ref: 44ce0097b612a1fefd754065bdf8d9d2e5ef60c8
dir: /appl/demo/camera/camera.b/
implement Camera;
include "sys.m";
sys : Sys;
include "daytime.m";
daytime: Daytime;
include "styx.m";
styx: Styx;
Rmsg, Tmsg: import styx;
include "styxservers.m";
styxservers: Styxservers;
Fid, Navigator, Navop: import styxservers;
Styxserver, Eexists, Eperm, Ebadfid, Enotdir, Enotfound, Ebadarg: import styxservers;
nametree: Nametree;
Tree: import nametree;
include "string.m";
str : String;
include "draw.m";
include "arg.m";
Camera : module {
init : fn (nil : ref Draw->Context, argv : list of string);
};
cdp_get_product_info: con 16r01;
cdp_get_image_specifications: con 16r02;
cdp_get_camera_status: con 16r03;
cdp_set_product_info: con 16r05;
cdp_get_camera_capabilities: con 16r10;
cdp_get_camera_state: con 16r11;
cdp_set_camera_state: con 16r12;
cdp_get_camera_defaults: con 16r13;
cdp_set_camera_defaults: con 16r14;
cdp_restore_camera_states: con 16r15;
cdp_get_scene_analysis: con 16r18;
cdp_get_power_mode: con 16r19;
cdp_set_power_mode: con 16r1a;
cdp_get_s1_mode: con 16r1d;
cdp_set_s1_mode: con 16r1e;
cdp_start_capture: con 16r30;
cdp_get_file_list: con 16r40;
cdp_get_new_file_list: con 16r41;
cdp_get_file_data: con 16r42;
cdp_erase_file: con 16r43;
cdp_get_storage_status: con 16r44;
cdp_set_file_data: con 16r47;
cdp_get_file_tag: con 16r48;
cdp_set_user_file_tag: con 16r49;
cdp_get_clock: con 16r70;
cdp_set_clock: con 16r71;
cdp_get_error: con 16r78;
cdp_get_interface_timeout: con 16r90;
cdp_set_interface_timeout: con 16r91;
cdp_header_len: con 12;
T_DIR: con 0;
T_CTL: con 1;
T_ABILITIES: con 2;
T_TIME: con 3;
T_JPGDIR: con 4;
T_JPG: con 5;
T_STORAGE: con 6;
T_POWER: con 7;
T_THUMB: con 8;
T_THUMBDIR: con 9;
T_STATE: con 10;
T_INTERFACE: con 11;
MAXFILESIZE : con 5000000;
TIMEOUT : con 4000;
nextjpgqid, nexttmbqid, dirqid, Qctl, Qabl, Qstore: int;
Qstate, Qtime, Qjpgdir, Qpwr, Qthumbdir, Qinterface : int;
error_table := array [] of {
"No Error",
"Unimplemented",
"Unsupported Version",
"Application Timeout",
"Internal Error",
"Parameter Error",
"File System Null",
"File Not Found",
"Data Section Not Found",
"Invalid File Type",
"Unknown Drive",
"Drive Not Mounted",
"System Busy",
"Battery Low",
};
bintro := array [] of {
byte 16ra5,
byte 16r5a,
byte 16r00,
byte 16rc8,
byte 16r00,
byte 16r02,
byte 16rc9,
};
bak := array [] of {
byte 16r5a, # 2 byte header
byte 16ra5,
byte 16r55, # I/F Type
byte 16r00, # Comm Flag
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
byte 16r00,
};
pwl := array[] of {
byte 0,
byte 0,
};
pak := array [] of {
byte 0,
byte 0,
};
SERIAL, USB, IRDA: con (1<<iota);
BEACON, BEACONRESULT: con (1<<iota);
Camera_adt: adt {
port_type: int;
port_num: int;
command: int;
mode: int;
fd: ref Sys->FD;
ctlfd: ref Sys->FD;
cdp: array of byte;
bufbytes: int;
baud: int;
dfs, hfs: int; # device and host frame sizes
stat: int; # eia status file
};
statopt := array[] of {
"status",
"stat",
};
DL_QUANTA: con 20000;
TOUT: con -1729;
Partialtag: adt {
offset, length, filesize: int;
};
Cfile: adt {
driveno: int;
pathname: array of byte;
dosname: array of byte;
filelength: int;
filestatus: int;
thumblength: int;
thumbqid: int;
};
Fitem : adt {
qid: Sys->Qid;
cf: Cfile;
};
C: Camera_adt;
filelist: array of Fitem;
reslength: int;
currentstate := "";
wait : int;
usecache := 0;
connected : int;
recon := 0;
verbosity := 4;
interfacepath := "";
interfacepaths : array of string;
camname := "";
gpid : int;
init(nil : ref Draw->Context, argv : list of string)
{
err: string;
sys = load Sys Sys->PATH;
gpid = sys->pctl(Sys->NEWPGRP, nil);
str = load String String->PATH;
daytime = load Daytime Daytime->PATH;
styx = load Styx Styx->PATH;
styx->init();
styxservers = load Styxservers Styxservers->PATH;
styxservers->init(styx);
nametree = load Nametree Nametree->PATH;
nametree->init();
arg := load Arg Arg->PATH;
filelist = array[200] of Fitem;
C.port_num = 0; # XXXXX from argv
C.port_type = SERIAL; # Serial only for now
C.baud = 115200;
C.dfs = C.hfs = 1023;
C.cdp = array [DL_QUANTA] of byte;
C.mode = BEACON;
ex.pnum = -1;
ex.offset = -1;
cachelist = nil;
nextjpgqid = getqid(1, T_JPG);
nexttmbqid = getqid(1, T_THUMB);
dirqid = getqid(1,T_JPGDIR);
Qctl = getqid(Qroot,T_CTL);
Qabl = getqid(Qroot,T_ABILITIES);
Qstore = getqid(Qroot,T_STORAGE);
Qtime = getqid(Qroot,T_TIME);
Qstate = getqid(Qroot,T_STATE);
Qpwr = getqid(Qroot,T_POWER);
Qjpgdir = getqid(Qroot,T_JPGDIR);
Qthumbdir = getqid(Qroot,T_THUMBDIR);
Qinterface = getqid(Qroot,T_INTERFACE);
camname = "Camera";
extrafilelist: list of string = nil;
arg->init(argv);
arg->setusage("camera [-b baud] [-F framesize] [-f extrafiles] [-p port] [-n name] [-v verbosity]");
while ((opt := arg->opt()) != 0) {
case opt {
'n' =>
camname = arg->earg();
'v' =>
verbosity = int arg->earg();
'F' =>
C.dfs = C.hfs = int arg->earg();
'b' =>
C.baud = int arg->earg();
'p' =>
C.port_num = int arg->earg();
'c' =>
usecache = 1;
'f' =>
extrafilelist = arg->earg() :: extrafilelist;
* =>
arg->usage();
}
}
arg = nil;
interfacepaths = array[len extrafilelist] of string;
# sys->print("INTERFACEPATHS: %d\n", len extrafilelist);
for (i := 0; i < len interfacepaths; i++) {
interfacepaths[i] = hd extrafilelist;
# sys->print("INTERFACEPATH %d: %s\n", i, hd extrafilelist);
extrafilelist = tl extrafilelist;
}
print(sys->sprint("Trying to connect to eia%d...\n",C.port_num),2);
case C.port_type {
SERIAL =>
