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//Copyright 2016 <>< C. N. Lohr, FULLY Under MIT/x11 License.
//All MIT/x11 Licensed Code in this file may be relicensed freely under the GPL or LGPL licenses.
#include <survive.h>
#include "survive_internal.h"
#include "survive_driverman.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <zlib.h>
static void survivefault( struct SurviveContext * ctx, const char * fault )
{
fprintf( stderr, "Error: %s\n", fault );
exit( -1 );
}
static void survivenote( struct SurviveContext * ctx, const char * fault )
{
fprintf( stderr, "Info: %s\n", fault );
}
struct SurviveContext * survive_init( int headless )
{
int r = 0;
int i = 0;
struct SurviveContext * ctx = calloc( 1, sizeof( struct SurviveContext ) );
ctx->faultfunction = survivefault;
ctx->notefunction = survivenote;
ctx->lightproc = survive_default_light_process;
ctx->imuproc = survive_default_imu_process;
ctx->angleproc = survive_default_angle_process;
const char * DriverName;
while( ( DriverName = GetDriverNameMatching( "DriverReg", i++ ) ) )
{
DeviceDriver dd = GetDriver( DriverName );
printf( "Loading driver %s (%p) (%d)\n", DriverName, dd, i );
r = dd( ctx );
printf( "Driver %s reports status %d\n", DriverName, r );
}
return ctx;
}
void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp )
{
if( fbp )
ctx->notefunction = fbp;
else
ctx->notefunction = survivenote;
}
void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp )
{
if( fbp )
ctx->faultfunction = fbp;
else
ctx->faultfunction = survivefault;
}
void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp )
{
if( fbp )
ctx->lightproc = fbp;
else
ctx->lightproc = survive_default_light_process;
}
void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp )
{
if( fbp )
ctx->imuproc = fbp;
else
ctx->imuproc = survive_default_imu_process;
}
void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func fbp )
{
if( fbp )
ctx->angleproc = fbp;
else
ctx->angleproc = survive_default_angle_process;
}
int survive_add_object( struct SurviveContext * ctx, struct SurviveObject * obj )
{
int oldct = ctx->objs_ct;
ctx->objs = realloc( ctx->objs, sizeof( struct SurviveObject * ) * (oldct+1) );
ctx->objs[oldct] = obj;
ctx->objs_ct = oldct+1;
}
void survive_add_driver( struct SurviveContext * ctx, void * payload, DeviceDriverCb poll, DeviceDriverCb close, DeviceDriverMagicCb magic )
{
int oldct = ctx->driver_ct;
ctx->drivers = realloc( ctx->drivers, sizeof( void * ) * (oldct+1) );
ctx->driverpolls = realloc( ctx->driverpolls, sizeof( DeviceDriverCb * ) * (oldct+1) );
ctx->drivercloses = realloc( ctx->drivercloses, sizeof( DeviceDriverCb * ) * (oldct+1) );
ctx->drivermagics = realloc( ctx->drivermagics, sizeof( DeviceDriverMagicCb * ) * (oldct+1) );
ctx->drivers[oldct] = payload;
ctx->driverpolls[oldct] = poll;
ctx->drivercloses[oldct] = close;
ctx->drivermagics[oldct] = magic;
ctx->driver_ct = oldct+1;
}
int survive_send_magic( struct SurviveContext * ctx, int magic_code, void * data, int datalen )
{
int oldct = ctx->driver_ct;
int i;
for( i = 0; i < oldct; i++ )
{
ctx->drivermagics[i]( ctx, ctx->drivers[i], magic_code, data, datalen );
}
}
void survive_close( struct SurviveContext * ctx )
{
const char * DriverName;
int r = 0;
while( ( DriverName = GetDriverNameMatching( "DriverUnreg", r++ ) ) )
{
DeviceDriver dd = GetDriver( DriverName );
SV_INFO( "De-registering driver %s (%p)", DriverName, dd );
r = dd( ctx );
SV_INFO( "Driver %s reports status %d", DriverName, r );
}
int oldct = ctx->driver_ct;
int i;
for( i = 0; i < oldct; i++ )
{
ctx->drivercloses[i]( ctx, ctx->drivers[i] );
}
free( ctx->objs );
free( ctx->drivers );
free( ctx->driverpolls );
free( ctx->drivermagics );
free( ctx->drivercloses );
free( ctx );
}
int survive_poll( struct SurviveContext * ctx )
{
int oldct = ctx->driver_ct;
int i, r;
for( i = 0; i < oldct; i++ )
{
r = ctx->driverpolls[i]( ctx, ctx->drivers[i] );
if( r ) return r;
}
return 0;
}
int survive_simple_inflate( struct SurviveContext * ctx, const char * input, int inlen, char * output, int outlen )
{
z_stream zs; //Zlib stream. May only be used by configuration at beginning and by USB thread periodically.
memset( &zs, 0, sizeof( zs ) );
inflateInit( &zs ); ///Consider checking error
//XXX: Todo: If we find that this is not useful past the beginning (nix this here and move into the configuration getter)
zs.avail_in = inlen;
zs.next_in = (z_const Bytef *)input;
zs.avail_out = outlen;
zs.next_out = output;
if( inflate( &zs, Z_FINISH) != Z_STREAM_END )
{
SV_INFO("survive_simple_inflate could not inflate." );
return -1;
}
int len = zs.total_out;
inflateEnd( &zs );
return len;
}
struct SurviveObject * survive_get_so_by_name( struct SurviveContext * ctx, const char * name )
{
int i;
for( i = 0; i < ctx->objs_ct; i++ )
{
if( strcmp( ctx->objs[i]->codename, name ) == 0 )
return ctx->objs[i];
}
return 0;
}
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