void MyThread::run(){
LogReader logreader;
LogSender logsender;
list<MatchedLogRec> matches=
logreader.readLogs();
/*准备发送数据*/
logsender.initNetWork();
char datastr[100]={0};
/*循环发送数据*/
while(matches.size()>0){
sleep(1);
bool f=logsender.sendMatche(*matches.begin());
if(f){
/*发射信号*/
sprintf(datastr,"%s:%d:%s",matches.begin()->logname,
matches.begin()->pid,matches.begin()->logip);
emit mySig(QString(datastr));
/*删除这条数据*/
matches.erase(matches.begin());
}else{
break;
}
}
/*关闭fd*/
logsender.saveSendFailed(&matches);
}
int main(){
LogReader logreader;
LogSender logsender;
list<MatchedLogRec> matches=
logreader.readLogs();
logsender.sendMatches(&matches);
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
if (!check_generate) {
logreader.set_save_chek_messages(true);
}
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename);
// remember filename for reporting
log_filename = filename;
if (!find_log_info(log_info)) {
printf("Update to get log information\n");
exit(1);
}
hal.console->printf("Using an update rate of %u Hz\n", log_info.update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
inhibit_gyro_cal();
set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w");
ekf2f = fopen("EKF2.dat", "w");
ekf3f = fopen("EKF3.dat", "w");
ekf4f = fopen("EKF4.dat", "w");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE FLIGHT.Alt AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
}
bool LogReader::StrEntry::process(LogReader &a_logReader, bool a_init)
{
if (m_resume < 0)
return false;
const __int64 l_fileSize = a_logReader.m_fileSize;
const unsigned int l_maxFindSize = a_logReader.m_maxFindSize;
while (true)
{
NewlineType l_newlineType;
const __int64 l_found = a_logReader.findNewline(m_resume, l_fileSize, l_newlineType);
if (l_found < 0)
{
const __int64 l_testClose = l_fileSize - l_maxFindSize;
if (m_resume < l_testClose)
m_resume = l_fileSize;
m_next->m_resume = m_resume;
a_logReader.m_maxClose = l_fileSize;
a_logReader.m_findEntry = m_resume;
if (m_resume >= l_fileSize)
m_resume = _I64_MIN;
else
m_resume = l_fileSize;
return true;
}
else
{
const __int64 l_testClose = l_found - l_maxFindSize;
if (m_resume >= l_testClose)
{
m_next->m_resume = m_resume;
a_logReader.m_maxClose = l_found;
a_logReader.m_findEntry = m_resume;
if (l_newlineType == nt_crlf)
m_resume = l_found + 2;
else
m_resume = l_found + 1;
return true;
}
if (l_newlineType == nt_crlf)
m_resume = l_found + 2;
else
m_resume = l_found + 1;
}
}
return false;
}
/*
setup user -p parameters
*/
void Replay::set_user_parameters(void)
{
for (uint8_t i=0; i<num_user_parameters; i++) {
if (!logreader.set_parameter(user_parameters[i].name, user_parameters[i].value)) {
::printf("Failed to set parameter %s to %f\n", user_parameters[i].name, user_parameters[i].value);
exit(1);
}
}
}
int main()
{
DMSClient client;
LogReader reader;
reader.setLogfile("wtmpx");
LogNetSender sender;
sender.setServerip("127.0.0.1");
sender.setPort(9999);
client.setReader(&reader);
client.setSender(&sender);
try
{
client.mine();
}catch(DMSException e)
{
cout<<e.what()<<endl;
}
return 0;
}
void MyThread::run(){
/*把发送的数据 通知给界面*/
LogReader logreader;
list<MatchedLogRec> matches=logreader.readLogs();
LogSender logsender;
// logsender.sendMatches(&matches);
/*让界面显示具体发送了那些数据*/
logsender.initNetWork();
/*循环发送数据*/
while(matches.size()>0){
char datastr[200]={0};
if(!logsender.sendMatche(*(matches.begin()))){
break;
}
/*把发送成功的数据通知界面*/
sprintf(datastr,"%s:%d:%s",matches.begin()->username,matches.begin()->pid,matches.begin()->logip);
emit mySig(QString(datastr));
matches.erase(matches.begin());
sleep(1);
}
}
bool LogReader::Sample::process(LogReader &a_logReader, bool a_init)
{
if (!a_init)
return false;
const __int64 l_maxEntry = a_logReader.m_maxClose - m_dataSize;
if (m_resume > l_maxEntry)
return false;
const __int64 l_close = m_resume + m_dataSize;
