 0 );
const int result = initCommand( parseCommandArgs );
KCmdLineArgs::reset();
KCmdLineArgs::addStdCmdLineOptions( KCmdLineArgs::CmdLineArgNone );
KCmdLineArgs::addCmdLineOptions( options );
return result;
}
void KisStrokeStrategyUndoCommandBasedTest::testCancelledStroke()
{
QString result;
KUndo2CommandSP initCommand(new TestingUndoCommand(kundo2_noi18n("init"), result));
KUndo2CommandSP dabCommand(new TestingUndoCommand(kundo2_noi18n("dab"), result));
KUndo2CommandSP finishCommand(new TestingUndoCommand(kundo2_noi18n("finish"), result));
const KoColorSpace *cs = KoColorSpaceRegistry::instance()->rgb8();
KisImageSP image = new KisImage(0, 300, 300, cs, "test", true);
KisStrokeStrategy *strategy =
new KisStrokeStrategyUndoCommandBased(kundo2_noi18n("test"), false,
image->postExecutionUndoAdapter(),
initCommand, finishCommand);
KisStrokeId id = image->startStroke(strategy);
image->addJob(id, new KisStrokeStrategyUndoCommandBased::Data(dabCommand));
QTest::qSleep(500);
image->cancelStroke(id);
image->waitForDone();
SCOMPARE(result.trimmed(), "init_redo dab_redo dab_undo init_undo");
}
int main(int argc, char *argv[]) {
int ret = EXIT_SUCCESS; /* return value */
/* check parameter */
if (argc < 2) {
fprintf(stderr, "ERROR: You need to give some command.\n");
showHelp();
return (EXIT_FAILURE);
}
initSystem();
if (gSystem == SYSTEM_ERROR) {
fprintf(stderr, "ERROR: No package-system found (yum, apt).\n");
exit(EXIT_FAILURE);
}
initCommand(argv[1]);
initList(argc - 2, (char **)argv + 2);
switch (gCommand) {
case COMMAND_HELP:
showHelp();
break;
case COMMAND_VERSION:
showVersion();
break;
case COMMAND_INSTALL:
if (gList == NULL) {
fprintf(stderr, "Error: Need to pass a list of pkgs to install.\n");
showHelp();
ret = EXIT_FAILURE;
break;
}
doInstall();
break;
case COMMAND_REMOVE:
if (gList == NULL) {
fprintf(stderr, "Error: Need to pass a list of pkgs to remove.\n");
showHelp();
ret = EXIT_FAILURE;
break;
}
doRemove();
break;
case COMMAND_SEARCH:
if (gList == NULL) {
fprintf(stderr, "Error: Need to pass a list of pkgs to search.\n");
showHelp();
ret = EXIT_FAILURE;
break;
}
doSearch();
break;
case COMMAND_LIST:
if (gList == NULL) {
fprintf(stderr, "Error: Need to pass a list of pkgs to lisst.\n");
showHelp();
ret = EXIT_FAILURE;
break;
}
doList();
break;
case COMMAND_UPDATE:
if (gList == NULL) {
fprintf(stderr, "Error: Need to pass a list of pkgs to update.\n");
showHelp();
ret = EXIT_FAILURE;
break;
}
doUpdate();
break;
default:
fprintf(stderr, "ERROR: No such command '%s'. Please use '%s --help'.\n", argv[1], PRG_NAME);
ret = EXIT_FAILURE;
}
destroy();
return (ret);
}
//接收文件夹
int getDir(void *option, gsNode *gList)
{
int sockfd, readBytes, headerSize, fileType, dirDepth=0, tmp;
char buf[COMLEN], recvs[RECFRG], hSize[HSIZE], fullPath[2*FILENAME];
filenode *head = (filenode*)option, *cur, fn;
command com;