# open port and return fd
(C.fd, C.ctlfd, err) = serialport(C.port_num);
if (C.fd == nil) {
print("Could not open serial port\n",1);
exit;
}
USB =>
;
IRDA =>
;
* =>
;
}
if (connect() != 0) {;
print("Connection failed\n",1);
exit;
}
recon = 0;
print("Connected!\n",2);
set_interface_timeout();
set_camera_properties();
get_file_list();
connected = 1;
ignoreabls = nil;
get_camera_capabilities();
sync := chan of int;
spawn serveloop(sys->fildes(0), sync);
<-sync;
}
set_camera_properties()
{
for (i := 0; i < len set_camera_props; i++)
set_camera_state(set_camera_props[i].t0,set_camera_props[i].t1);
}
set_camera_props := array[] of {
("mcap", 0),
("acpd", 65535),
("actc", 65535),
("btpd", 65535),
("bttc", 65535),
("flty", 1246774599),
("ssvl", 0),
};
argval(argv: list of string, arg: string): string
{
if (arg == "") return "";
if (arg[0] != '-') arg = "-" + arg;
while (argv != nil) {
if (hd argv == arg && tl argv != nil && (hd tl argv)[0] != '-')
return tonext(tl argv);
argv = tl argv;
}
return "";
}
tonext(los: list of string): string
{
s := "";
while (los != nil) {
if ((hd los)[0] != '-') s += " " + hd los;
else break;
los = tl los;
}
if (s != "") s = s[1:];
return s;
}
int2hex(i:int): int
{
i2 := 0;
s := string i;
for (k := 0; k < len s; k++)
i2 = (i2 * 16) + int s[k:k+1];
return i2;
}
connect(): int
{
connected = 0;
datain := chan of array of byte;
pchan := chan of int;
tick := chan of int;
reset(C.ctlfd);
spawn timer2(tick,TIMEOUT * 2);
tpid := <-tick;
spawn beacon_intro(datain, pchan, C.fd);
pid := <- pchan;
# beacon phase
Beacon: for (;;) {
alt {
buf := <- datain =>
# got some data
case C.mode {
BEACON =>
if (beacon_ok(buf)) {
print("Got beacon\n",3);
beacon_ack(C);
spawn beacon_result(datain, pchan, C.fd);
pid = <-pchan;
C.mode = BEACONRESULT;
break;
}
else {
print("resetting\n",3);
reset(C.ctlfd);
}
BEACONRESULT =>
kill(tpid);
print("Checking beacon result\n",3);
if (beacon_comp(buf, C) == 0) {
return 0;
break Beacon;
}
return -1;
}
<- tick =>
kill(pid);
return -1; # failure
}
}
}
CTL, ABILITIES, DATA, JPG, PIC, TIME, CONV: con iota;
NAME, FSIZE, PHOTO, THUMB: con iota;
Qdir : con iota;
contains(s: string, test: string): int
{
num :=0;
if (len test > len s) return 0;
for (i := 0; i < (1 + (len s) - (len test)); i++) {
if (test == s[i:i+len test]) num++;
}
return num;
}
abilitiesfilter := array[] of {
"Time Format",
"Date Format",
"File Type",
"Video",
"Media",
"Sound",
"Volume",
"Reset Camera",
"Slide",
"Timelapse",
"Burst",
"Power",
"Sleep",
};
ignoreabls : list of string;
defattr : list of (string, int);
defaultattr, currentattr: array of (string, int);
filterabls(pname, desc: string): int
{
for (i := 0; i < len abilitiesfilter; i++) {
if (contains(desc, abilitiesfilter[i])) {
ignoreabls = pname :: ignoreabls;
return 1;
}
}
return 0;
}
mountit(dfd, mountfd: ref sys->FD, sync: chan of int)
{
sys->pctl(sys->NEWNS | sys->NEWFD, 2 :: dfd.fd :: mountfd.fd :: nil);
sync <-= 1;
mountfd = sys->fildes(mountfd.fd);
dfd = sys->fildes(dfd.fd);
if (sys->mount(mountfd, nil, "/", sys->MREPL | sys->MCREATE, nil) == -1) {
sys->fprint(sys->fildes(2), "cannot mount\n");
spawn exporterror(dfd, sys->sprint("%r"));
} else {
sync = chan of int;
spawn exportpath(sync, dfd);
<-sync;
}
}
exporterror(dfd: ref Sys->FD, error: string)
{
tmsg := Tmsg.read(dfd, 0);
if (tmsg == nil) {
sys->fprint(sys->fildes(2), "exporterror() EOF\n");
exit;
}
pick t := tmsg {
Readerror =>
sys->fprint(sys->fildes(2), "exporterror() Readerror\n");
* =>
reply: ref Rmsg = ref Rmsg.Error(tmsg.tag, error);
data := reply.pack();
sys->write(dfd, data, len data);
}
}
exportpath(sync: chan of int, dfd: ref sys->FD)
{
sync <-= 1;
sys->export(dfd, "/", Sys->EXPWAIT);
}
Qroot : con int iota;
ss : ref Styxserver;
uid: string;
exitfid := -1;
getuid()
{
buf := array [100] of byte;
fd := sys->open("/dev/user", Sys->OREAD);
uidlen := sys->read(fd, buf, len buf);
uid = string buf[0: uidlen];
}
dir(name: string, perm: int, length: int, qid: int): Sys->Dir
{
d := sys->zerodir;
d.name = name;
d.uid = uid;
d.gid = uid;
d.qid.path = big qid;
if (perm & Sys->DMDIR)
d.qid.qtype = Sys->QTDIR;
else {
d.qid.qtype = Sys->QTFILE;
d.length = big length;
}
d.mode = perm;
d.atime = d.mtime = daytime->now();
return d;
}
User: adt {
attachfid: int;
attr: array of (string, int);
};
users : array of User;
getuser(fid: int): int
{
for (i := 0; i < len users; i++)
if (users[i].attachfid == fid)
return i;
return -1;
}
getattr(pname: string): int
{
for (i := 0; i < len defaultattr; i++)
if (defaultattr[i].t0 == pname)
return i;
return -1;
}
serveloop(fd : ref sys->FD, sync: chan of int)
{
tchan: chan of ref Tmsg;
srv: ref Styxserver;
echan := chan of string;
users = array[20] of { * => User (-1, nil) };
sys->pctl(Sys->FORKNS, nil);
sync <-= 1;
print("serveloop\n",5);
getuid();
(tree, treeop) := nametree->start();
tree.create(big Qroot, dir(".",8r555 | sys->DMDIR,0,Qroot));
tree.create(big Qroot, dir("ctl",8r222,0,Qctl));
tree.create(big Qroot, dir("abilities",8r444,0,Qabl));
tree.create(big Qroot, dir("storage",8r444,0,Qstore));
tree.create(big Qroot, dir("power",8r444,0,Qpwr));
tree.create(big Qroot, dir("date",8r666,0,Qtime));
tree.create(big Qroot, dir("state",8r666,0,Qstate));
tree.create(big Qroot, dir("jpg",8r777 | sys->DMDIR,0,Qjpgdir));
tree.create(big Qroot, dir("thumb",8r777 | sys->DMDIR,0,Qthumbdir));
for (j := 0; j < len interfacepaths; j++) {
(n, idir) := sys->stat(interfacepaths[j]);
if (n != -1) {
idir.qid.path = big Qinterface;