const bool l_same = a_logReader.compare(m_resume, l_close, m_data);
if (a_logReader.m_status != s_ok || !l_same)
return false;
if (m_next != InvPtr)
m_next->m_resume = l_close;
a_logReader.m_findClose = l_close;
return true;
}
/*
check current solution against CHEK message
*/
void Replay::log_check_solution(void)
{
const LR_MsgHandler::CheckState &check_state = logreader.get_check_state();
Vector3f euler;
Vector3f velocity;
Location loc {};
_vehicle.EKF.getEulerAngles(euler);
_vehicle.EKF.getVelNED(velocity);
_vehicle.EKF.getLLH(loc);
float roll_error = degrees(fabsf(euler.x - check_state.euler.x));
float pitch_error = degrees(fabsf(euler.y - check_state.euler.y));
float yaw_error = wrap_180_cd(100*degrees(fabsf(euler.z - check_state.euler.z)))*0.01f;
float vel_error = (velocity - check_state.velocity).length();
float pos_error = get_distance(check_state.pos, loc);
check_result.max_roll_error = MAX(check_result.max_roll_error, roll_error);
check_result.max_pitch_error = MAX(check_result.max_pitch_error, pitch_error);
check_result.max_yaw_error = MAX(check_result.max_yaw_error, yaw_error);
check_result.max_vel_error = MAX(check_result.max_vel_error, vel_error);
check_result.max_pos_error = MAX(check_result.max_pos_error, pos_error);
}
void Replay::loop()
{
while (true) {
char type[5];
if (arm_time_ms >= 0 && AP_HAL::millis() > (uint32_t)arm_time_ms) {
if (!hal.util->get_soft_armed()) {
hal.util->set_soft_armed(true);
::printf("Arming at %u ms\n", (unsigned)AP_HAL::millis());
}
}
if (!logreader.update(type)) {
::printf("End of log at %.1f seconds\n", AP_HAL::millis()*0.001f);
fclose(plotf);
break;
}
read_sensors(type);
if (streq(type,"ATT")) {
Vector3f ekf_euler;
Vector3f velNED;
Vector3f posNED;
Vector3f gyroBias;
float accelWeighting;
float accelZBias1;
float accelZBias2;
Vector3f windVel;
Vector3f magNED;
Vector3f magXYZ;
Vector3f DCM_attitude;
Vector3f ekf_relpos;
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov;
float velVar;
float posVar;
float hgtVar;
Vector3f magVar;
float tasVar;
Vector2f offset;
uint16_t faultStatus;
const Matrix3f &dcm_matrix = _vehicle.ahrs.AP_AHRS_DCM::get_rotation_body_to_ned();
dcm_matrix.to_euler(&DCM_attitude.x, &DCM_attitude.y, &DCM_attitude.z);
_vehicle.EKF.getEulerAngles(ekf_euler);
_vehicle.EKF.getVelNED(velNED);
_vehicle.EKF.getPosNED(posNED);
_vehicle.EKF.getGyroBias(gyroBias);
_vehicle.EKF.getIMU1Weighting(accelWeighting);
_vehicle.EKF.getAccelZBias(accelZBias1, accelZBias2);
_vehicle.EKF.getWind(windVel);
_vehicle.EKF.getMagNED(magNED);
_vehicle.EKF.getMagXYZ(magXYZ);
_vehicle.EKF.getInnovations(velInnov, posInnov, magInnov, tasInnov);
_vehicle.EKF.getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
_vehicle.EKF.getFilterFaults(faultStatus);
_vehicle.EKF.getPosNED(ekf_relpos);
Vector3f inav_pos = _vehicle.inertial_nav.get_position() * 0.01f;
float temp = degrees(ekf_euler.z);
if (temp < 0.0f) temp = temp + 360.0f;
fprintf(plotf, "%.3f %.1f %.1f %.1f %.2f %.1f %.1f %.1f %.2f %.2f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.2f %.2f %.2f %.2f %.2f %.2f\n",
AP_HAL::millis() * 0.001f,
logreader.get_sim_attitude().x,
logreader.get_sim_attitude().y,
logreader.get_sim_attitude().z,
_vehicle.barometer.get_altitude(),
logreader.get_attitude().x,
logreader.get_attitude().y,
wrap_180_cd(logreader.get_attitude().z*100)*0.01f,
logreader.get_inavpos().x,
logreader.get_inavpos().y,
logreader.get_ahr2_attitude().x,
logreader.get_ahr2_attitude().y,
wrap_180_cd(logreader.get_ahr2_attitude().z*100)*0.01f,
degrees(DCM_attitude.x),
degrees(DCM_attitude.y),
degrees(DCM_attitude.z),
degrees(ekf_euler.x),
degrees(ekf_euler.y),
degrees(ekf_euler.z),
inav_pos.x,
inav_pos.y,
inav_pos.z,
ekf_relpos.x,
ekf_relpos.y,
-ekf_relpos.z);
fprintf(plotf2, "%.3f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f\n",
AP_HAL::millis() * 0.001f,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
