[tuxdroid-svn] r80 - in daemon/trunk: . libs
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[tuxdroid-svn] r80 - in daemon/trunk: . libs
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From: added by p. f. a. <ap...@c2...> - 2007-02-26 13:46:13
|
Author: remi
Date: 2007-02-26 14:45:05 +0100 (Mon, 26 Feb 2007)
New Revision: 80
Modified:
daemon/trunk/README
daemon/trunk/USBDaemon.mdsp
daemon/trunk/USBDaemon_main.c
daemon/trunk/libs/USBDaemon_command_tux.c
daemon/trunk/libs/USBDaemon_command_tux.h
daemon/trunk/libs/USBDaemon_globals.h
daemon/trunk/libs/USBDaemon_status_table.c
daemon/trunk/libs/USBDaemon_status_table.h
daemon/trunk/libs/USBDaemon_tcp_server.c
daemon/trunk/libs/USBDaemon_tcp_server.h
daemon/trunk/libs/USBDaemon_usb_enum.c
daemon/trunk/libs/USBDaemon_usb_enum.h
daemon/trunk/libs/USBDaemon_usb_readWrite.c
Log:
ADD : Mutexes for stability.
Client disconnecting bug corrected.
Tabs to 4 spaces for indentation.
Modified: daemon/trunk/README
===================================================================
--- daemon/trunk/README 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/README 2007-02-26 13:45:05 UTC (rev 80)
@@ -2,6 +2,14 @@
TUX Daemon is a daemon to control the tuxdroid robot.
+usage : tuxdaemon [options]
+options:
+ -d start in daemon mode
+ -v view in shell ( for daemon mode )
+ -st show the structure of the usb trames
+ -sr show all raw statutes
+ -si show only invalid raw statutes
+ -h show this usage list
For all information about tuxdroid, please visit:
Modified: daemon/trunk/USBDaemon.mdsp
===================================================================
--- daemon/trunk/USBDaemon.mdsp 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/USBDaemon.mdsp 2007-02-26 13:45:05 UTC (rev 80)
@@ -98,19 +98,16 @@
[Resource]
[Other]
[History]
-libs|USBDaemon_tcp_server.h,0
+libs|USBDaemon_tcp_server.h,1596
libs|USBDaemon_usb_readWrite.h,0
-libs|USBDaemon_usb_enum.h,0
-libs|USBDaemon_command_tux.h,273
-libs|USBDaemon_status_table.h,78
-libs|USBDaemon_tcp_server.c,1254
-libs|commands.h,2602
-libs|USBDaemon_status_table.c,17847
+libs|USBDaemon_usb_enum.h,1112
+libs|USBDaemon_command_tux.h,225
+libs|USBDaemon_status_table.h,2555
tuxdefs|commands.h,5471
-libs|USBDaemon_daemon_inf.c,501
-libs|USBDaemon_usb_enum.c,1806
-libs|USBDaemon_usb_readWrite.c,2716
-libs|USBDaemon_globals.h,841
-libs|USBDaemon_daemon_inf.h,0
-libs|USBDaemon_command_tux.c,7045
-USBDaemon_main.c,1789
+libs|USBDaemon_usb_enum.c,2733
+libs|USBDaemon_globals.h,1769
+libs|USBDaemon_status_table.c,2868
+libs|USBDaemon_usb_readWrite.c,4163
+libs|USBDaemon_command_tux.c,7790
+libs|USBDaemon_tcp_server.c,4562
+USBDaemon_main.c,4736
Modified: daemon/trunk/USBDaemon_main.c
===================================================================
--- daemon/trunk/USBDaemon_main.c 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/USBDaemon_main.c 2007-02-26 13:45:05 UTC (rev 80)
@@ -36,164 +36,164 @@
#include "libs/USBDaemon_status_table.h"
/*_____________________ F U N C T I O N S __________________________________*/
- // ***********************************************************************
- // Print_info_daemon
- // ***********************************************************************
- void
- print_info_daemon()
- {
- printf("-----------------------------------\n");
- printf("Tux USB Daemon V%d.%d.%d\n",VERSION_MAJOR,VERSION_MINOR,VERSION_RELEASE);
- printf("Kysoh 2007.\n");
- printf("-----------------------------------\n");
- }
+ // ***********************************************************************
+ // Print_info_daemon
+ // ***********************************************************************
+ void
+ print_info_daemon()
+ {
+ printf("-----------------------------------\n");
+ printf("Tux USB Daemon V%d.%d.%d\n",VERSION_MAJOR,VERSION_MINOR,VERSION_RELEASE);
+ printf("Kysoh 2007.\n");
+ printf("-----------------------------------\n");
+ }
- // ***********************************************************************
- // On_close_daemon
- // ***********************************************************************
- void
- on_close_daemon()
- {
- send_daemon_disconnected();
- printf("Daemon closed\n");
- exit(0);
- }
-
- // ***********************************************************************
- // Daemonizer
- // ***********************************************************************
- void
- daemonize(unsigned char shell_view)
- {
- pid_t pid,sid;
-
- pid=fork();
- switch(pid){
- case 0:
- break;
- case -1: //erreur
- exit(1);
- break;
- default :
- exit(0);
- }
- umask(0);
- sid=setsid();
- if(sid<0){
- perror("sid");
- exit(1);
- }
- if(chdir("/")<0){
- perror("chdir");
- exit(1);
- }
- DAEMON_PID=(unsigned short)getpid();
- printf("Daemon started : pid=%d\n",(int)getpid());
- // No shell
- if(!shell_view)
- {
- close(STDIN_FILENO);
- close(STDOUT_FILENO);
- close(STDERR_FILENO);
- }
- }
-
- // ***********************************************************************
- // Show usages of tux daemon
- // ***********************************************************************
- void
- usage()
- {
- printf("usage : tuxdaemon [options]\n");
- printf("options:\n");
- printf(" -d start in daemon mode\n");
- printf(" -v view in shell ( for daemon mode )\n");
- printf(" -st show the structure of the usb trames\n");
- printf(" -sr show all raw statutes\n");
- printf(" -si show only invalid raw statutes\n");
- printf(" -h show this usage list\n");
- }
+ // ***********************************************************************
+ // On_close_daemon
+ // ***********************************************************************
+ void
+ on_close_daemon()
+ {
+ send_daemon_disconnected();
+ printf("Daemon closed\n");
+ exit(0);
+ }
+
+ // ***********************************************************************
+ // Daemonizer
+ // ***********************************************************************
+ void