# intdir := dir("",8r777,0,Qinterface);
# intdir.name = idir.name;
# intdir.length = idir.length;
# intdir.atime = idir.atime;
# intdir.mtime = idir.mtime;
tree.create(big Qroot, idir);
Qinterface += 1<<4;
}
}
tmsgqueue := Tmsgqueue.new(50);
(tchan, srv) = Styxserver.new(fd,Navigator.new(treeop), big Qroot);
fd = nil;
gm, lastgm: ref Tmsg;
gm = nil;
oldfiles = nil;
updatetree(tree);
print("serveloop loop\n",5);
alivechan := chan of int;
spawn keepalive(alivechan);
alivepid := <-alivechan;
retryit := 0;
notries := 0;
readfid := -1;
serveloop: for (;;) {
wait = daytime->now();
if (notries > 5) retryit = 0;
if (retryit) {
gm = lastgm;
notries++;
}
else {
notries = 0;
loop: for (;;) {
gm = tmsgqueue.pop(readfid);
if (gm != nil)
break;
alt {
gm = <-tchan =>
break loop;
c := <-alivechan =>
for (;;) {
s := get_clock();
wait = daytime->now();
# print(sys->sprint("got alivechan: %s",s),1);
if (recon) {
killchan := chan of int;
spawn noresponse(tchan,srv,killchan);
reconnect(-1);
killchan <-= 1;
}
else
break;
}
}
}
}
lastgm = gm;
retryit = 0;
if (gm == nil) {
sys->print("exiting!\n");
break serveloop; # nil => EOF => last mount was unmounted
}
print(sys->sprint("Got new GM %s tag: %d\n", gm.text(), gm.tag),4);
# print(sys->sprint("Got new GM %s tag: %d\n", gm.text(), gm.tag),2);
if (!connected) {
srv.reply(ref Rmsg.Error(gm.tag, "Could not connect to camera"));
print("Error: not connected to camera\n",1);
}
else pick m := gm {
Readerror =>
print(sys->sprint( "camera: fatal read error: %s\n", m.error),1);
break serveloop;
Attach =>
nu := getuser(-1);
if (nu == -1) {
srv.reply(ref Rmsg.Error(m.tag, "Camera in use"));
break;
}
m.uname = string nu;
srv.default(m);
myattr := array[len currentattr] of (string, int);
for (i := 0; i < len myattr; i++)
myattr[i] = currentattr[i];
users[nu] = User (m.fid, myattr);
print("adding user "+string nu, 2);
Clunk =>
nu := getuser(m.fid);
if (nu != -1) {
users[nu] = User (-1, nil);
print("removing user "+string nu, 2);
}
if (m.fid == readfid) {
# sys->print("readfid clunk: %d\n",readfid);
readfid = -1;
}
srv.default(gm);
Remove =>
print("Removing file\n",3);
f := srv.getfid(m.fid);
if (f == nil) {
print("Remove: Invalid fid\n",1);
srv.reply(ref Rmsg.Error(m.tag, Ebadfid));
break;
}
ftype := gettype(int f.path);
if (ftype != T_JPG) {
srv.reply(ref Rmsg.Error(m.tag, "Cannot remove file"));
break;
}
else {
for (i := 0; i < reslength; i++) {
if (f.path == filelist[i].qid.path) {
print("removing filelist\n",5);
if (erase_file(filelist[i].cf) != 0) {
if (!recon)
srv.reply(ref Rmsg.Error(m.tag, "Cannot remove file"));
break;
}
srv.delfid(f);
if (get_file_list() != 0)
srv.reply(ref Rmsg.Error(m.tag, "Cannot read files"));
else {
updatetree(tree);
srv.reply(ref Rmsg.Remove(m.tag));
}
break;
}
}
}
Read =>
print("got read request in serveloop\n",6);
(f,e) := srv.canread(m);
if(f == nil)
break;
if (f.qtype & Sys->QTDIR) {
print("reading directory\n",5);
srv.read(m);
break;
}
data : array of byte;
case gettype(int f.path) {
T_INTERFACE =>
(dir, intdata) := readinterface(int f.path, m.offset, m.count);
if (dir != nil && m.offset == big 0) {
dir.qid.path = f.path;
tree.wstat(f.path, *dir);
}
srv.reply(ref Rmsg.Read(m.tag, intdata));
T_POWER =>
print("reading power mode...\n",3);
data = array of byte get_power_mode();
if (!recon) srv.reply(styxservers->readbytes(m, data));
T_TIME =>
print("reading clock...\n",3);
data = array of byte get_clock();
if (!recon)
srv.reply(styxservers->readbytes(m, data));
T_ABILITIES =>
data = array of byte get_camera_capabilities();
if (!recon)
srv.reply(styxservers->readbytes(m, data));
T_JPG =>
# sys->print("Read Jpg: user %d\n", int f.uname);
if (readfid != -1 && readfid != m.fid) {
tmsgqueue.push(m);
# sys->print("in use!\n");
# srv.reply(ref Rmsg.Error(m.tag, "Camera in use, please wait"));
break;
}
readfid = m.fid;
data = photoread2(f.path, m,tree,0);
if (!recon)
srv.reply(ref Rmsg.Read(m.tag, data));
T_THUMB =>
if (readfid != -1 && readfid != m.fid) {
# srv.reply(ref Rmsg.Error(m.tag, "Camera in use, please wait"));
tmsgqueue.push(m);
break;
}
readfid = m.fid;
# sys->print("Read Thumb: user %d\n", int f.uname);
data = photoread2(f.path, m,tree,1);
if (!recon)
srv.reply(ref Rmsg.Read(m.tag, data));
T_STATE =>
if (currentstate == "") srv.reply(ref Rmsg.Error(m.tag, "No state requested"));
else {
data = array of byte get_camera_state(currentstate,int m.offset);
if (!recon)
srv.reply(ref Rmsg.Read(m.tag, data));
}
T_STORAGE =>
data = array of byte get_storage_status();
if (!recon) {
if (len data == 0)
srv.reply(ref Rmsg.Error(m.tag, "Could not read storage status"));
else
srv.reply(styxservers->readbytes(m, data));
}
* =>
srv.reply(ref Rmsg.Error(m.tag, "Cannot read file"));
}
# if (readfid != -1)
# sys->print("readfid set: %d\n",readfid);
Write =>
print("got write request in serveloop\n",6);
(f,e) := srv.canwrite(m);
if(f == nil) {
print("cannot write to file\n",1);
break;
}
wtype := gettype(int f.path);
(n, s) := sys->tokenize(string m.data, " \t\n");
if (wtype == T_TIME) {
if (set_clock(string m.data) != 0)
srv.reply(ref Rmsg.Error(m.tag, "Invalid date time format\n" +
"Usage: MM/DD/YY HH/MM/SS\n"));
else srv.reply(ref Rmsg.Write(m.tag, len m.data));
}
else if (wtype == T_CTL) {
err := "";
case hd s {
"refresh" =>
# for (i := 0; i < reslength; i++) {
# tree.remove(filelist[i].qid.path);
# tree.remove(big filelist[i].cf.thumbqid);
# }
if (get_file_list() != 0)