temp,
velNED.x,
velNED.y,
velNED.z,
posNED.x,
posNED.y,
posNED.z,
60*degrees(gyroBias.x),
60*degrees(gyroBias.y),
60*degrees(gyroBias.z),
windVel.x,
windVel.y,
magNED.x,
magNED.y,
magNED.z,
magXYZ.x,
magXYZ.y,
magXYZ.z,
logreader.get_attitude().x,
logreader.get_attitude().y,
logreader.get_attitude().z);
// define messages for EKF1 data packet
int16_t roll = (int16_t)(100*degrees(ekf_euler.x)); // roll angle (centi-deg)
int16_t pitch = (int16_t)(100*degrees(ekf_euler.y)); // pitch angle (centi-deg)
uint16_t yaw = (uint16_t)wrap_360_cd(100*degrees(ekf_euler.z)); // yaw angle (centi-deg)
float velN = (float)(velNED.x); // velocity North (m/s)
float velE = (float)(velNED.y); // velocity East (m/s)
float velD = (float)(velNED.z); // velocity Down (m/s)
float posN = (float)(posNED.x); // metres North
float posE = (float)(posNED.y); // metres East
float posD = (float)(posNED.z); // metres Down
float gyrX = (float)(6000*degrees(gyroBias.x)); // centi-deg/min
float gyrY = (float)(6000*degrees(gyroBias.y)); // centi-deg/min
float gyrZ = (float)(6000*degrees(gyroBias.z)); // centi-deg/min
// print EKF1 data packet
fprintf(ekf1f, "%.3f %u %d %d %u %.2f %.2f %.2f %.2f %.2f %.2f %.0f %.0f %.0f\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
roll,
pitch,
yaw,
velN,
velE,
velD,
posN,
posE,
posD,
gyrX,
gyrY,
gyrZ);
// define messages for EKF2 data packet
int8_t accWeight = (int8_t)(100*accelWeighting);
int8_t acc1 = (int8_t)(100*accelZBias1);
int8_t acc2 = (int8_t)(100*accelZBias2);
int16_t windN = (int16_t)(100*windVel.x);
int16_t windE = (int16_t)(100*windVel.y);
int16_t magN = (int16_t)(magNED.x);
int16_t magE = (int16_t)(magNED.y);
int16_t magD = (int16_t)(magNED.z);
int16_t magX = (int16_t)(magXYZ.x);
int16_t magY = (int16_t)(magXYZ.y);
int16_t magZ = (int16_t)(magXYZ.z);
// print EKF2 data packet
fprintf(ekf2f, "%.3f %d %d %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
accWeight,
acc1,
acc2,
windN,
windE,
magN,
magE,
magD,
magX,
magY,
magZ);
// define messages for EKF3 data packet
int16_t innovVN = (int16_t)(100*velInnov.x);
int16_t innovVE = (int16_t)(100*velInnov.y);
int16_t innovVD = (int16_t)(100*velInnov.z);
int16_t innovPN = (int16_t)(100*posInnov.x);
int16_t innovPE = (int16_t)(100*posInnov.y);
int16_t innovPD = (int16_t)(100*posInnov.z);
int16_t innovMX = (int16_t)(magInnov.x);
int16_t innovMY = (int16_t)(magInnov.y);
int16_t innovMZ = (int16_t)(magInnov.z);
int16_t innovVT = (int16_t)(100*tasInnov);
// print EKF3 data packet
fprintf(ekf3f, "%.3f %d %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
innovVN,
innovVE,
innovVD,
innovPN,
innovPE,
innovPD,
innovMX,
innovMY,
innovMZ,
innovVT);
// define messages for EKF4 data packet
int16_t sqrtvarV = (int16_t)(constrain_float(100*velVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarP = (int16_t)(constrain_float(100*posVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarH = (int16_t)(constrain_float(100*hgtVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarMX = (int16_t)(constrain_float(100*magVar.x,INT16_MIN,INT16_MAX));
int16_t sqrtvarMY = (int16_t)(constrain_float(100*magVar.y,INT16_MIN,INT16_MAX));
int16_t sqrtvarMZ = (int16_t)(constrain_float(100*magVar.z,INT16_MIN,INT16_MAX));
int16_t sqrtvarVT = (int16_t)(constrain_float(100*tasVar,INT16_MIN,INT16_MAX));
int16_t offsetNorth = (int8_t)(constrain_float(offset.x,INT16_MIN,INT16_MAX));
int16_t offsetEast = (int8_t)(constrain_float(offset.y,INT16_MIN,INT16_MAX));
// print EKF4 data packet
fprintf(ekf4f, "%.3f %u %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
(unsigned)AP_HAL::millis(),
(int)sqrtvarV,
(int)sqrtvarP,
(int)sqrtvarH,
(int)sqrtvarMX,
(int)sqrtvarMY,
(int)sqrtvarMZ,
(int)sqrtvarVT,
(int)offsetNorth,
(int)offsetEast,
(int)faultStatus);
}
}
flush_dataflash();
if (check_solution) {
report_checks();
}
exit(0);
}
void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{