+ daemonize(unsigned char shell_view)
+ {
+ pid_t pid,sid;
+
+ pid=fork();
+ switch(pid){
+ case 0:
+ break;
+ case -1: //erreur
+ exit(1);
+ break;
+ default :
+ exit(0);
+ }
+ umask(0);
+ sid=setsid();
+ if(sid<0){
+ perror("sid");
+ exit(1);
+ }
+ if(chdir("/")<0){
+ perror("chdir");
+ exit(1);
+ }
+ DAEMON_PID=(unsigned short)getpid();
+ printf("Daemon started : pid=%d\n",(int)getpid());
+ // No shell
+ if(!shell_view)
+ {
+ close(STDIN_FILENO);
+ close(STDOUT_FILENO);
+ close(STDERR_FILENO);
+ }
+ }
+
+ // ***********************************************************************
+ // Show usages of tux daemon
+ // ***********************************************************************
+ void
+ usage()
+ {
+ printf("usage : tuxdaemon [options]\n");
+ printf("options:\n");
+ printf(" -d start in daemon mode\n");
+ printf(" -v view in shell ( for daemon mode )\n");
+ printf(" -st show the structure of the usb trames\n");
+ printf(" -sr show all raw statutes\n");
+ printf(" -si show only invalid raw statutes\n");
+ printf(" -h show this usage list\n");
+ }
- // ***********************************************************************
- // USBDaemon main function
- // ***********************************************************************
- int
- main(
- int argc,
- char *argv[]
- )
- {
- GMainLoop *loop;
- GThread *UsbThread;
- GThread *TcpThread;
- GError *error=NULL;
- unsigned char i;
- unsigned char shell_view;
- unsigned char daemonized;
-
- // Print daemon informations
- print_info_daemon();
- // Program arguments
- daemonized=0;
- shell_view=0;
- SHOW_TRAMES=0;
- SHOW_RAW_STATUS=0;
- SHOW_INVALID_RAW=0;
- if(argc>1){
- for(i=1;i<argc;i++){
- if(!strcmp("-v", argv[i]))
- shell_view=1;
- else if(!strcmp("-d", argv[i]))
- daemonized=1;
- else if(!strcmp("-st", argv[i]))
- SHOW_TRAMES=1;
- else if(!strcmp("-sr", argv[i]))
- SHOW_RAW_STATUS=1;
- else if(!strcmp("-si", argv[i]))
- SHOW_INVALID_RAW=1;
- else if(!strcmp("-h", argv[i])){
- usage();
- exit(1);
- }else{
- usage();
- exit(1);
- }
- }
- }
- if(daemonized)
- daemonize(shell_view);
- // On exiting
- signal(SIGINT, on_close_daemon);
- signal(SIGKILL, on_close_daemon);
- // Gestion Multithread
- if (!g_thread_supported()) {
- g_thread_init(NULL);
- }else{
- printf("g_thread NOT supported\n");
- return 1;
- }
-
- TUX_USB_STATUS=0;
- TUX_TCP_STATUS=0;
- CLOSE_DAEMON=0;
- last_remote_key=0xFF;
- last_toggle_key=0xFF;
- sound_flash_count=0;
-
- // Start USB task thread
- if ((UsbThread = g_thread_create((GThreadFunc)usb_start_task,NULL,TRUE,&error))== NULL ) {
- printf("Thread creation failed: %s \n",error->message);
- return 2;
- }
-
- // Start TCP task thread
- if ((TcpThread = g_thread_create((GThreadFunc)tcp_server_start_task,NULL,TRUE,&error))== NULL ) {
- printf("Thread creation failed: %s \n",error->message);
- return 2;
- }
- loop = g_main_loop_new(NULL,FALSE);
- g_main_loop_run(loop);
- return 0;
- }
+ // ***********************************************************************
+ // USBDaemon main function
+ // ***********************************************************************
+ int
+ main(
+ int argc,
+ char *argv[]
+ )
+ {
+ GMainLoop *loop;
+ GThread *UsbThread;
+ GThread *TcpThread;
+ GError *error=NULL;
+ unsigned char i;
+ unsigned char shell_view;
+ unsigned char daemonized;
+
+ // Print daemon informations
+ print_info_daemon();
+ // Program arguments
+ daemonized=0;
+ shell_view=0;
+ SHOW_TRAMES=0;
+ SHOW_RAW_STATUS=0;
+ SHOW_INVALID_RAW=0;
+ if(argc>1){
+ for(i=1;i<argc;i++){
+ if(!strcmp("-v", argv[i]))
+ shell_view=1;
+ else if(!strcmp("-d", argv[i]))
+ daemonized=1;
+ else if(!strcmp("-st", argv[i]))
+ SHOW_TRAMES=1;
+ else if(!strcmp("-sr", argv[i]))
+ SHOW_RAW_STATUS=1;
+ else if(!strcmp("-si", argv[i]))
+ SHOW_INVALID_RAW=1;
+ else if(!strcmp("-h", argv[i])){
+ usage();
+ exit(1);
+ }else{
+ usage();
+ exit(1);
+ }
+ }
+ }
+ if(daemonized)
+ daemonize(shell_view);
+ // On exiting
+ signal(SIGINT, on_close_daemon);
+ signal(SIGKILL, on_close_daemon);
+ // Gestion Multithread
+ if (!g_thread_supported()) {
+ g_thread_init(NULL);
+ }else{
+ printf("g_thread NOT supported\n");
+ return 1;
+ }
+
+ TUX_USB_STATUS=0;
+ TUX_TCP_STATUS=0;
+ CLOSE_DAEMON=0;
+ last_remote_key=0xFF;
+ last_toggle_key=0xFF;
+ sound_flash_count=0;
+
+ // Start USB task thread
+ if ((UsbThread = g_thread_create((GThreadFunc)usb_start_task,NULL,TRUE,&error))== NULL ) {
+ printf("Thread creation failed: %s \n",error->message);
+ return 2;
+ }
+
+ // Start TCP task thread
+ if ((TcpThread = g_thread_create((GThreadFunc)tcp_server_start_task,NULL,TRUE,&error))== NULL ) {
+ printf("Thread creation failed: %s \n",error->message);
+ return 2;
+ }
+ loop = g_main_loop_new(NULL,FALSE);
+ g_main_loop_run(loop);
+ return 0;
+ }
-
+
Modified: daemon/trunk/libs/USBDaemon_command_tux.c
===================================================================
--- daemon/trunk/libs/USBDaemon_command_tux.c 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/libs/USBDaemon_command_tux.c 2007-02-26 13:45:05 UTC (rev 80)
@@ -32,566 +32,621 @@
// ***************************************************************************
// COMMANDS FROM CLIENTS DISPATCHER
// ***************************************************************************
- void
- commands_dispatcher(
- unsigned char client_id, // Client source
- unsigned char src_trame[16] // Source trame
- )
- {
- unsigned char ACK_DP; // daemon processing ack
- unsigned char data[12]; // data part of source trame
- unsigned char result[12]; // result data to return
- unsigned char tcp_trame[16];// tcp trame to send
- unsigned char ack_dp_trame[16];
- unsigned char i;
-
+ void
+ commands_dispatcher(
+ unsigned char client_id, // Client source
+ unsigned char src_trame[16] // Source trame
+ )
+ {
+ unsigned char ACK_DP; // daemon processing ack
+ unsigned char data[12]; // data part of source trame
+ unsigned char result[12]; // result data to return