struct sockaddr_in peer;
long offset=0, fileSize;
FILE* recvFile;
strncpy(fullPath, gList->targetDir, sizeof(fullPath));
initCommand(&com, IPMSG_GETDIRFILES); //Direcotry
snprintf(com.additional, MSGLEN, "%x:%x:%x", gList->packetNo, head->fileNo, offset);
sockfd = socket(AF_INET, SOCK_STREAM, 0);
bzero(&peer, sizeof(peer));
peer.sin_family = AF_INET;
peer.sin_port = htons(IPMSG_DEFAULT_PORT);
memcpy(&peer.sin_addr, &gList->peer.sin_addr, sizeof(peer.sin_addr));
if (connect(sockfd, (struct sockaddr*)&peer, sizeof(peer))<0)
{
printf("File connect error.\n");
return -1;
}
msgCreater(buf, &com, sizeof(buf));
if (writen(sockfd, buf, strlen(buf)+1)<0)
return -1;
do
{
tmp = strlen(fullPath);
if (tmp+1>=sizeof(fullPath))
{
printf("getDir: target directory is too lang.\n");
return -1;
}
if (fullPath[tmp-1]!='/')
{
fullPath[tmp] = '/';
fullPath[tmp+1] = '\0';
}
readBytes = readDelimiter(sockfd, hSize, HSIZE, ':');
sscanf(hSize, "%x", &headerSize);
if (headerSize<=0 || headerSize<=readBytes || headerSize>RECFRG) //保护、防止溢出
return -1;
readn(sockfd, recvs, headerSize-readBytes);
recvs[headerSize-readBytes]='\0';
if (parseHeader(&fn, recvs)<0)
{
printf("getDir: Parse protocol failed.\n");
return -1;
}
switch (fn.fileType & 0x03)
{
case IPMSG_FILE_REGULAR:
strncat(fullPath, fn.fileName, sizeof(fullPath)-tmp-1);
if ((recvFile = fopen(fullPath, "w+")) == NULL)
{
printf("Open error.\n");
return -1;
}
sscanf(fn.fileSize, "%x", &fileSize);
while (fileSize>0)
{
readBytes = fileSize < RECFRG ? fileSize:RECFRG;
if ((readBytes = readn(sockfd, recvs, readBytes))<0) //RECFRG
{
printf("File read error.\n");
return -1;
}
fwrite(recvs, 1, readBytes, recvFile);
fileSize -= readBytes;
}
fclose(recvFile);
getParentPath(fullPath, sizeof(fullPath));
break;
case IPMSG_FILE_DIR:
strncat(fullPath, fn.fileName, sizeof(fullPath)-tmp-1);
tmp = strlen(fullPath);
if (tmp+1>=sizeof(fullPath))
{
printf("getDir: target directory is too lang.\n"
"Filename(%s) has been truncated.\n", fn.fileName);
fullPath[tmp-1] = '/';
}
else
{
fullPath[tmp] = '/';
fullPath[tmp+1] = '\0';
}
if (mkdir(fullPath, S_IRUSR|S_IWUSR|S_IXUSR))
{
printf("getDir: mkdir failed.\n");
return -1;
}
dirDepth++;
break;
case IPMSG_FILE_RETPARENT:
getParentPath(fullPath, sizeof(fullPath));
dirDepth--;
break;
default:
printf("Unsupported file type.\n");
break;
}
}while(dirDepth>0);
//close(sockfd);
shutdown(sockfd, SHUT_RDWR);
return 0;
}
//////////////////////////////////////////////////
//聊天
int saySth()
{
char buf[100]; //临时输入区
char gMsg[MSGLEN];
command com;
user *cur=NULL;
int remainder; //扩展区剩余空间
int pos; //扩展区的当前输入位置
int who, temp, count;
int sended; //标记此包是否已经发过
user *pusers[50];
printf("\n*Talking mode\n"
"*Continuous Enter to send msg,\n"
"*Ctrl+D to quit conversation.\n");
pthread_mutex_lock(&usrMutex);
count = listUsers(pusers, &userList, sizeof(pusers)/sizeof(pusers[0]), 0); // 每个用户都打上use标记?