const struct GetOptLong::option options[] = {
{"parm", true, 0, 'p'},
{"param", true, 0, 'p'},
{"help", false, 0, 'h'},
{"accel-mask", true, 0, 'a'},
{"gyro-mask", true, 0, 'g'},
{"arm-time", true, 0, 'A'},
{"no-imt", false, 0, 'n'},
{"check-generate", false, 0, OPT_CHECK_GENERATE},
{"check", false, 0, OPT_CHECK},
{"tolerance-euler", true, 0, OPT_TOLERANCE_EULER},
{"tolerance-pos", true, 0, OPT_TOLERANCE_POS},
{"tolerance-vel", true, 0, OPT_TOLERANCE_VEL},
{"nottypes", true, 0, OPT_NOTTYPES},
{"downsample", true, 0, OPT_DOWNSAMPLE},
{"logmatch", false, 0, OPT_LOGMATCH},
{"no-params", false, 0, OPT_NOPARAMS},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "r:p:ha:g:A:", options);
int opt;
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'g':
logreader.set_gyro_mask(strtol(gopt.optarg, NULL, 0));
break;
case 'a':
logreader.set_accel_mask(strtol(gopt.optarg, NULL, 0));
break;
case 'A':
arm_time_ms = strtol(gopt.optarg, NULL, 0);
break;
case 'n':
use_imt = false;
logreader.set_use_imt(use_imt);
break;
case 'p': {
const char *eq = strchr(gopt.optarg, '=');
if (eq == NULL) {
::printf("Usage: -p NAME=VALUE\n");
exit(1);
}
memset(user_parameters[num_user_parameters].name, '\0', 16);
strncpy(user_parameters[num_user_parameters].name, gopt.optarg, eq-gopt.optarg);
user_parameters[num_user_parameters].value = atof(eq+1);
num_user_parameters++;
if (num_user_parameters >= ARRAY_SIZE(user_parameters)) {
::printf("Too many user parameters\n");
exit(1);
}
break;
}
case OPT_CHECK_GENERATE:
check_generate = true;
break;
case OPT_CHECK:
check_solution = true;
break;
case OPT_TOLERANCE_EULER:
tolerance_euler = atof(gopt.optarg);
break;
case OPT_TOLERANCE_POS:
tolerance_pos = atof(gopt.optarg);
break;
case OPT_TOLERANCE_VEL:
tolerance_vel = atof(gopt.optarg);
break;
case OPT_NOTTYPES:
nottypes = parse_list_from_string(gopt.optarg);
break;
case OPT_DOWNSAMPLE:
downsample = atoi(gopt.optarg);
break;
case OPT_LOGMATCH:
logmatch = true;
break;
case OPT_NOPARAMS:
globals.no_params = true;
break;
case 'h':
default:
usage();
exit(0);
}
}
argv += gopt.optind;
argc -= gopt.optind;
if (argc > 0) {
filename = argv[0];
}
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename);
if (update_rate == 0) {
update_rate = find_update_rate(filename);
}
hal.console->printf("Using an update rate of %u Hz\n", update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
set_ins_update_rate(update_rate);
logreader.wait_type("GPS");
logreader.wait_type("IMU");
logreader.wait_type("GPS");
logreader.wait_type("IMU");
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w");
ekf2f = fopen("EKF2.dat", "w");
ekf3f = fopen("EKF3.dat", "w");
ekf4f = fopen("EKF4.dat", "w");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE FLIGHT.Alt AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
::printf("Waiting for GPS\n");
while (!done_home_init) {
char type[5];
if (!logreader.update(type)) {
break;
}
read_sensors(type);
if (streq(type, "GPS") &&
(_vehicle.gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
done_baro_init && !done_home_init) {
const Location &loc = _vehicle.gps.location();
::printf("GPS Lock at %.7f %.7f %.2fm time=%.1f seconds\n",
loc.lat * 1.0e-7f,
loc.lng * 1.0e-7f,
loc.alt * 0.01f,
hal.scheduler->millis()*0.001f);
_vehicle.ahrs.set_home(loc);
_vehicle.compass.set_initial_location(loc.lat, loc.lng);
done_home_init = true;
}
}
}
// Foreground waits for exit of the main persistent threads
// that are started here. The threads are created to manage
// UNIX domain client sockets for writing, reading and
// controlling the user space logger, and for any additional
// logging plugins like auditd and restart control. Additional
// transitory per-client threads are created for each reader.
int main(int argc, char *argv[]) {
fdDmesg = open("/dev/kmsg", O_WRONLY);
// issue reinit command. KISS argument parsing.