err = "Error: Could not read from camera";
else
updatetree(tree);
# for (i = 0; i < reslength; i++)
# buildfilelist(tree, i);
"snap" =>
nu := int f.uname;
print(sys->sprint("User %d taking photo\n",nu),2);
for (i := 0; i < len currentattr; i++) {
# sys->print("user: %s=%d current: %s=%d\n",
# users[nu].attr[i].t0,users[nu].attr[i].t1,
# currentattr[i].t0,currentattr[i].t1);
if (users[nu].attr[i].t1 != currentattr[i].t1) {
set_camera_state(users[nu].attr[i].t0, users[nu].attr[i].t1);
sys->sleep(100);
}
}
e1 := capture();
if (e1 == -1) {
err = "Cannot communicate with camera";
break;
}
if (e1 != 0) {
err = "Error: "+error_table[e1];
break;
}
sys->sleep(4000);
if (get_file_list() != 0) {
err = "Error: Could not read from camera";
break;
}
updatetree(tree);
* =>
if (n == 2) { # assume that it is a (string, int) tuple
na := getattr(hd s);
if (na == -1)
err = "Invalid command name '"+hd s+"'";
else {
e1 := set_camera_state(hd s, int hd tl s);
if (e1 != nil)
err = e;
else
users[int f.uname].attr[na].t1 = int hd tl s;
}
}
}
if (!recon) {
if (err != "") {
print(err+"\n",1);
srv.reply(ref Rmsg.Error(m.tag, err));
}
else srv.reply(ref Rmsg.Write(m.tag, len m.data));
}
}
else if (wtype == T_STATE) {
if (s != nil)
currentstate = hd s;
srv.reply(ref Rmsg.Write(m.tag, len m.data));
}
else srv.reply(ref Rmsg.Error(m.tag, "Could not write to file"));
Wstat =>
print("Got Wstat command in serveloop\n",6);
srv.reply(ref Rmsg.Error(m.tag, "Wstat failed"));
* =>
srv.default(gm);
}
if (recon) {
retryit = 1;
ok := reconnect(4);
if (!ok) {
srv.reply(ref Rmsg.Error(gm.tag, "Could not connect to camera"));
killchan := chan of int;
spawn noresponse(tchan,srv,killchan);
reconnect(-1);
killchan <-= 1;
retryit = 0;
sys->sleep(100);
}
}
}
tree.quit();
kill(alivepid);
killg(gpid);
}
Tmsgqueue: adt {
start, end, length: int;
a : array of ref Tmsg.Read;
new: fn (n: int): ref Tmsgqueue;
push: fn (t: self ref Tmsgqueue, t: ref Tmsg.Read): int;
pop: fn (t: self ref Tmsgqueue, readfid: int): ref Tmsg.Read;
};
Tmsgqueue.new(n: int): ref Tmsgqueue
{
t : Tmsgqueue;
t.start = 0;
t.end = 0;
t.length = 0;
t.a = array[n] of ref Tmsg.Read;
return ref t;
}
Tmsgqueue.push(t: self ref Tmsgqueue,newt: ref Tmsg.Read): int
{
if (t.length >= len t.a)
return -1;
t.a[t.end] = newt;
t.end++;
if (t.end >= len t.a)
t.end = 0;
t.length++;
return 0;
}
Tmsgqueue.pop(t: self ref Tmsgqueue, readfid: int): ref Tmsg.Read
{
if (t.length == 0)
return nil;
m := t.a[t.start];
if (readfid != -1 && readfid != m.fid)
return nil;
t.start++;
if (t.start >= len t.a)
t.start = 0;
t.length--;
return m;
}
noresponse(tchan: chan of ref Tmsg, srv: ref Styxservers->Styxserver, killchan : chan of int)
{
for (;;) alt {
k := <- killchan =>
return;
gm := <- tchan =>
print("noresponse: Returning Error\n",1);
srv.reply(ref Rmsg.Error(gm.tag, "Could not connect to camera"));
sys->sleep(100);
}
}
photoread2(qid: big, m: ref Tmsg.Read, tree: ref Nametree->Tree, isthumb: int): array of byte
{
photonum := -1;
data : array of byte;
# sys->print("photoread: qid: %d resl: %d\n",int qid,reslength);
for (i := 0; i < reslength; i++) {
# sys->print("%d: %s %d\n",i, sconv(filelist[i].cf.dosname),int filelist[i].qid.path);
if (!isthumb && qid == filelist[i].qid.path) {
photonum = i;
break;
}
else if (isthumb && int qid == filelist[i].cf.thumbqid) {
photonum = i;
break;
}
}
if (photonum >= reslength || photonum < 0) {
print(sys->sprint( "error: photonum = %d (reslength = %d)\n", photonum,reslength),1);
return nil;
}
offset := int m.offset;
dosname := filelist[photonum].cf.dosname;
filelen := filelist[photonum].cf.filelength;
for (k := 0; k < 5; k++) {
if (filelen == 0) {
get_file_size(photonum);
print(sys->sprint("\tFilelen: %d => ",filelen),5);
filelen = filelist[photonum].cf.filelength;
print(sys->sprint("%d\n",filelen),5);
tree.wstat(qid,
dir(str->tolower(sconv(filelist[photonum].cf.dosname)),
8r444,
filelen,
int qid));
sys->sleep(1000);
}
else break;
}
if (filelen == 0 && !isthumb) return nil; # doesn't matter if filesize is wrong for thumbnail
if (isthumb) filelen = filelist[photonum].cf.thumblength;
if (usecache && cachesize(dosname, isthumb) == filelen) {
# print(sys->sprint("Is cached!\n");
n := m.count;
filesize := cachesize(dosname,isthumb);
if (offset >= filesize) return nil;
if (offset+m.count >= filesize) n = filesize - offset;
data = array[n] of byte;
fd := sys->open(cachename(dosname,isthumb), sys->OREAD);
if (fd == nil) cachedel(dosname,isthumb);
else {
sys->seek(fd,m.offset,sys->SEEKSTART);
sys->read(fd,data,len data);
fd = nil;
return data;
}
}
# print(sys->sprint("Is NOT cached!\n");
if (photonum == ex.pnum && offset == ex.offset && ex.isthumb == isthumb)
data = ex.data;
else if (isthumb)
data = getthumb(photonum, offset, m.count);
else if (!isthumb)
data = getpicture2(photonum, offset, m.count);
if (len data > m.count) {
ex.pnum = photonum;
ex.offset = offset + m.count;
ex.data = array[len data - m.count] of byte;
ex.data[0:] = data[m.count:len data];
ex.isthumb = isthumb;
data = data[:m.count];
}
if (usecache) {
fd : ref sys->FD;
cname := cachename(dosname,isthumb);
if (offset == 0)
fd = sys->create(cname,sys->OWRITE,8r666);
else {
fd = sys->open(cname,sys->OWRITE);
if (fd != nil)
sys->seek(fd,big 0,sys->SEEKEND);
}
if (fd != nil) {
i = sys->write(fd,data,len data);
fd = nil;
}
(n, dir) := sys->stat(cname);
if (n == 0) {
cacheadd(dosname,isthumb,int dir.length);
}
}
return data;
}