+ unsigned char tcp_trame[16];// tcp trame to send
+ unsigned char ack_dp_trame[16];
+ unsigned char i;
+ unsigned char no_ack;
+
- // Cut data part of source trame
- for(i=0;i<12;i++){
- result[i]=0;
- data[i]=src_trame[i+4];
- }
- // Make source header
- tcp_trame[0]=src_trame[0]; // return source
- tcp_trame[1]=src_trame[1]; // return sub source
-
- // -------------------- Data disencapsulation ----------------------//
- ACK_DP=ACK_DP_OK; // Init ACK daemon processing
- // B1 ---- : Destination
- switch(src_trame[0]){
- // To Master Daemon ----------------------------------------------
- case DEST_MASTER_DAEMON:
- // Not implemented
- ACK_DP=ACK_DP_NI;
- break;
- // To Sub Daemon -------------------------------------------------
- case DEST_SUB_DAEMON:
- // B3 ---- Data Type
- switch(src_trame[2]){
- // Data type command
- case DATA_TP_CMD:
- // B4 ---- Command type
- tcp_trame[2]=DATA_TP_ACK_CMD;
- tcp_trame[3]=src_trame[3];
- switch(src_trame[3]){
- // Command type raw
- case SUBDATA_TP_RAW:
- // Not implemented
- ACK_DP=ACK_DP_NI;
- break;
- // Command type structured
- case SUBDATA_TP_STRUCT:
- sub_daemon_cmd_struct(data,result,client_id);
- break;
- // Unknowed command type
- default:
- ACK_DP=ACK_DP_UKN_SUBDATA_TP;
- break;
- }
- break;
- // Data type request
- case DATA_TP_REQ:
- tcp_trame[2]=DATA_TP_RSP;
- tcp_trame[3]=src_trame[3];
- // B4 ---- Request type
- switch(src_trame[3]){
- // Request type status
- case SUBDATA_TP_STATUS:
- // Not implemented
- ACK_DP=ACK_DP_NI;
- break;
- // Request type information
- case SUBDATA_TP_INFO:
- sub_daemon_req_info(data,result,client_id);
- break;
- // Unknowed request type
- default:
- ACK_DP=ACK_DP_UKN_SUBDATA_TP;
- break;
- }
- break;
- // Unknowed data type
- default:
- ACK_DP=ACK_DP_UKN_DATA_TP;
- break;
- }
- break;
- // To Tux --------------------------------------------------------
- case DEST_TUX:
- // TODO sub destinations
- // B3 ---- Data Type
- switch(src_trame[2]){
- // Data type command
- case DATA_TP_CMD:
- tcp_trame[2]=DATA_TP_ACK_CMD;
- tcp_trame[3]=src_trame[3];
- // B4 ---- Command type
- switch(src_trame[3]){
- // Command type raw
- case SUBDATA_TP_RAW:
- tux_cmd_raw(data,result);
- break;
- // Command type structured
- case SUBDATA_TP_STRUCT:
- tux_cmd_struct(data,result);
- break;
- // Unknowed command type
- default:
- ACK_DP=ACK_DP_UKN_SUBDATA_TP;
- break;
- }
- break;
- // Data type request
- case DATA_TP_REQ:
- tcp_trame[2]=DATA_TP_RSP;
- tcp_trame[3]=src_trame[3];
- // B4 ---- Request type
- switch(src_trame[3]){
- // Request type status
- case SUBDATA_TP_STATUS:
- tux_req_status(data,result);
- break;
- // Request type information
- case SUBDATA_TP_INFO:
- tux_req_info(data,result);
- break;
- // Unknowed request type
- default:
- ACK_DP=ACK_DP_UKN_SUBDATA_TP;
- break;
- }
- break;
- // Unknowed data type
- default:
- ACK_DP=ACK_DP_UKN_DATA_TP;
- break;
- }
- break;
- // To Resource ---------------------------------------------------
- case DEST_RESOURCE:
- // Not implemented
- ACK_DP=ACK_DP_NI;
- break;
- // To Client -----------------------------------------------------
- case DEST_CLIENT:
- // Not implemented
- ACK_DP=ACK_DP_NI;
- break;
- // Unknowed destination ------------------------------------------
- default:
- ACK_DP=ACK_DP_UKN_DEST;
- break;
- }
-
- // Paste result treatement into tcp trame
- for(i=0;i<12;i++)
- tcp_trame[i+4]=result[i];
- // Send daemon processing ack to client
- for(i=0;i<16;i++)ack_dp_trame[i]=0;
- ack_dp_trame[0]=src_trame[0];
- ack_dp_trame[1]=src_trame[1];
- ack_dp_trame[2]=DATA_TP_ACK_DP;
- ack_dp_trame[3]=src_trame[3];
- ack_dp_trame[4]=ACK_DP;
- tcp_server_send_raw_to_client(client_id,ack_dp_trame, 16);
- // Send tcp trame to client
- if(ACK_DP==ACK_DP_OK){
- tcp_server_send_raw_to_client(client_id,tcp_trame, 16);
- }
- }
-
+ no_ack=0;
+ // Cut data part of source trame
+ for(i=0;i<12;i++){
+ result[i]=0;
+ data[i]=src_trame[i+4];
+ }
+ // Make source header
+ tcp_trame[0]=src_trame[0]; // return source
+ tcp_trame[1]=src_trame[1]; // return sub source
+
+ // -------------------- Data disencapsulation ----------------------//
+ ACK_DP=ACK_DP_OK; // Init ACK daemon processing
+ // B1 ---- : Destination
+ switch(src_trame[0]){
+ // To Master Daemon ----------------------------------------------
+ case DEST_MASTER_DAEMON:
+ // Not implemented
+ ACK_DP=ACK_DP_NI;
+ break;
+ // To Sub Daemon -------------------------------------------------
+ case DEST_SUB_DAEMON:
+ // B3 ---- Data Type
+ switch(src_trame[2]){
+ // Data type command
+ case DATA_TP_CMD:
+ // B4 ---- Command type
+ tcp_trame[2]=DATA_TP_ACK_CMD;
+ tcp_trame[3]=src_trame[3];
+ switch(src_trame[3]){
+ // Command type raw
+ case SUBDATA_TP_RAW:
+ // Not implemented
+ ACK_DP=ACK_DP_NI;
+ break;
+ // Command type structured
+ case SUBDATA_TP_STRUCT:
+ sub_daemon_cmd_struct(data,result,client_id);
+ if(result[0]==ACK_CMD_NO_ACK) no_ack=1;
+ break;
+ // Unknowed command type
+ default:
+ ACK_DP=ACK_DP_UKN_SUBDATA_TP;
+ break;
+ }
+ break;
+ // Data type request
+ case DATA_TP_REQ:
+ tcp_trame[2]=DATA_TP_RSP;
+ tcp_trame[3]=src_trame[3];
+ // B4 ---- Request type
+ switch(src_trame[3]){
+ // Request type status
+ case SUBDATA_TP_STATUS:
+ // Not implemented
+ ACK_DP=ACK_DP_NI;
+ break;
+ // Request type information
+ case SUBDATA_TP_INFO:
+ sub_daemon_req_info(data,result,client_id);
+ break;
+ // Unknowed request type
+ default:
+ ACK_DP=ACK_DP_UKN_SUBDATA_TP;
+ break;
+ }
+ break;
+ // Unknowed data type
+ default:
+ ACK_DP=ACK_DP_UKN_DATA_TP;
+ break;
+ }
+ break;
+ // To Tux --------------------------------------------------------
+ case DEST_TUX:
+ // TODO sub destinations
+ // B3 ---- Data Type
+ switch(src_trame[2]){
+ // Data type command
+ case DATA_TP_CMD:
+ tcp_trame[2]=DATA_TP_ACK_CMD;
+ tcp_trame[3]=src_trame[3];
+ // B4 ---- Command type
+ switch(src_trame[3]){
+ // Command type raw
+ case SUBDATA_TP_RAW:
+ tux_cmd_raw(data,result);