if ((argc > 1) && argv[1] && !strcmp(argv[1], "--reinit")) {
int sock = TEMP_FAILURE_RETRY(
socket_local_client("logd",
ANDROID_SOCKET_NAMESPACE_RESERVED,
SOCK_STREAM));
if (sock < 0) {
return -errno;
}
static const char reinit[] = "reinit";
ssize_t ret = TEMP_FAILURE_RETRY(write(sock, reinit, sizeof(reinit)));
if (ret < 0) {
return -errno;
}
struct pollfd p;
memset(&p, 0, sizeof(p));
p.fd = sock;
p.events = POLLIN;
ret = TEMP_FAILURE_RETRY(poll(&p, 1, 100));
if (ret < 0) {
return -errno;
}
if ((ret == 0) || !(p.revents & POLLIN)) {
return -ETIME;
}
static const char success[] = "success";
char buffer[sizeof(success) - 1];
memset(buffer, 0, sizeof(buffer));
ret = TEMP_FAILURE_RETRY(read(sock, buffer, sizeof(buffer)));
if (ret < 0) {
return -errno;
}
return strncmp(buffer, success, sizeof(success) - 1) != 0;
}
// Reinit Thread
sem_init(&reinit, 0, 0);
sem_init(&uidName, 0, 0);
pthread_attr_t attr;
if (!pthread_attr_init(&attr)) {
struct sched_param param;
memset(¶m, 0, sizeof(param));
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setschedpolicy(&attr, SCHED_BATCH);
if (!pthread_attr_setdetachstate(&attr,
PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, NULL)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
{
char property[PROPERTY_VALUE_MAX];
property_get("ro.build.type", property, "");
if (property_get_bool("logd.statistics",
!!strcmp(property, "user")
&& !property_get_bool("ro.config.low_ram", false))) {
logBuf->enableStatistics();
}
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener *swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(300)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener *cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
bool auditd = property_get_bool("logd.auditd", true);
if (auditd) {
bool dmesg = property_get_bool("logd.auditd.dmesg", true);
// failure is an option ... messages are in dmesg (required by standard)
LogAudit *al = new LogAudit(logBuf, reader, dmesg ? fdDmesg : -1);
int len = klogctl(KLOG_SIZE_BUFFER, NULL, 0);
if (len > 0) {
len++;
char buf[len];
int rc = klogctl(KLOG_READ_ALL, buf, len);
if (rc >= 0) {
buf[len - 1] = '\0';
for (char *ptr, *tok = buf; (tok = strtok_r(tok, "\r\n", &ptr)); tok = NULL) {
al->log(tok);
}
}
}
if (al->startListener()) {
delete al;
}
}
TEMP_FAILURE_RETRY(pause());
exit(0);
}
DWORD WINAPI LolSceneSwitch::MonitorThread(_In_ LPVOID lpParam)
{
LolSceneSwitch * instance = static_cast<LolSceneSwitch *>(lpParam);
unsigned int const INTERVALL = instance->settings.intervall;
// Handles etc. for the client
HANDLE clientProcess = nullptr;
HWND clientWindow = nullptr;
DWORD clientPid = 0;
// Handles etc. for the game
HANDLE gameProcess = nullptr;
HWND gameWindow = nullptr;
DWORD gamePid;
FILETIME gameStartTime;
// temp var for saving the exit code
DWORD exitCode;
// Used to read the log file
LogReader * reader = nullptr;
// Stuff for reading memory
PointerPath32 clienStatePointer({ -0x658, 0x78, 0x610, 0x4, 0xe48 });
PointerPath32 map1Pointer({ -0x9C0, 0x20 });
PointerPath32 map2Pointer({ -0x9C4, 0x20 });
DWORD clientStateAddress = 0;
long clientState = 0;
DWORD mapAddress = 0;
// info variables of the state of LoL
bool ingame = false;
bool postGame = false;
State state = State::CLIENTOUT;
State oldState = State::CLIENTOUT;
bool newMapInfo = false;
// The main loop for monitoring LoL
while (instance->runMonitoring)
{
// Try to get handles for the client and game process
if (clientProcess == nullptr)
{
clientProcess = GetProcessByName(TEXT("LolClient.exe"), clientPid);
}
if (gameProcess == nullptr)
{
gameProcess = GetProcessByName(TEXT("League of Legends.exe"), gamePid);
if (gameProcess != nullptr)
{
ingame = true;
FILETIME temp;
GetProcessTimes(gameProcess, &gameStartTime, &temp, &temp, &temp);
}
}
// We have a client handle
if (clientProcess != nullptr)
{
// check if it's still running
if (GetExitCodeProcess(clientProcess, &exitCode) && exitCode == STILL_ACTIVE)
{
if (clientWindow == nullptr)
{
clientWindow = GetWindowById(clientPid);
}
if (clientStateAddress == 0)
{
clientStateAddress = PointerPath32::GetThreadAddress(clientProcess, clientPid, 0);
}
if (!ingame)
{
if (instance->settings.scenes[State::CLIENTOUT].single.IsEmpty() ||
(clientWindow != nullptr && HasFocus(clientWindow)))
{
if (clienStatePointer.Deref(clientProcess, clientStateAddress, clientState) && clientState == 1)
{
if (postGame)
{
state = State::POSTGAME;
}
else
{
state = State::CHAMPSELECT;
}
}
else