cachelist : list of (string, int, int);
cacheprint()
{
tmp := cachelist;
print("cache:\n",3);
while (tmp != nil) {
(dn,i1,i2) := hd tmp;
print(sys->sprint("\t%s %d %d\n",dn,i1,i2),3);
tmp = tl tmp;
}
}
cacheclean()
{
tmp : list of (string, int,int);
tmp = nil;
while (cachelist != nil) {
(dosnm,it,fl) := hd cachelist;
for (i := 0; i < reslength; i++) {
filelen := filelist[i].cf.filelength;
if (it) filelen = filelist[i].cf.thumblength;
if (sconv(filelist[i].cf.dosname) == dosnm && filelen == fl) {
tmp = (dosnm,it,fl) :: tmp;
break;
}
}
cachelist = tl cachelist;
}
cachelist = tmp;
}
cacheadd(dosname1: array of byte, isthumb, filelen: int)
{
dosname := sconv(dosname1);
tmp : list of (string, int,int);
tmp = nil;
updated := 0;
while (cachelist != nil) {
(dosnm,it,fl) := hd cachelist;
if (dosname == dosnm && it == isthumb) {
updated = 1;
tmp = (dosnm,it,filelen) :: tmp;
}
else
tmp = (dosnm,it,fl) :: tmp;
cachelist = tl cachelist;
}
if (updated == 0)
tmp = (dosname,isthumb,filelen) :: tmp;
cachelist = tmp;
}
cachedel(dosname1: array of byte, isthumb: int)
{
dosname := sconv(dosname1);
tmp : list of (string, int,int);
tmp = nil;
while (cachelist != nil) {
(dosnm,it,filelen) := hd cachelist;
if (dosname != dosnm || it != isthumb)
tmp = (dosnm,it,filelen) :: tmp;
cachelist = tl cachelist;
}
cachelist = tmp;
}
cachesize(dosname1: array of byte, isthumb: int): int
{
dosname := sconv(dosname1);
tmp := cachelist;
while (tmp != nil) {
(dosnm,it,filelen) := hd tmp;
if (dosname == dosnm && isthumb == it) return filelen;
tmp = tl tmp;
}
return -1;
}
cachename(dosname: array of byte, isthumb: int): string
{
name := "/tmp/" + str->tolower(sconv(dosname));
if (isthumb) name = jpg2bit(name);
name[len name - 1] = '~';
return name;
}
poll_and_wait(): int
{
print("poll and wait\n",7);
write_n(C.fd, pwl, len pwl);
# sys->sleep(100);
if (read_n_to(C.fd, pak, len pak,TIMEOUT) < 0) {
print("poll_and_wait: unexpected read failure, exiting...\n",1);
return -1;
}
return 0;
}
send_packet(): int
{
# computing packet size
to_write := C.bufbytes;
# send the first packet
pwl[0] = byte ((1<<5)|(1<<4)|(1<<3)|(1<<2)|(to_write>>8));
pwl[1] = byte (to_write&16rff);
if (poll_and_wait() != 0)
return -1;
# pak[1] == byte 2; ?
pak[1] = byte 2;
wrote_here := write_n(C.fd, C.cdp, to_write);
if (wrote_here != to_write)
return -1;
return 0;
}
send_message(): int
{
v:= 0;
rc := chan of int;
tc := chan of int;
spawn timer2(tc,6000);
tpid := <- tc;
spawn write_message(rc);
rpid := <- rc;
try := 0;
alt {
<- tc =>
kill(rpid);
print("error: write timeout\n",1);
v = -2;
break;
v = <- rc =>
kill(tpid);
break;
}
return v;
}
write_message(rc: chan of int)
{
print("writing msg...\n",6);
rc <- = sys->pctl(0, nil);
if (send_packet() != 0) {
rc <-= -1;
return;
}
pwl[0] = byte 0;
pwl[1] = byte 0;
wrote_here := write_n(C.fd, pwl, 2);
if (wrote_here != 2) {
rc <-= -1;
return;
}
rc <-= 0;
print("written\n",6);
}
extra: adt {
pnum: int;
offset: int;
length: int;
data: array of byte;
isthumb: int;
};
ex : extra;
getthumb(photonum, offset, maxlength: int): array of byte
{
if (offset != 0) return nil;
print("getting thumbnail\n",3);
thumbdata: array of byte;
err, h, w, ttype: int;
file := filelist[photonum].cf;
filesize := 13020;
if (offset > 0) {
filesize = file.thumblength;
if (offset >= filesize) return nil;
}
for(;;){
print(sys->sprint("Filesize: %d offset: %d\n",filesize, offset),5);
if (offset + maxlength > filesize)
maxlength = filesize - offset;
l := maxlength;
C.command = cdp_get_file_data;
C.bufbytes = build_cdp_header(C.cdp, 68);
off := cdp_header_len;
off = set_int(C.cdp[off:], file.driveno, off);
off = set_fstring(C.cdp[off:], file.pathname, off);
off = set_dosname(C.cdp[off:], file.dosname, off);
off = set_int(C.cdp[off:], 1, off);
off = set_int(C.cdp[off:], offset, off);
off = set_int(C.cdp[off:], l, off);
off = set_int(C.cdp[off:], filesize, off);
print(sys->sprint( "getthumbdata %d %d %d\n", offset, maxlength, filesize),5);
send_message();
# sys->sleep(2000);
if ((err = receive_message()) != 0) {
print(sys->sprint("Error %d\n", err),1);
return nil;
}
off = cdp_header_len;
print(sys->sprint( "bufbytes = %d\n", C.bufbytes),5);
tmpoffset: int;
(tmpoffset, off) = get_int(C.cdp[off:], off);
(l, off) = get_int(C.cdp[off:], off);
(filesize, off) = get_int(C.cdp[off:], off);
print(sys->sprint( "getthumbdata returning %d %d %d\n", offset, l, filesize),5);
if (offset == 0) {
(filesize, off) = get_int(C.cdp[off:off+4], off);
(h, off) = get_int(C.cdp[off:off+4], off);
(w, off) = get_int(C.cdp[off:off+4], off);
(ttype, off) = get_int(C.cdp[off:off+4], off);
filelist[photonum].cf.thumblength = filesize;
thumbdata = array[filesize] of byte;
print(sys->sprint("Thumb (%d,%d) size: %d type: %d\n",w,h,filesize,ttype),5);
}
if (offset + l > filesize) l = filesize - offset;
print(sys->sprint( "Making array of size: %d\n", l),5);
thumbdata[offset:] = C.cdp[off:off+l];
offset += l;
if (offset >= filesize) break;
}
return thumb2bit(thumbdata,w,h);
}
getpicture2(photonum, offset, maxlength: int): array of byte
{
file := filelist[photonum].cf;
filesize := int file.filelength;
print("getting image\n",3);
print(sys->sprint("Filesize: %d offset: %d\n",filesize, offset),5);
if (offset >= filesize) return nil;
if (offset + maxlength > filesize)
maxlength = filesize - offset;
l := maxlength;
C.command = cdp_get_file_data;
C.bufbytes = build_cdp_header(C.cdp, 68);
off := cdp_header_len;
off = set_int(C.cdp[off:], file.driveno, off);