+ break;
+ // Command type structured
+ case SUBDATA_TP_STRUCT:
+ tux_cmd_struct(data,result);
+ break;
+ // Unknowed command type
+ default:
+ ACK_DP=ACK_DP_UKN_SUBDATA_TP;
+ break;
+ }
+ break;
+ // Data type request
+ case DATA_TP_REQ:
+ tcp_trame[2]=DATA_TP_RSP;
+ tcp_trame[3]=src_trame[3];
+ // B4 ---- Request type
+ switch(src_trame[3]){
+ // Request type status
+ case SUBDATA_TP_STATUS:
+ tux_req_status(data,result);
+ break;
+ // Request type information
+ case SUBDATA_TP_INFO:
+ tux_req_info(data,result);
+ break;
+ // Unknowed request type
+ default:
+ ACK_DP=ACK_DP_UKN_SUBDATA_TP;
+ break;
+ }
+ break;
+ // Unknowed data type
+ default:
+ ACK_DP=ACK_DP_UKN_DATA_TP;
+ break;
+ }
+ break;
+ // To Resource ---------------------------------------------------
+ case DEST_RESOURCE:
+ // Not implemented
+ ACK_DP=ACK_DP_NI;
+ break;
+ // To Client -----------------------------------------------------
+ case DEST_CLIENT:
+ // Not implemented
+ ACK_DP=ACK_DP_NI;
+ break;
+ // Unknowed destination ------------------------------------------
+ default:
+ ACK_DP=ACK_DP_UKN_DEST;
+ break;
+ }
+
+ // Paste result treatement into tcp trame
+ for(i=0;i<12;i++)
+ tcp_trame[i+4]=result[i];
+ // Send daemon processing ack to client
+ for(i=0;i<16;i++)ack_dp_trame[i]=0;
+ ack_dp_trame[0]=src_trame[0];
+ ack_dp_trame[1]=src_trame[1];
+ ack_dp_trame[2]=DATA_TP_ACK_DP;
+ ack_dp_trame[3]=src_trame[3];
+ ack_dp_trame[4]=ACK_DP;
+ if(!no_ack){
+ tcp_server_send_raw_to_client(client_id,ack_dp_trame, 16);
+ // Send tcp trame to client
+ if(ACK_DP==ACK_DP_OK){
+ tcp_server_send_raw_to_client(client_id,tcp_trame, 16);
+ }
+ }
+ }
+
// ***********************************************************************
// FOR Sub daemon
// ***********************************************************************
-
- // *******************************************************************
- // sub_daemon_cmd_struct()
- // *******************************************************************
- void
- sub_daemon_cmd_struct(
- unsigned char data[],
- unsigned char result[],
- int id_client
- )
- {
- unsigned char i;
-
- switch(data[0]){
- case SUB_D_CMD_STRUC_DISCONNECT_CLIENT:
- // Byte 2 equal id client to disconnect
- if (tcp_clients_handle[data[1]]!=0){
- tcp_clients_handle[data[1]]=0;
- tcp_clients_count--;
- printf("TCP socket : Client %d is disconnected\n",data[1]);
- result[0]=ACK_CMD_OK;
- }else{ // Bad id client
- result[0]=ACK_CMD_KO;
- }
- break;
- case SUB_D_CMD_STRUC_KILL_DAEMON:
- send_daemon_disconnected();
- result[0]=ACK_CMD_OK;
- exit(0);
- break;
- case SUB_D_CMD_STRUC_DEFINE_CLIENT_NAME:
- for(i=0;i<11;i++)
- tcp_clients_name[id_client][i]=data[i+1];
- result[0]=ACK_CMD_OK;
- printf("Name of client %d is %s\n",id_client,tcp_clients_name[id_client]);
- break;
- }
- }
-
- // ***********************************************************************
- // sub_daemon_req_info()
- // ***********************************************************************
- void
- sub_daemon_req_info(
- unsigned char data[],
- unsigned char result[],
- int id_client
- )
- {
- unsigned char i;
-
- result[0]=data[0];
- switch(data[0]){
- case SUB_D_REQ_INFO_VERSION:
- result[1]=VERSION_MAJOR;
- result[2]=VERSION_MINOR;
- result[3]=VERSION_RELEASE;
- break;
- case SUB_D_REQ_INFO_CLIENT_COUNT:
- result[1]=tcp_clients_count;
- break;
- case SUB_D_REQ_INFO_CLIENT_NAME:
- for(i=0;i<11;i++)
- result[i+1]=tcp_clients_name[data[1]][i];
- break;
- case SUB_D_REQ_INFO_MY_CLIENT_ID:
- result[1]=id_client;
- break;
- case SUB_D_REQ_INFO_PID:
- result[1]=(DAEMON_PID && 0xFF00)>>8;
- result[2]=(DAEMON_PID && 0x00FF);
- break;
- }
- }
-
+
+ // *******************************************************************
+ // sub_daemon_cmd_struct()
+ // *******************************************************************
+ void
+ sub_daemon_cmd_struct(
+ unsigned char data[],
+ unsigned char result[],
+ int id_client
+ )
+ {
+ unsigned char i;
+ int my_client_handle;
+
+ switch(data[0]){
+ case SUB_D_CMD_STRUC_DISCONNECT_CLIENT:
+ pthread_mutex_lock(&tcp_mutex);
+ // Byte 2 equal id client to disconnect
+ if (tcp_clients_handle[data[1]]!=0){
+ tcp_clients_handle[data[1]]=0;
+ tcp_clients_count--;
+ printf("TCP socket : Client %d is disconnected\n",data[1]);
+ result[0]=ACK_CMD_OK;
+ }else{ // Bad id client
+ result[0]=ACK_CMD_KO;
+ }
+ pthread_mutex_unlock(&tcp_mutex);
+ break;
+ case SUB_D_CMD_STRUC_DISCONNECT_CLIENT_ME:
+ pthread_mutex_lock(&tcp_mutex);
+ my_client_handle=tcp_clients_handle[id_client];
+ tcp_clients_handle[id_client]=0;
+ tcp_clients_count--;
+ printf("TCP socket : Client %d is disconnected\n",id_client);
+ close(my_client_handle);
+ result[0]=ACK_CMD_NO_ACK;
+ pthread_mutex_unlock(&tcp_mutex);
+ break;
+ case SUB_D_CMD_STRUC_KILL_DAEMON:
+ printf("WARNING : daemon killed by user\n");
+ send_daemon_disconnected();
+ result[0]=ACK_CMD_OK;
+ exit(0);
+ break;
+ case SUB_D_CMD_STRUC_DEFINE_CLIENT_NAME:
+ for(i=0;i<11;i++)
+ tcp_clients_name[id_client][i]=data[i+1];
+ result[0]=ACK_CMD_OK;
+ printf("Name of client %d is %s\n",id_client,tcp_clients_name[id_client]);
+ break;
+ }
+ }
+
+ // ***********************************************************************
+ // sub_daemon_req_info()
+ // ***********************************************************************
+ void
+ sub_daemon_req_info(
+ unsigned char data[],
+ unsigned char result[],
+ int id_client
+ )
+ {
+ unsigned char i;
+
+ result[0]=data[0];
+ switch(data[0]){
+ case SUB_D_REQ_INFO_VERSION:
+ result[1]=VERSION_MAJOR;
+ result[2]=VERSION_MINOR;
+ result[3]=VERSION_RELEASE;
+ break;
+ case SUB_D_REQ_INFO_CLIENT_COUNT:
+ result[1]=tcp_clients_count;
+ break;
+ case SUB_D_REQ_INFO_CLIENT_NAME:
+ for(i=0;i<11;i++)
+ result[i+1]=tcp_clients_name[data[1]][i];
+ break;
+ case SUB_D_REQ_INFO_MY_CLIENT_ID:
+ result[1]=id_client;
+ break;
+ case SUB_D_REQ_INFO_PID:
+ result[1]=(DAEMON_PID && 0xFF00)>>8;