{
postGame = false;
state = State::CLIENT;
}
}
else
{
state = State::CLIENTOUT;
}
}
}
else
{
Log("INFO | LolSceneSwitch::MonitorThread | LoL client process exited!");
CloseHandle(clientProcess);
clientProcess = nullptr;
clientWindow = nullptr;
clientStateAddress = 0;
}
}
// we have a game handle
if (gameProcess != nullptr)
{
// check if it's still running
if (GetExitCodeProcess(gameProcess, &exitCode) && exitCode == STILL_ACTIVE)
{
if (gameWindow == nullptr)
{
gameWindow = GetWindowById(gamePid);
}
if (reader == nullptr)
{
HANDLE file = GetLogFile(instance->settings.lolPath, &gameStartTime);
if (file != nullptr)
{
reader = &LogReader(file);
}
}
if (mapAddress == 0)
{
mapAddress = PointerPath32::GetThreadAddress(gameProcess, gamePid, 0);
}
if (instance->currentMap == Map::UNKNOWN)
{
std::string mapString1 = map1Pointer.Deref(gameProcess, mapAddress, 5);
std::string mapString2 = map2Pointer.Deref(gameProcess, mapAddress, 5);
if (mapString1.compare("Map1") == 0 || mapString2.compare("Map1") == 0 ||
mapString1.compare("Map11") == 0 || mapString2.compare("Map11") == 0)
{
Log("INFO | LolSceneSwitch::MonitorThread | Map is Summoners Rift!");
instance->currentMap = Map::SUMMONERS_RIFT;
newMapInfo = true;
}
else if (mapString1.compare("Map8") == 0 || mapString2.compare("Map8") == 0)
{
Log("INFO | LolSceneSwitch::MonitorThread | Map is Crystal Scar!");
instance->currentMap = Map::CRYSTAL_SCAR;
newMapInfo = true;
}
else if (mapString1.compare("Map10") == 0 || mapString2.compare("Map10") == 0)
{
Log("INFO | LolSceneSwitch::MonitorThread | Map is Twisted Treeline!");
instance->currentMap = Map::TWISTED_TREELINE;
newMapInfo = true;
}
else if (mapString1.compare("Map12") == 0 || mapString2.compare("Map12") == 0)
{
Log("INFO | LolSceneSwitch::MonitorThread | Map is Howling Abyss!");
instance->currentMap = Map::HOWLING_ABYSS;
newMapInfo = true;
}
}
if (reader != nullptr && (instance->settings.scenes[State::GAMEOUT].single.IsEmpty() ||
(gameWindow != nullptr && HasFocus(gameWindow))))
{
state = reader->GetState();
}
else
{
state = State::GAMEOUT;
}
}
else
{
Log("INFO | LolSceneSwitch::MonitorThread | LoL game process exited!");
ingame = false;
postGame = true;
CloseHandle(gameProcess);
gameProcess = nullptr;
gameWindow = nullptr;
reader = nullptr;
instance->currentMap = Map::UNKNOWN;
mapAddress = 0;
}
}
if (state != oldState || newMapInfo)
{
// Something has changed!!!
Log("INFO | LolSceneSwitch::MonitorThread | New state:", static_cast<long long>(state));
oldState = state;
newMapInfo = false;
instance->ChangeScene(state);
}
Sleep(INTERVALL);
}
return 0;
}
bool LogReader::Substit::process(LogReader &a_logReader, bool a_init)
{
if (m_resume < 0)
return false;
const __int64 l_fileSize = a_logReader.m_fileSize;
const unsigned int l_maxFindSize = a_logReader.m_maxFindSize;
__int64 &l_maxClose = a_logReader.m_maxClose;
const __int64 l_testClose = l_fileSize - l_maxFindSize;
if (m_prev == InvPtr)
{
if (m_resume >= l_testClose)
l_maxClose = l_fileSize;
else
l_maxClose = m_resume + l_maxFindSize;
}
const __int64 l_maxEntry = l_maxClose - m_singles;
if (m_resume > l_maxEntry)
return false;
if (m_anySeq)
{
if (m_next != InvPtr && m_next->type() == t_sample)
{
const Sample *const l_next = static_cast<const Sample *>(m_next);
const char l_firstChar = l_next->m_data[0];
const __int64 l_minClose = m_resume + m_singles;
if (m_prev == InvPtr)
{
const __int64 l_found = a_logReader.find(l_minClose, l_fileSize, l_firstChar);
if (a_logReader.m_status != s_ok || l_found < 0)
return false;
m_resume = l_found - m_singles;
if (m_resume >= l_testClose)
l_maxClose = l_fileSize;
else
l_maxClose = m_resume + l_maxFindSize;
}
else
{
const __int64 l_found = a_logReader.find(l_minClose, l_maxClose, l_firstChar);
if (a_logReader.m_status != s_ok || l_found < 0)
return false;
m_resume = l_found - m_singles;
}
}
}
else if (!a_init)
return false;
const __int64 l_close = m_resume + m_singles;
if (m_prev == InvPtr)
a_logReader.m_findEntry = m_resume;
if (m_next != InvPtr)
m_next->m_resume = l_close;
a_logReader.m_findClose = l_close;
m_resume++;
return true;
}
// Foreground waits for exit of the main persistent threads
// that are started here. The threads are created to manage
// UNIX domain client sockets for writing, reading and
// controlling the user space logger, and for any additional
// logging plugins like auditd and restart control. Additional
// transitory per-client threads are created for each reader.