off = set_fstring(C.cdp[off:], file.pathname, off);
off = set_dosname(C.cdp[off:], file.dosname, off);
off = set_int(C.cdp[off:], 0, off);
off = set_int(C.cdp[off:], offset, off);
off = set_int(C.cdp[off:], l, off);
off = set_int(C.cdp[off:], filesize, off);
print(sys->sprint( "getfiledata %d %d %d\n", offset, maxlength, filesize),5);
send_message();
if ((err := receive_message()) != 0) {
print(sys->sprint("Error %d\n", err),1);
return nil;
}
off = cdp_header_len;
print(sys->sprint( "bufbytes = %d\n", C.bufbytes),5);
(offset, off) = get_int(C.cdp[off:], off);
(l, off) = get_int(C.cdp[off:], off);
(filesize, off) = get_int(C.cdp[off:], off);
print(sys->sprint( "getfiledata returning %d %d %d\n", offset, maxlength, filesize),5);
filedata := array[l] of byte;
filedata[0:] = C.cdp[off:off+l];
return filedata;
}
erase_file(file: Cfile): int
{
C.command = cdp_erase_file;
C.bufbytes = build_cdp_header(C.cdp, 52);
off := cdp_header_len;
off = set_int(C.cdp[off:], file.driveno, off);
off = set_fstring(C.cdp[off:], file.pathname, off);
off = set_dosname(C.cdp[off:], file.dosname, off);
send_message();
# sys->sleep(1000);
if (receive_message() != 0)
return -1;
return 0;
}
set_power_mode(): int
{
C.command = cdp_set_power_mode;
C.bufbytes = build_cdp_header(C.cdp, 0);
return (send_message());
}
get_storage_status(): string
{
s := "";
C.command = cdp_get_storage_status;
C.bufbytes = build_cdp_header(C.cdp, 0);
send_message();
# sys->sleep(2000);
if (receive_message() != 0) return "";
off := cdp_header_len;
taken, available, raw : int;
(taken, off) = get_int(C.cdp[off:], off);
(available, off) = get_int(C.cdp[off:], off);
(raw, off) = get_int(C.cdp[off:], off);
s += sys->sprint("Picture Memory\n\tused:\t%d\n\tfree:\t%d",taken,available);
if (raw == -1)
s += "\n";
else
s += sys->sprint(" (compressed)\n\t\t%d (raw)\n",raw);
return s;
}
get_power_mode(): string
{
mode: int;
C.command = cdp_get_power_mode;
C.bufbytes = build_cdp_header(C.cdp, 0);
send_message();
# sys->sleep(2000);
if (receive_message() != 0) return "Could not read power mode";
off := cdp_header_len;
(mode, off) = get_int(C.cdp[off:], off);
return sys->sprint("Power Mode = %d\n", mode);
}
set_clock_data(s:string): int
{
err := 0;
if (s == "") {
tm := daytime->local(daytime->now());
off := cdp_header_len;
C.cdp[cdp_header_len+0] = byte 0;
C.cdp[cdp_header_len+1] = byte int2hex(tm.mon+1);
C.cdp[cdp_header_len+2] = byte int2hex(tm.mday);
C.cdp[cdp_header_len+3] = byte int2hex(tm.year);
C.cdp[cdp_header_len+4] = byte 0;
C.cdp[cdp_header_len+5] = byte int2hex(tm.hour);
C.cdp[cdp_header_len+6] = byte int2hex(tm.min);
C.cdp[cdp_header_len+7] = byte int2hex(tm.sec);
}
else {
(n,datetime) := sys->tokenize(s," ");
if (n != 2) return 1;
off := 0;
for (i := 0; i < 2; i++) {
(n2,data) := sys->tokenize(hd datetime, "./:");
if (n2 != 3) return 1;
off++;
for (i2 := 0; i2 < 3; i2++) {
C.cdp[cdp_header_len+off] = byte int2hex(int hd data);
off++;
data = tl data;
}
datetime = tl datetime;
}
}
return 0;
}
set_clock(s:string): int
{
C.command = cdp_set_clock;
C.bufbytes = build_cdp_header(C.cdp, 8);
if (set_clock_data(s)) return 1;
send_message();
if (receive_message() != 0) return 1;
return 0;
}
addzeros(s: string): string
{
s[len s] = ' ';
rs := "";
start := 0;
isnum := 0;
for (i := 0; i < len s; i++) {
if (s[i] < '0' || s[i] > '9') {
if (isnum && i - start < 2) rs[len rs] = '0';
rs += s[start:i+1];
start = i+1;
isnum = 0;
}
else isnum = 1;
}
i = len rs - 1;
while (i >= 0 && rs[i] == ' ') i--;
return rs[:i+1];
}
get_clock(): string
{
C.command = cdp_get_clock;
C.bufbytes = build_cdp_header(C.cdp, 0);
send_message();
if (receive_message() != 0)
return "Could not read clock\n";
s := sys->sprint("%x/%x/%x %x:%x:%x", int C.cdp[13],int C.cdp[14],
int C.cdp[15], int C.cdp[17], int C.cdp[18], int C.cdp[19]);
return "date is "+addzeros(s)+"\n";
}
get_file_list(): int
{
getoldfiledata();
print("getting file list\n",3);
C.command = cdp_get_file_list;
C.bufbytes = build_cdp_header(C.cdp, 56);
setfiledata();
send_message();
if (receive_message() != 0)
return -1;
display_filelist();
return 0;
}
setfiledata()
{
off := cdp_header_len;
off = set_int(C.cdp[off:], 1, off); # ascending order
off = set_int(C.cdp[off:], 1, off); # drive a: internal RAM disk
off = set_fstring(C.cdp[off:], array of byte "", off); # set pathname to null
off = set_dosname(C.cdp[off:], array of byte "", off); # set Dos filename to null
}
get_file_size(i: int): int
{
C.command = cdp_get_file_list;
C.bufbytes = build_cdp_header(C.cdp, 56);
setfiledata2(i);
send_message();
if (receive_message() != 0) return -1;
display_filelist();
return 0;
}
setfiledata2(i: int)
{
off := cdp_header_len;
off = set_int(C.cdp[off:], 1, off); # ascending order
off = set_int(C.cdp[off:], 1, off); # drive a: internal RAM disk
off = set_fstring(C.cdp[off:], filelist[i].cf.pathname, off); # set pathname
off = set_dosname(C.cdp[off:], filelist[i].cf.dosname, off); # set Dos filename
}
set_interface_timeout()
{
print("Setting Interface timeout\n",3);
C.command = cdp_set_interface_timeout;
C.bufbytes = build_cdp_header(C.cdp, 8);
off := cdp_header_len;
off = set_int(C.cdp[off:], 100, off);
off = set_int(C.cdp[off:], 5, off);
send_message();
# sys->sleep(1000);
receive_message();
}
display_filelist(): string
{
off, i: int;
off = cdp_header_len;
(reslength, off) = get_int(C.cdp[off:], off);
s := sys->sprint("Number of entries: %d\n", reslength);