+ result[2]=(DAEMON_PID && 0x00FF);
+ break;
+ }
+ }
+
// ***************************************************************************
// FOR Tux droid
// ***************************************************************************
-
- // ***********************************************************************
- // tux_cmd_raw()
- // ***********************************************************************
- void
- tux_cmd_raw(
- unsigned char data[],
- unsigned char result[]
- )
- {
- unsigned char usb_send[5];
- unsigned char i;
-
- usb_send[0]=0;
- for(i=1;i<5;i++)
- usb_send[i]=data[i-1];
- result[0]=usb_write_TuxDroid(usb_send);
- }
-
- // ***********************************************************************
- // tux_cmd_struct()
- // ***********************************************************************
- void
- tux_cmd_struct(
- unsigned char data[],
- unsigned char result[]
- )
- {
- unsigned char ACK;
-
- // Command type
- switch(data[0]){
- case TUX_CMD_STRUCT_EYES:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(BLINK_EYES_CMD,data[2],0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(STOP_EYES_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_MOUTH:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(MOVE_MOUTH_CMD,data[2],0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(STOP_MOUTH_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_WINGS:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(WAVE_WINGS_CMD,data[2],data[3],0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(STOP_WINGS_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_SPINL:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(SPIN_LEFT_CMD,data[2],data[3],0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(STOP_SPIN_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_SPINR:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(SPIN_RIGHT_CMD,data[2],data[3],0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(STOP_SPIN_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_IR:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(TURN_IR_ON_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(TURN_IR_OFF_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_SEND:
- ACK=send_usb_tux_cmd(IR_SEND_RC5_CMD,data[2],data[3],0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_LEDS:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(LED_ON_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(LED_OFF_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_BLINK:
- ACK=send_usb_tux_cmd(LED_BLINK_CMD,data[2],data[3],0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_LEDL:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(LED_L_ON_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(LED_L_OFF_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_LEDR:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(LED_R_ON_CMD,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(LED_R_OFF_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_SOUND:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_PLAY:
- ACK=send_usb_tux_cmd(PLAY_SOUND_CMD,data[2],data[3],0);
- break;
- case TUX_CMD_STRUCT_SUB_STORING:
- ACK=send_usb_tux_cmd(STORE_SOUND_CMD,data[2],0,0);
- break;
- case TUX_CMD_STRUCT_SUB_STORE_INDEX:
- ACK=send_usb_tux_cmd(STORE_INDEX_CMD,data[2],data[3],data[4]);
- break;
- case TUX_CMD_STRUCT_SUB_TEST:
- ACK=send_usb_tux_cmd(TEST_SOUND_CMD,0,0,0);
- break;
- }
- break;
- case TUX_CMD_STRUCT_PING:
- pong_received=0;
- ACK=send_usb_tux_cmd(PING_CMD,data[2],0,0);
- break;
- case TUX_CMD_STRUCT_SLEEP:
- switch(data[1]){
- case TUX_CMD_STRUCT_SUB_ON:
- ACK=send_usb_tux_cmd(0x20,0,0,0);
- break;
- case TUX_CMD_STRUCT_SUB_OFF:
- ACK=send_usb_tux_cmd(0x21,0,0,0);
- break;
- }
- break;
- }
- result[0]=ACK;
- }
-
- // ***********************************************************************
- // tux_req_status()
- // ***********************************************************************
- void
- tux_req_status(
- unsigned char data[],
- unsigned char result[]
- )
- {
- result[0]=data[0];
- switch(data[0]){
- case DATA_STATUS_WINGS_MOTOR_BACKWARD:
- if (portb.bits.PB0){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_SPIN_MOTOR_BACKWARD:
- if (portb.bits.PB1){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_SPIN_MOTOR_FORWARD:
- if (portb.bits.PB2){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_MOUTH_OPEN_POSITION:
- if (portb.bits.PB3){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_MOUTH_CLOSED_POSITION:
- if (portb.bits.PB4){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_HEAD_PUSH_POSITION:
- if (portb.bits.PB5){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_CHARGER_INHIBIT_SIGNAL:
- result[0]=DATA_STATUS_CHARGER_INHIBIT_SIGNAL;
- if (portb.bits.PB6){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_WINGS_POSITION_SWITCH:
- if (portc.bits.PB0){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_MOTOR_FOR_WINGS:
- if (portc.bits.PB1){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_LEFT_BLUE_LED:
- if (portc.bits.PB2){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_HEAD_MOTOR_FOR_MOUTH:
- if (portd.bits.PB1){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_HEAD_MOTOR_FOR_EYES:
- result[0]=DATA_STATUS_HEAD_MOTOR_FOR_EYES;
- if (portd.bits.PB0){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_SPIN_POSITION_SWITCH:
- if (portd.bits.PB3){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_WINGS_MOTOR_FORWARD:
- result[0]=DATA_STATUS_WINGS_MOTOR_FORWARD;
- if (portd.bits.PB4){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_IR_LED:
- if (portd.bits.PB5){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_EYES_OPEN_POSITION_SWITCH:
- if (portd.bits.PB6){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_EYES_CLOSED_POSITION_SWITCH:
- if (portd.bits.PB7){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_LEFT_WING_PUSH:
- if (sensors1.bits.PB0){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_RIGHT_WING_PUSH:
- if (sensors1.bits.PB1){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_POWER_PLUG_SWITCH:
- if (sensors1.bits.PB2){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_HEAD_PUSH_SWITCH:
- if (sensors1.bits.PB3){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_CHARGER_LED_STATUS:
- if (sensors1.bits.PB4){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_MUTE_STATUS:
- if (sensors1.bits.PB7){result[1]=1;}else{result[1]=0;}
- break;
- case DATA_STATUS_LIGHT_LEVEL:
- result[1]=sensors2.level_light_high.Byte;
- result[2]=sensors2.level_light_low.Byte;
- result[3]=sensors2.light_mode.Byte;
- break;
- case DATA_STATUS_EYES_POSITION_COUNTER:
- result[1]=position1.eyes_position.Byte;
- break;
- case DATA_STATUS_MOUTH_POSITION_COUNTER:
- result[1]=position1.mouth_position.Byte;
- break;
- case DATA_STATUS_WINGS_POSITION_COUNTER:
- result[1]=position1.wings_position.Byte;
- break;
- case DATA_STATUS_SPIN_POSITION_COUNTER:
- result[1]=position2.Byte;
- break;
- case DATA_STATUS_RF_CONNECTED:
- result[1]=RF_status;
- break;
- case DATA_STATUS_SOUND_COUNT:
- result[1]=sound_flash_count;
- break;
- }
- }
-
- // ***********************************************************************
- // tux_req_info()
- // ***********************************************************************
- void
- tux_req_info(
- unsigned char data[],
- unsigned char result[]
- )
- {
- result[0]=data[0];
- switch(data[0]){
- case TUX_REQ_INFO_VERSION:
- result[1]=hw_version[data[1]].ver_major;
- result[2]=hw_version[data[1]].ver_minor;
- result[3]=hw_version[data[1]].ver_update;
- result[4]=(unsigned char)((hw_revision[data[1]].revision)&0xFF00)>>8;
- result[5]=(unsigned char)(hw_revision[data[1]].revision)&0x00FF;
- result[6]=(unsigned char)((hw_author[data[1]].author_id)&0xFF00)>>8;
- result[7]=(unsigned char)(hw_author[data[1]].author_id)&0x00FF;
- break;
- }
- }
+
+ // ***********************************************************************
+ // tux_cmd_raw()
+ // ***********************************************************************
+ void
+ tux_cmd_raw(
+ unsigned char data[],
+ unsigned char result[]
+ )
+ {
+ unsigned char usb_send[5];
+ unsigned char i;
+
+ usb_send[0]=0;
+ for(i=1;i<5;i++)
+ usb_send[i]=data[i-1];
+ result[0]=usb_write_TuxDroid(usb_send);
+ }
+
+ // ***********************************************************************
+ // tux_cmd_struct()
+ // ***********************************************************************
+ void
+ tux_cmd_struct(
+ unsigned char data[],
+ unsigned char result[]
+ )
+ {
+ unsigned char ACK;
+
+ // Command type
+ switch(data[0]){
+ case TUX_CMD_STRUCT_EYES:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(BLINK_EYES_CMD,data[2],0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(STOP_EYES_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_MOUTH:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(MOVE_MOUTH_CMD,data[2],0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(STOP_MOUTH_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_WINGS:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(WAVE_WINGS_CMD,data[2],data[3],0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(STOP_WINGS_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_SPINL:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(SPIN_LEFT_CMD,data[2],data[3],0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(STOP_SPIN_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_SPINR:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(SPIN_RIGHT_CMD,data[2],data[3],0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(STOP_SPIN_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_IR:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(TURN_IR_ON_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(TURN_IR_OFF_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_SEND:
+ ACK=send_usb_tux_cmd(IR_SEND_RC5_CMD,data[2],data[3],0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_LEDS:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(LED_ON_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(LED_OFF_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_BLINK:
+ ACK=send_usb_tux_cmd(LED_BLINK_CMD,data[2],data[3],0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_LEDL:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(LED_L_ON_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(LED_L_OFF_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_LEDR:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(LED_R_ON_CMD,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(LED_R_OFF_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_SOUND:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_PLAY:
+ ACK=send_usb_tux_cmd(PLAY_SOUND_CMD,data[2],data[3],0);
+ break;
+ case TUX_CMD_STRUCT_SUB_STORING:
+ ACK=send_usb_tux_cmd(STORE_SOUND_CMD,data[2],0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_STORE_INDEX:
+ ACK=send_usb_tux_cmd(STORE_INDEX_CMD,data[2],data[3],data[4]);
+ break;
+ case TUX_CMD_STRUCT_SUB_TEST:
+ ACK=send_usb_tux_cmd(TEST_SOUND_CMD,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_PING:
+ pong_received=0;
+ ACK=send_usb_tux_cmd(PING_CMD,data[2],0,0);
+ break;
+ case TUX_CMD_STRUCT_SLEEP:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_ON:
+ ACK=send_usb_tux_cmd(0x20,0,0,0);
+ break;
+ case TUX_CMD_STRUCT_SUB_OFF:
+ ACK=send_usb_tux_cmd(0x21,0,0,0);
+ break;
+ }
+ break;
+ case TUX_CMD_STRUCT_AUDIO_CHANNEL:
+ switch(data[1]){
+ case TUX_CMD_STRUCT_SUB_CH_GENERAL:
+ if(current_audio_channel!=0){
+ ACK=send_usb_dongle_cmd(0x02,0,0,0);
+ current_audio_channel=0;
+ }else
+ ACK=ACK_CMD_OK;
+ break;
+ case TUX_CMD_STRUCT_SUB_CH_TTS:
+ if(current_audio_channel!=1){
+ ACK=send_usb_dongle_cmd(0x02,1,0,0);
+ current_audio_channel=1;
+ }else
+ ACK=ACK_CMD_OK;
+ break;
+ }
+ break;
+ }
+ result[0]=ACK;
+ }
+