int main(int argc, char *argv[]) {
int fdPmesg = -1;
bool klogd = property_get_bool("logd.kernel",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG |
BOOL_DEFAULT_FLAG_SVELTE);
if (klogd) {
fdPmesg = open("/proc/kmsg", O_RDONLY | O_NDELAY);
}
fdDmesg = open("/dev/kmsg", O_WRONLY);
// issue reinit command. KISS argument parsing.
if ((argc > 1) && argv[1] && !strcmp(argv[1], "--reinit")) {
int sock = TEMP_FAILURE_RETRY(
socket_local_client("logd",
ANDROID_SOCKET_NAMESPACE_RESERVED,
SOCK_STREAM));
if (sock < 0) {
return -errno;
}
static const char reinit[] = "reinit";
ssize_t ret = TEMP_FAILURE_RETRY(write(sock, reinit, sizeof(reinit)));
if (ret < 0) {
return -errno;
}
struct pollfd p;
memset(&p, 0, sizeof(p));
p.fd = sock;
p.events = POLLIN;
ret = TEMP_FAILURE_RETRY(poll(&p, 1, 1000));
if (ret < 0) {
return -errno;
}
if ((ret == 0) || !(p.revents & POLLIN)) {
return -ETIME;
}
static const char success[] = "success";
char buffer[sizeof(success) - 1];
memset(buffer, 0, sizeof(buffer));
ret = TEMP_FAILURE_RETRY(read(sock, buffer, sizeof(buffer)));
if (ret < 0) {
return -errno;
}
return strncmp(buffer, success, sizeof(success) - 1) != 0;
}
// Reinit Thread
sem_init(&reinit, 0, 0);
sem_init(&uidName, 0, 0);
sem_init(&sem_name, 0, 1);
pthread_attr_t attr;
if (!pthread_attr_init(&attr)) {
struct sched_param param;
memset(¶m, 0, sizeof(param));
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setschedpolicy(&attr, SCHED_BATCH);
if (!pthread_attr_setdetachstate(&attr,
PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, NULL)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
if (property_get_bool("logd.statistics",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG |
BOOL_DEFAULT_FLAG_SVELTE)) {
logBuf->enableStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener *swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(600)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener *cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
bool auditd = property_get_bool("logd.auditd",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST);
LogAudit *al = NULL;
if (auditd) {
al = new LogAudit(logBuf, reader,
property_get_bool("logd.auditd.dmesg",
BOOL_DEFAULT_TRUE |
BOOL_DEFAULT_FLAG_PERSIST)
? fdDmesg
: -1);
}
LogKlog *kl = NULL;
if (klogd) {
kl = new LogKlog(logBuf, reader, fdDmesg, fdPmesg, al != NULL);
}
readDmesg(al, kl);
// failure is an option ... messages are in dmesg (required by standard)
if (kl && kl->startListener()) {
delete kl;
}
if (al && al->startListener()) {
delete al;
}
TEMP_FAILURE_RETRY(pause());
exit(0);
}
// Foreground waits for exit of the main persistent threads
// that are started here. The threads are created to manage
// UNIX domain client sockets for writing, reading and
// controlling the user space logger, and for any additional
// logging plugins like auditd and restart control. Additional
// transitory per-client threads are created for each reader.
int main(int argc, char* argv[]) {
// logd is written under the assumption that the timezone is UTC.