for (i = 0; i < reslength; i++) {
(filelist[i].cf.driveno, off) = get_int(C.cdp[off:], off);
(filelist[i].cf.pathname, off) = get_fstring(C.cdp[off:], off);
(filelist[i].cf.dosname, off) = get_dosname(C.cdp[off:], off);
(filelist[i].cf.filelength, off) = get_int(C.cdp[off:], off);
(filelist[i].cf.filestatus, off) = get_int(C.cdp[off:], off);
if (filelist[i].cf.filelength < 0 || filelist[i].cf.filelength > MAXFILESIZE)
filelist[i].cf.filelength = 0;
s += sys->sprint("\t%d, %s, %s, %d\n", filelist[i].cf.driveno,
string filelist[i].cf.pathname,
string filelist[i].cf.dosname,
filelist[i].cf.filelength);
}
print(s,5);
if (usecache)
cacheclean();
return s;
}
get_camera_capabilities(): string
{
print("Get capabilities\n",3);
C.command = cdp_get_camera_capabilities;
C.bufbytes = build_cdp_header(C.cdp, 0);
send_message();
# sys->sleep(500);
if (receive_message() != -1)
return capabilities();
print("Error recieving abilities message\n",1);
return "";
}
Capability: adt {
pname: string;
d: string;
pick {
List =>
t: list of (string, int);
Range =>
min, max, default, current: int;
}
};
caplist: list of ref Capability;
print_camera_capabilities(): string
{
rs := "";
# p : ref Capability;
pick p := hd caplist{
List =>
rs += sys->sprint("Pname = %s ", p.pname);
Range =>
rs += sys->sprint("Pname = %s min = %d max = %d default = %d ", p.pname,
p.min, p.max, p.default);
}
# p := tl p;
return rs;
}
capabilities(): string
{
off, i, ncaps, t: int;
l, m, n: int;
pname, desc: array of byte;
s: array of byte;
rs := "";
off = cdp_header_len;
(ncaps, off) = get_int(C.cdp[off:], off);
if (ncaps > 200)
return "error reading capabilities\n";
rs += sys->sprint("i = %d\n", i);
firsttime := 0;
if (ignoreabls == nil)
firsttime = 1;
for (j := 0; j < ncaps; j++) {
line := "";
(pname, off) = get_pname(C.cdp[off:], off);
line += sys->sprint("%s, ", string pname);
(t, off) = get_int(C.cdp[off:], off);
(desc, off) = get_fstring(C.cdp[off:], off);
line += sys->sprint("%s: ", string desc);
fact := "";
case t {
1 =>
t: list of (string, int);
(l, off) = get_int(C.cdp[off:], off);
(m, off) = get_int(C.cdp[off:], off);
line += sys->sprint("items: %d factory: %d\n", l, m);
for (k := 0; k < l; k++) {
(s, off) = get_fstring(C.cdp[off:], off);
(n, off) = get_int(C.cdp[off:], off);
line += sys->sprint(" %s: %d\n", string s, n);
if (m == n)
fact = sconv(s);
t = (sconv(s), n) :: t;
}
cl := ref Capability.List (sconv(pname), sconv(desc), t);
2 =>
(l, off) = get_int(C.cdp[off:], off);
(m, off) = get_int(C.cdp[off:], off);
(n, off) = get_int(C.cdp[off:], off);
line += sys->sprint("min: %d max: %d factory:%d\n", l, m, n);
fact = string n;
3 =>
(l, off) = get_int(C.cdp[off:], off);
case l {
7 =>
(s, off) = get_dosname(C.cdp[off:], off);
8 =>
(s, off) = get_fstring(C.cdp[off:], off);
* =>
line += sys->sprint("Invalid type %d\n", l);
break;
}
fact = string s;
line += sys->sprint("%s\n", string s);
4 to 8 =>
break;
9 =>
break;
* =>
line += sys->sprint("Invalid type %d\n", t);
break;
}
if (firsttime) {
if (!filterabls(sconv(pname), string desc))
defattr = (sconv(pname), int fact) :: defattr;
}
if (!isin(ignoreabls, string pname))
rs += line;
}
if (firsttime) {
defaultattr = array[len defattr] of (string, int);
currentattr = array[len defattr] of (string, int);
i = 0;
for (;defattr != nil; defattr = tl defattr) {
defaultattr[i] = hd defattr;
currentattr[i++] = hd defattr;
}
}
return rs;
}
isin(los: list of string, s: string): int
{
for (;los !=nil; los = tl los)
if (hd los == s)
return 1;
return 0;
}
set_capture_data(): int
{
C.cdp[cdp_header_len+0] = byte 0;
C.cdp[cdp_header_len+1] = byte 0;
C.cdp[cdp_header_len+2] = byte 0;
C.cdp[cdp_header_len+3] = byte 0;
return 4;
}
get_camera_state(pname: string,offset: int): string
{
if (offset != 0) return "";
print(sys->sprint( "get_camera_state(%s)\n", pname),3);
C.command = cdp_get_camera_state;
off := cdp_header_len;
if (pname == "")
C.bufbytes = build_cdp_header(C.cdp, 0);
else {
if (len pname != 4)
return "Invalid command name: "+pname+"\n";
C.cdp[off+0] = byte pname[0];
C.cdp[off+1] = byte pname[1];
C.cdp[off+2] = byte pname[2];
C.cdp[off+3] = byte pname[3];
C.bufbytes = build_cdp_header(C.cdp, 4);
}
send_message();
if (receive_message() != 0) return "Could not read state: "+pname+"\n";
off = cdp_header_len;
rlen: int;
(rlen, off) = get_int(C.cdp[off:],off);
s := "";
rlen = 1;
if (pname == "") {
for (q := off; q < len C.cdp; q++) {
s[0] = int C.cdp[q];
if (s[0] > 0) print(sys->sprint("%s",s),5);
}
print("\n",5);
}
for (i := 0; i < rlen; i++) {
name, data: array of byte;
type1, tmp: int;
(name,off) = get_pname(C.cdp[off:],off);
(type1,off) = get_int(C.cdp[off:],off);
print(sys->sprint( "%d: %s - %d\n", i,pname,type1),5);
case type1 {
1 to 5 =>
(tmp,off) = get_int(C.cdp[off:],off);
data = array of byte string tmp;
6 =>
(data,off) = get_pname(C.cdp[off:],off);
7 =>
(data,off) = get_dosname(C.cdp[off:],off);
8 =>
(data,off) = get_fstring(C.cdp[off:],off);
* =>
data = array of byte "!ERROR!";
}
# if (string data == "!ERROR!") return "";
# if (rlen == 1)
# s = string data;
# else s += sys->sprint("%s: %s\n",string name, string data);
s += sys->sprint("%s: %s\n",string name, string data);
}
return s;
}
set_camera_state(pname: string, val: int): string
{
print(sys->sprint( "set_camera_state(%s, %d)\n", pname, val),3);
if (len pname != 4)
return "Command name must be 4 characters";
off := cdp_header_len;
C.cdp[off+0] = byte pname[0];