+ // ***********************************************************************
+ // tux_req_status()
+ // ***********************************************************************
+ void
+ tux_req_status(
+ unsigned char data[],
+ unsigned char result[]
+ )
+ {
+ result[0]=data[0];
+ switch(data[0]){
+ case DATA_STATUS_WINGS_MOTOR_BACKWARD:
+ if (portb.bits.PB0){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_SPIN_MOTOR_BACKWARD:
+ if (portb.bits.PB1){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_SPIN_MOTOR_FORWARD:
+ if (portb.bits.PB2){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_MOUTH_OPEN_POSITION:
+ if (portb.bits.PB3){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_MOUTH_CLOSED_POSITION:
+ if (portb.bits.PB4){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_HEAD_PUSH_POSITION:
+ if (portb.bits.PB5){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_CHARGER_INHIBIT_SIGNAL:
+ result[0]=DATA_STATUS_CHARGER_INHIBIT_SIGNAL;
+ if (portb.bits.PB6){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_WINGS_POSITION_SWITCH:
+ if (portc.bits.PB0){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_MOTOR_FOR_WINGS:
+ if (portc.bits.PB1){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_LEFT_BLUE_LED:
+ if (portc.bits.PB2){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_HEAD_MOTOR_FOR_MOUTH:
+ if (portd.bits.PB1){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_HEAD_MOTOR_FOR_EYES:
+ result[0]=DATA_STATUS_HEAD_MOTOR_FOR_EYES;
+ if (portd.bits.PB0){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_SPIN_POSITION_SWITCH:
+ if (portd.bits.PB3){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_WINGS_MOTOR_FORWARD:
+ result[0]=DATA_STATUS_WINGS_MOTOR_FORWARD;
+ if (portd.bits.PB4){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_IR_LED:
+ if (portd.bits.PB5){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_EYES_OPEN_POSITION_SWITCH:
+ if (portd.bits.PB6){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_EYES_CLOSED_POSITION_SWITCH:
+ if (portd.bits.PB7){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_LEFT_WING_PUSH:
+ if (sensors1.bits.PB0){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_RIGHT_WING_PUSH:
+ if (sensors1.bits.PB1){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_POWER_PLUG_SWITCH:
+ if (sensors1.bits.PB2){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_HEAD_PUSH_SWITCH:
+ if (sensors1.bits.PB3){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_CHARGER_LED_STATUS:
+ if (sensors1.bits.PB4){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_MUTE_STATUS:
+ if (sensors1.bits.PB7){result[1]=1;}else{result[1]=0;}
+ break;
+ case DATA_STATUS_LIGHT_LEVEL:
+ result[1]=sensors2.level_light_high.Byte;
+ result[2]=sensors2.level_light_low.Byte;
+ result[3]=sensors2.light_mode.Byte;
+ break;
+ case DATA_STATUS_EYES_POSITION_COUNTER:
+ result[1]=position1.eyes_position.Byte;
+ break;
+ case DATA_STATUS_MOUTH_POSITION_COUNTER:
+ result[1]=position1.mouth_position.Byte;
+ break;
+ case DATA_STATUS_WINGS_POSITION_COUNTER:
+ result[1]=position1.wings_position.Byte;
+ break;
+ case DATA_STATUS_SPIN_POSITION_COUNTER:
+ result[1]=position2.Byte;
+ break;
+ case DATA_STATUS_RF_CONNECTED:
+ result[1]=RF_status;
+ break;
+ case DATA_STATUS_SOUND_COUNT:
+ result[1]=sound_flash_count;
+ break;
+ }
+ }
+
+ // ***********************************************************************
+ // tux_req_info()
+ // ***********************************************************************
+ void
+ tux_req_info(
+ unsigned char data[],
+ unsigned char result[]
+ )
+ {
+ result[0]=data[0];
+ switch(data[0]){
+ case TUX_REQ_INFO_VERSION:
+ result[1]=hw_version[data[1]].ver_major;
+ result[2]=hw_version[data[1]].ver_minor;
+ result[3]=hw_version[data[1]].ver_update;
+ result[4]=(unsigned char)((hw_revision[data[1]].revision)&0xFF00)>>8;
+ result[5]=(unsigned char)(hw_revision[data[1]].revision)&0x00FF;
+ result[6]=(unsigned char)((hw_author[data[1]].author_id)&0xFF00)>>8;
+ result[7]=(unsigned char)(hw_author[data[1]].author_id)&0x00FF;
+ break;
+ }
+ }
// ***************************************************************************
// TUX USB
// ***************************************************************************
- // ***********************************************************************
- // send_usb_tuxcmd()
- // ***********************************************************************
- unsigned char send_usb_tux_cmd(
- unsigned char cmd,
- unsigned char param1,
- unsigned char param2,
- unsigned char param3
- )
- {
- unsigned char usb_trame[TUX_SEND_LENGTH];
-
- usb_trame[0]=0;
- usb_trame[1]=cmd;
- usb_trame[2]=param1; usb_trame[3]=param2; usb_trame[4]=param3;
- return usb_write_TuxDroid(usb_trame);
- }
+ // ***********************************************************************
+ // send_usb_tuxcmd()
+ // ***********************************************************************
+ unsigned char send_usb_tux_cmd(
+ unsigned char cmd,
+ unsigned char param1,
+ unsigned char param2,
+ unsigned char param3
+ )
+ {
+ unsigned char usb_trame[TUX_SEND_LENGTH];
+
+ usb_trame[0]=0;
+ usb_trame[1]=cmd;
+ usb_trame[2]=param1; usb_trame[3]=param2; usb_trame[4]=param3;
+ return usb_write_TuxDroid(usb_trame);
+ }
+
+ // ***********************************************************************
+ // send_usb_donglecmd()
+ // ***********************************************************************
+ unsigned char send_usb_dongle_cmd(
+ unsigned char cmd,
+ unsigned char param1,
+ unsigned char param2,
+ unsigned char param3
+ )
+ {
+ unsigned char usb_trame[TUX_SEND_LENGTH];
+
+ usb_trame[0]=1;
+ usb_trame[1]=cmd;
+ usb_trame[2]=param1; usb_trame[3]=param2; usb_trame[4]=param3;
+ return usb_write_TuxDroid(usb_trame);
+ }
Modified: daemon/trunk/libs/USBDaemon_command_tux.h
===================================================================