// If TZ is not set, persist.sys.timezone is looked up in some time utility
// libc functions, including mktime. It confuses the logd time handling,
// so here explicitly set TZ to UTC, which overrides the property.
setenv("TZ", "UTC", 1);
// issue reinit command. KISS argument parsing.
if ((argc > 1) && argv[1] && !strcmp(argv[1], "--reinit")) {
return issueReinit();
}
static const char dev_kmsg[] = "/dev/kmsg";
fdDmesg = android_get_control_file(dev_kmsg);
if (fdDmesg < 0) {
fdDmesg = TEMP_FAILURE_RETRY(open(dev_kmsg, O_WRONLY | O_CLOEXEC));
}
int fdPmesg = -1;
bool klogd = __android_logger_property_get_bool(
"logd.kernel", BOOL_DEFAULT_TRUE | BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG | BOOL_DEFAULT_FLAG_SVELTE);
if (klogd) {
static const char proc_kmsg[] = "/proc/kmsg";
fdPmesg = android_get_control_file(proc_kmsg);
if (fdPmesg < 0) {
fdPmesg = TEMP_FAILURE_RETRY(
open(proc_kmsg, O_RDONLY | O_NDELAY | O_CLOEXEC));
}
if (fdPmesg < 0) android::prdebug("Failed to open %s\n", proc_kmsg);
}
// Reinit Thread
sem_init(&reinit, 0, 0);
sem_init(&uidName, 0, 0);
sem_init(&sem_name, 0, 1);
pthread_attr_t attr;
if (!pthread_attr_init(&attr)) {
struct sched_param param;
memset(¶m, 0, sizeof(param));
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setschedpolicy(&attr, SCHED_BATCH);
if (!pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED)) {
pthread_t thread;
reinit_running = true;
if (pthread_create(&thread, &attr, reinit_thread_start, nullptr)) {
reinit_running = false;
}
}
pthread_attr_destroy(&attr);
}
bool auditd =
__android_logger_property_get_bool("ro.logd.auditd", BOOL_DEFAULT_TRUE);
if (drop_privs(klogd, auditd) != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes* times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
logBuf = new LogBuffer(times);
signal(SIGHUP, reinit_signal_handler);
if (__android_logger_property_get_bool(
"logd.statistics", BOOL_DEFAULT_TRUE | BOOL_DEFAULT_FLAG_PERSIST |
BOOL_DEFAULT_FLAG_ENG |
BOOL_DEFAULT_FLAG_SVELTE)) {
logBuf->enableStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader* reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener* swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(600)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener* cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogAudit* al = nullptr;
if (auditd) {
al = new LogAudit(logBuf, reader,
__android_logger_property_get_bool(
"ro.logd.auditd.dmesg", BOOL_DEFAULT_TRUE)
? fdDmesg
: -1);
}
LogKlog* kl = nullptr;
if (klogd) {
kl = new LogKlog(logBuf, reader, fdDmesg, fdPmesg, al != nullptr);
}
readDmesg(al, kl);
// failure is an option ... messages are in dmesg (required by standard)
if (kl && kl->startListener()) {
delete kl;
}
if (al && al->startListener()) {
delete al;
}
TEMP_FAILURE_RETRY(pause());
exit(0);
}
// Foreground waits for exit of the three main persistent threads that
// are started here. The three threads are created to manage UNIX
// domain client sockets for writing, reading and controlling the user
// space logger. Additional transitory per-client threads are created
// for each reader once they register.
int main() {
int fdDmesg = -1;
char dmesg[PROPERTY_VALUE_MAX];
property_get("logd.auditd.dmesg", dmesg, "1");
if (atol(dmesg)) {
fdDmesg = open("/dev/kmsg", O_WRONLY);
}
if (drop_privs() != 0) {
return -1;
}
// Serves the purpose of managing the last logs times read on a
// socket connection, and as a reader lock on a range of log
// entries.
LastLogTimes *times = new LastLogTimes();
// LogBuffer is the object which is responsible for holding all
// log entries.
LogBuffer *logBuf = new LogBuffer(times);
char dgram_qlen_statistics[PROPERTY_VALUE_MAX];
property_get("logd.dgram_qlen.statistics", dgram_qlen_statistics, "");
if (atol(dgram_qlen_statistics)) {
logBuf->enableDgramQlenStatistics();
}
// LogReader listens on /dev/socket/logdr. When a client
// connects, log entries in the LogBuffer are written to the client.
LogReader *reader = new LogReader(logBuf);
if (reader->startListener()) {
exit(1);
}
// LogListener listens on /dev/socket/logdw for client
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
LogListener *swl = new LogListener(logBuf, reader);
// Backlog and /proc/sys/net/unix/max_dgram_qlen set to large value
if (swl->startListener(300)) {
exit(1);
}
// Command listener listens on /dev/socket/logd for incoming logd
// administrative commands.
CommandListener *cl = new CommandListener(logBuf, reader, swl);
if (cl->startListener()) {
exit(1);
}
// LogAudit listens on NETLINK_AUDIT socket for selinux
// initiated log messages. New log entries are added to LogBuffer
// and LogReader is notified to send updates to connected clients.
// failure is an option ... messages are in dmesg (required by standard)
LogAudit *al = new LogAudit(logBuf, reader, fdDmesg);
if (al->startListener()) {
delete al;
close(fdDmesg);
}
pause();
exit(0);
}