pthread_mutex_unlock(&usrMutex);
who = inputNo(1, count, 1, "Please input user No.[1]:"); // 怎么参数里面还有需要打印的字符串
if (who>0)
{
cur = pusers[who-1];
initCommand(&com, IPMSG_SENDMSG|IPMSG_SENDCHECKOPT);
memcpy(&com.peer, &cur->peer, sizeof(com.peer));
remainder = MSGLEN;
pos = 0;
sended = 1;
while(1)
{
printf("(talking with %s):", cur->name);
if (fgets(buf, sizeof(buf), stdin)==NULL)
break;
if (buf[0] != '\n')
{
strncpy(com.additional+pos, buf, remainder);
temp = strlen(com.additional+pos);
pos += temp;
remainder -= temp;
sended = 0;
}
if ((buf[0]=='\n') || (remainder<=1))
{
if (!sended)
{
com.packetNo = (unsigned int)time(NULL);
sendMsg(&com);
sended = 1;
printf("Message sent.\n");
}
remainder = sizeof(com.additional); // 这里为什么要重新获取缓冲区大小
pos = 0;
}
}
}
puts("\nEnd conversation.\n");
pthread_mutex_lock(&usrMutex);
unListUsers(pusers, count); // 清楚use标记
pthread_mutex_unlock(&usrMutex);
}
int selectFiles()
{
command com;
user *cur=NULL;
int who, count, flag, fileType;
unsigned int fileNo;
char fileName[FILENAME];
struct stat fileAttr;
char *strtmp;
filenode *fntmp, *head, *tail;
gsNode *newTask;
user *pusers[50];
printf("\n*Sending mode\n"
"*Continuous Enter to send file,\n"
"*Ctrl+D to quit.\n");
pthread_mutex_lock(&usrMutex);
count = listUsers(pusers, &userList, sizeof(pusers)/sizeof(pusers[0]), 0);
pthread_mutex_unlock(&usrMutex);
who = inputNo(1, count, 1, "Please input user No.[1]:");
if (who>0)
{
cur = pusers[who-1];
initCommand(&com, IPMSG_SENDMSG|IPMSG_FILEATTACHOPT);
memcpy(&com.peer, &cur->peer, sizeof(com.peer));
printf("To send file to %s(%s).\nPlease select file to send:\n", cur->name, cur->host);
newTask = (gsNode*)malloc(sizeof(gsNode));
initGsNode(newTask);
newTask->packetNo = com.packetNo;
fileNo = 0;
head = com.fileList;
tail = com.fileList;
while (1)
{
if (fgets(fileName, FILENAME, stdin) == NULL) //取消传输
{
free(newTask);
newTask = NULL;
while (head!=NULL)
{
tail = head;
head = head->next;
free(tail);
}
break;
}
transfStr(fileName, 0); //去除前后空白字符
if (fileName[0]=='\0')
break;
if (lstat(fileName, &fileAttr)<0)
{
printf("Get file attributes error.\n");
continue;
}
if (S_ISREG(fileAttr.st_mode))
fileType = 1;
else if (S_ISDIR(fileAttr.st_mode))
fileType = 2;
else
{
fileType = -1;
printf("Unsupported file type.\n");
continue;
}
if (tail == NULL)
head = tail = (filenode*)malloc(sizeof(filenode));
else
{
tail->next = (filenode*)malloc(sizeof(filenode));
tail = tail->next;
}
tail->next = NULL;
tail->fileNo = fileNo;
strncpy(tail->fileName, fileName, sizeof(tail->fileName));
snprintf(tail->fileSize, sizeof(tail->fileSize), "%x", fileAttr.st_size);
snprintf(tail->mtime, sizeof(tail->mtime), "%x", fileAttr.st_mtime);
tail->fileType = fileType;
fileNo++;
} // 可以连续发送多个文件?
if (head==NULL)
{
if (newTask!=NULL)
free(newTask);
}
else
{
newTask->fileList.next = com.fileList = head;
pthread_mutex_lock(&sendFMutex); //lock
newTask->next = sendFHead.next;
sendFHead.next = newTask;
pthread_mutex_unlock(&sendFMutex); //unlock
if (newTask->fileList.next!=NULL)
{
sendMsg(&com); //可以放lock外面
printf("\nWaiting to transfer.\n");
}
}
}
pthread_mutex_lock(&usrMutex);
unListUsers(pusers, count);
pthread_mutex_unlock(&usrMutex);
}
int main(int argc, char *argv[], char *env[]) {
//flag para laço principal
int flag = 1;
//comando lido de stdin
char cmd[255];
//comando lido
command app;
initCommand(&app);
//struct para manipulação de signals
struct sigaction signals;
struct jobs *j;
struct job *jb;
signals.sa_handler = &signalHandler;
sigfillset(&signals.sa_mask);
signals.sa_flags = 0;
sigaction(SIGCHLD, &signals, NULL);
sigaction(SIGTSTP, &signals, NULL);
sigaction(SIGINT, &signals, NULL);
sigaction(SIGTERM, &signals, NULL);
//laço principal
do {