--- daemon/trunk/libs/USBDaemon_command_tux.h 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/libs/USBDaemon_command_tux.h 2007-02-26 13:45:05 UTC (rev 80)
@@ -31,6 +31,7 @@
void tux_req_info(unsigned char data[],unsigned char result[]);
// TUX PHYSICAL CHANGES
unsigned char send_usb_tux_cmd(unsigned char cmd, unsigned char param1,unsigned char param2,unsigned char param3);
+unsigned char send_usb_dongle_cmd(unsigned char cmd, unsigned char param1,unsigned char param2,unsigned char param3);
unsigned char send_wave_wings(unsigned char count, unsigned char speed);
unsigned char send_stop_wings();
unsigned char send_blink_eyes(unsigned char count);
Modified: daemon/trunk/libs/USBDaemon_globals.h
===================================================================
--- daemon/trunk/libs/USBDaemon_globals.h 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/libs/USBDaemon_globals.h 2007-02-26 13:45:05 UTC (rev 80)
@@ -20,20 +20,21 @@
/* $Id$ */
/*_____________________ I N C L U D E S____________________________________ */
#include <usb.h>
+#include <pthread.h>
/*_____________________ D E F I N E S ______________________________________*/
-#define VERSION_MAJOR 0
-#define VERSION_MINOR 1
-#define VERSION_RELEASE 5
-#define TUX_PID 0xFF07 // Product ID
-#define TUX_VID 0x03EB // Vendor ID
-#define TUX_INTERFACE 0x03
-#define TUX_INTERFACECONFIG 0x01
-#define TUX_RECV_LENGTH 0x05
-#define TUX_SEND_LENGTH 0x05
-#define TUX_WRITE_EP 0x05
-#define TUX_READ_EP 0x84
-#define TUX_WRITE_TIMEOUT 1000
-#define TUX_READ_TIMEOUT 1000
+#define VERSION_MAJOR 0
+#define VERSION_MINOR 1
+#define VERSION_RELEASE 7
+#define TUX_PID 0xFF07 // Product ID
+#define TUX_VID 0x03EB // Vendor ID
+#define TUX_INTERFACE 0x03
+#define TUX_INTERFACECONFIG 0x01
+#define TUX_RECV_LENGTH 0x05
+#define TUX_SEND_LENGTH 0x05
+#define TUX_WRITE_EP 0x05
+#define TUX_READ_EP 0x84
+#define TUX_WRITE_TIMEOUT 1000
+#define TUX_READ_TIMEOUT 1000
/*_____________________ G L O B A L S _ V A R I A B L E S _______________________*/
usb_dev_handle *handle;
struct usb_device* device;
Modified: daemon/trunk/libs/USBDaemon_status_table.c
===================================================================
--- daemon/trunk/libs/USBDaemon_status_table.c 2007-02-22 00:21:22 UTC (rev 79)
+++ daemon/trunk/libs/USBDaemon_status_table.c 2007-02-26 13:45:05 UTC (rev 80)
@@ -28,677 +28,678 @@
unsigned char pong_received;
/*_____________________ F U N C T I O N S __________________________________*/
- // ***********************************************************************
- // update_raw_status_table()
- // ***********************************************************************
- void
- update_raw_status_table(
- unsigned char new_status[TUX_RECV_LENGTH]
- )
- {
- switch(new_status[0]){
- case STATUS_PORTS_CMD:
- if(portb.Byte!=new_status[1]) portb_changed(new_status[1]);
- if(portc.Byte!=new_status[2]) portc_changed(new_status[2]);
- if(portd.Byte!=new_status[3]) portd_changed(new_status[3]);
- break;
- case STATUS_SENSORS1_CMD:
- if(sensors1.Byte!=new_status[1]) sensors1_changed(new_status[1]);
- break;
- case STATUS_LIGHT_CMD:
- if((sensors2.level_light_high.Byte!=new_status[1]) || (sensors2.level_light_low.Byte!=new_status[2]) ) sensors2_changed(new_status[1],new_status[2],new_status[3]);
- break;
- case STATUS_POSITION1_CMD:
- if((position1.eyes_position.Byte!=new_status[1])||(position1.mouth_position.Byte!=new_status[2])||(position1.wings_position.Byte!=new_status[3])) position1_changed(new_status[1], new_status[2], new_status[3]);
- break;
- case STATUS_POSITION2_CMD:
- if(position2.Byte!=new_status[1]) position2_changed(new_status[1]);
- break;
- case PONG_CMD:
- pong_received++;
- pong_event(new_status[1],pong_received);
- break;
- case VERSION_CMD:
- update_version_table(new_status);
- break;
- case REVISION_CMD:
- update_revision_table(new_status);
- break;
- case AUTHOR_CMD:
- update_author_table(new_status);
- break;
- case SOUND_VAR_CMD:
- update_sound_flash_count(new_status);
- break;
- case STATUS_IR_CMD:
- update_ir(new_status);
- break;
- default:
- if(SHOW_INVALID_RAW)
- printf("%.2x %.2x %.2x %.2x\n", new_status[0],new_status[1],new_status[2],new_status[3]);
- break;
- }
- }
-
- // ***********************************************************************
- // update_system_status_table()
- // ***********************************************************************
- void
- update_system_status_table(
- unsigned char new_status[4]
- )
- {
- unsigned char tcp_trame[16];
- unsigned char i;
-
- for(i=0;i<16;i++)tcp_trame[i]=0;
- tcp_trame[0]=SOURCE_TUX;
- tcp_trame[1]=SS_DEFAULT;
- tcp_trame[2]=DATA_TP_RSP;
- tcp_trame[3]=SUBDATA_TP_STATUS;
-
- DONGLE_status=new_status[0];
- //RF status change
- if(RF_status!=new_status[1]){
- RF_status=new_status[1];
- tcp_trame[4]=DATA_STATUS_RF_CONNECTED;
- tcp_trame[5]=RF_status;
- tcp_server_send_raw(tcp_trame, 16);
- }
- // Command status change
- if(CMD_status!=new_status[2]){
- CMD_status=new_status[2];
- if((CMD_status==2)||(CMD_status==3))
- CMD_STATUS_FLAG=0;
- }
- NUMBER_trames=new_status[3];
- }
-
- // ***********************************************************************
- // update_version_table()
- // ***********************************************************************
- void
- update_version_table(
- unsigned char new_status[4]
- )
- {
- unsigned long tmp;
- version_t *hw_ver;
-
- tmp=(new_status[3] << 24)+(new_status[2] << 16)+
- (new_status[1] << 8)+(new_status[0]);
- hw_ver=(version_t *)&tmp;
- last_cpu_ver=hw_ver->cpu_nbr;
- hw_version[last_cpu_ver]=*hw_ver;
- }
-
- // ***********************************************************************
- // update_revision_table()
- // ***********************************************************************
- void
- update_revision_table(
- unsigned char new_status[4]
- )
- {
- unsigned long tmp;
- revision_t *hw_rev;
-
- tmp=(new_sta...
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