//inicialização do cmd
strcpy(cmd, "");
//força a impressão do buffer de saída
fflush(stdout);
//impressão inicial do terminal
printf("AB2> ");
//limpeza do stdin
__fpurge(stdin);
//leitura do comando
scanf("%[^\n]", cmd);
//comando embutido "quit" ou "exit"
if ((!strcmp(cmd, "quit")) || (!strcmp(cmd, "exit"))) {
flag = 0;
//comando embutido "pwd"
} else if (!strcmp(cmd, "pwd")) {
printf("%s\n", getcwd(NULL, 0));
//comando embutido "jobs"
} else if (!strcmp(cmd, "jobs")) {
//remove os 'jobs' terminados da lista
cleanJobs(&jobs);
if (jobs) {
printf("Lista de 'jobs':\n");
j = jobs;
while (j) {
printf("\t[%d]", j->job.pid);
printf("\t%s", (j->job.state == JOB_STOPPED ? "Parado" : (j->job.state == JOB_TERMINATED ? "Terminado" : (j->job.state == JOB_EXEC_FG ? "Executando" : "Executando em plano de fundo"))));
printf("\t(%s)\n", j->job.application.input);
j = j->next;
}
} else {
printf("Nenhum 'job' na lista\n");
}
//comando embutido "job"
} else if (!strcmp(cmd, "job")) {
printf("job_pid: %d\n", job_pid);
//comando embutido "help"
} else if (!strcmp(cmd, "help")) {
printf("AB2 SHELL HELP\n\n");
printf("Comandos embutidos:\n");
printf(" help: exibe esta lista\n");
printf(" about: exibe o 'about' do shell\n");
printf(" pwd: mostra o diretório corrente\n");
printf(" cd: troca o diretório corrente\n");
printf(" quit: termina o shell\n");
printf(" jobs: lista todos os jobs em background\n");
printf(" bg <PID>: reinicia um job, passando sua execução para background\n");
printf(" fg <PID>: reinicia um job, passando sua execução para foreground\n");
//comando embutido "about"
} else if (!strcmp(cmd, "about")) {
printf("AB2 SHELL ABOUT\n\n");
printf("Shell criada por:\n");
printf(" André Vinícius Azevedo Aguilar NUSP: 5890160\n");
printf(" Eduardo de Freitas Alberice NUSP: 5890006\n");
printf(" Flávio Heleno Batista NUSP: 5890027\n");
//comandos embutidos com parâmetros ou comandos externos, não vazios
} else if (strcmp(cmd, "")) {
parseCommand(cmd, &app, env);
//comando embutido "cd"
if (!strcmp(app.argv[0], "cd")) {
if (app.argc) {
if (chdir(app.argv[1])) {
printf("cd: %s: Diretório não encontrado\n", app.argv[1]);
}
}
//comando embutido "bg"
} else if (!strcmp(app.argv[0], "bg")) {
if (app.argc == 2) {
backgroundJob(atoi(app.argv[1]), &jobs);
} else {
if (!job_pid) {
cleanJobs(&jobs);
jb = lastJob(jobs);
if (jb) {
job_pid = jb->pid;
}
}
if (job_pid) {
backgroundJob(job_pid, &jobs);
job_pid = 0;
} else {
printf("Nenhum 'job' ativo\n");
}
}
//comando embutido "fg"
} else if (!strcmp(app.argv[0], "fg")) {
if (app.argc == 2) {
job_pid = atoi(app.argv[1]);
foregroundJob(job_pid, &jobs);
} else {
if (!job_pid) {
cleanJobs(&jobs);
jb = lastJob(jobs);
if (jb) {
job_pid = jb->pid;
}
}
if (job_pid) {
foregroundJob(job_pid, &jobs);
} else {
printf("Nenhum 'job' ativo\n");
}
}
//comando embutido "kill"
} else if (!strcmp(app.argv[0], "kill")) {
if (app.argc == 2) {
job_pid = atoi(app.argv[1]);
terminateJob(job_pid, &jobs);
printf("\n[%d]\tterminado\t%s\n", job_pid, "");
job_pid = 0;
} else {
if (!job_pid) {
cleanJobs(&jobs);
jb = lastJob(jobs);
if (jb) {
job_pid = jb->pid;
}
}
if (job_pid) {
terminateJob(job_pid, &jobs);
printf("\n[%d]\tterminado\t%s\n", job_pid, "");
job_pid = 0;
} else {
printf("Nenhum 'job' ativo\n");
}
}
//comandos externos
} else {
//força a impressão do buffer de saída
fflush(stdout);
//cria o novo job
job_pid = 0;
job_pid = createJob(app, &jobs);
if (stateJob(job_pid, jobs) == JOB_TERMINATED) {
if (resultJob(job_pid, jobs) == JOB_FAILED) {
printf("%s: comando não encontrado\n", app.argv[0]);
}
job_pid = 0;
}
}
freeCommand(&app);
}
cleanJobs(&jobs);
} while (flag);
if (jobs) {
killJobs(&jobs);
cleanJobs(&jobs);
}
return 0;
}