C.cdp[off+1] = byte pname[1];
C.cdp[off+2] = byte pname[2];
C.cdp[off+3] = byte pname[3];
off += 4;
off = set_int(C.cdp[off:], val, off);
C.command = cdp_set_camera_state;
C.bufbytes = build_cdp_header(C.cdp, 8);
send_message();
# sys->sleep(1000);
if ((e := receive_message()) == 0) {
na := getattr(pname);
if (na != -1)
currentattr[na].t1 = val;
return nil;
}
else
return error_table[e];
}
capture(): int
{
C.command = cdp_get_camera_status;
C.bufbytes = build_cdp_header(C.cdp, 0);
send_message();
# sys->sleep(1000);
if (receive_message() != 0)
return -1;
d := set_capture_data();
C.command = cdp_start_capture;
C.bufbytes = build_cdp_header(C.cdp, d);
send_message();
# sys->sleep(3000);
return receive_message();
}
dump_message()
{
print(sys->sprint(" Message length = %d\n", C.bufbytes),5);
print(sys->sprint(" CDP Length = %d\n", (int C.cdp[2]<<8)+(int C.cdp[3])),5);
print(sys->sprint(" CDP Version = %d\n", int C.cdp[4]),5);
print(sys->sprint(" CDP Command = %x\n", int ((C.cdp[8]<<8)|(C.cdp[9]))),5);
print(sys->sprint(" CDP Result Code = %d\n", int ((C.cdp[10]<<8)|(C.cdp[11]))),5);
}
build_cdp_header(cdp: array of byte, x: int): int
{
cdp[4] = byte 0;
cdp[5] = byte 0;
cdp[6] = byte 0;
cdp[7] = byte 0;
cdp[8] = byte ((C.command>>8)&16rff);
cdp[9] = byte (C.command&16rff);
cdp[10] = byte 0;
cdp[11] = byte 0;
l := 8 + x;
cdp[0] = byte ((l>>24)&16rff);
cdp[1] = byte ((l>>16)&16rff);
cdp[2] = byte ((l>>8)&16rff);
cdp[3] = byte (l&16rff);
return 12+x;
}
poll_and_reply(nak: int): int
{
print("poll and reply\n",7);
if ((read_n_to(C.fd, pwl, len pwl,TIMEOUT) < 0) && nak) {
pak[0] = byte 0;
pak[1] = byte 2; # reject
write_n(C.fd, pak, len pak);
return 0;
}
pak[0] = byte 0;
pak[1] = byte 1;
write_n(C.fd, pak, len pak);
return 1;
}
receive_packet(buf: array of byte): int
{
print("receive_packet\n",6);
if (!poll_and_reply(!0)) {
print("Poll and reply failed\n",1);
return -1;
}
l := int (((int pwl[0]&3)<<8)|(int pwl[1]));
C.bufbytes += l;
r := read_n_to(C.fd, buf, l,TIMEOUT);
if (r != l) {
print(sys->sprint( "could not read packet (read %d, expected %d)\n", r, l),1);
return -1;
}
return 0;
}
receive_message(): int
{
print("read_message\n",6);
C.bufbytes = 0;
if (receive_packet(C.cdp[0:]) != 0) {
recon = 1;
print("receive packet failed\n",1);
return 3;
# raise "error: receive packet failed";
}
dump_message();
rc := int C.cdp[9];
if ((~rc&16rff) != (C.command&16rff)) {
print("command & return are different\n",1);
consume(C.fd);
return 3;
# raise "error: command and return command are not the same\n";
}
message_len := (int C.cdp[2]<<8)+(int C.cdp[3]);
while (C.bufbytes < message_len) {
if (receive_packet(C.cdp[C.bufbytes:]) != 0) {
print("Packet is too short\n",1);
recon = 1;
return 3;
# raise "error: receive packet2 failed";
}
}
# sys->sleep(500);
read_n_to(C.fd, pak, len pak, TIMEOUT);
return (int ((C.cdp[10]<<8)|(C.cdp[11]))); # result code
}
reset(fd: ref Sys->FD)
{
sys->fprint(fd, "d1");
sys->sleep(20);
sys->fprint(fd, "d0");
sys->fprint(fd, "b9600");
}
kill(pid: int)
{
pctl := sys->open("/prog/" + string pid + "/ctl", Sys->OWRITE);
if (pctl != nil)
sys->write(pctl, array of byte "kill", len "kill");
}
killg(pid: int)
{
if ((fd := sys->open("/prog/" + string pid + "/ctl", Sys->OWRITE)) != nil)
sys->fprint(fd, "killgrp");
}
#dump_buf(buf: array of byte, i: int)
#{
# for (j := 0; j < i; j++)
# sys->fprint(sys->fildes(2), "%x ", int buf[j]);
# sys->fprint(sys->fildes(2), "\n");
#}
serialport(port : int) : (ref Sys->FD, ref Sys->FD, string)
{
C.fd = nil;
C.ctlfd = nil;
C.mode = BEACON;
serport := "/dev/eia" + string port;
serctl := serport + "ctl";
for (i := 0; i < len statopt; i++) {
statfd := sys->open("/dev/eia"+string port+statopt[i],sys->OREAD);
if (statfd != nil)
C.stat = i;
statfd = nil;
}
readstat();
fd := sys->open(serport, Sys->ORDWR);
if (fd == nil)
return (nil, nil, sys->sprint("cannot read %s: %r", serport));
ctlfd := sys->open(serctl, Sys->OWRITE);
if (ctlfd == nil)
return (nil, nil, sys->sprint("cannot open %s: %r", serctl));
config := array [] of {
"b9600",
"l8",
"p0",
"m0",
"s1",
"r1",
"i1",
"f",
};
for (i = 0; i < len config; i++) {
if (sys->fprint(ctlfd,"%s", config[i]) < 0)
print(sys->sprint("serial config (%s): %r\n", config[i]),3);
}
sys->sleep(100);
consume(fd);
sys->fprint(ctlfd, "d1");
sys->sleep(40);
sys->fprint(ctlfd, "d0");
return (fd, ctlfd, nil);
}
consume(fd: ref sys->FD)
{
if (fd != nil) {
print("Consuming...\n",6);
read_n_to(fd, array[1000] of byte, 1000, 1000);
}
}
beacon_intro(data: chan of array of byte, pchan: chan of int, fd: ref Sys->FD)
{
buf := array[64] of byte;
cbuf: array of byte;
pid := sys->pctl(0, nil);
# print(sys->sprint("b_intro: starting %d\n",pid);
pchan <-= pid;
failed := array[len bintro] of { * => byte 0 };
# discard characters until lead in character reached
print(sys->sprint("\tWaiting for: %d...\n",int bintro[0]),3);
do {
n := read_n_to(fd, buf, 1, TIMEOUT);
if (n == -1) {
data <- = failed;
return;
}
print(sys->sprint("\tGot: %d\n",int buf[0]),5);
} while (buf[0] != bintro[0]);
print("Getting beacon\n",3);
# read the next 6 bytes of beacon
i := read_n_to(fd, buf[1:], 6,TIMEOUT);
for (k := 0; k < i; k++)
print(sys->sprint("\tRead %d: %d (wanted %d)\n",k+1, int buf[1+k], int bintro[1+k]),5);
if (i != 6) {
print("Error reading beacon\n",3);
exit;
}
else {
print("sending beacon\n",3);
cbuf = buf[0:7];
data <- = cbuf;
}
}
beacon_result(data: chan of array of byte, pchan: chan of int, fd: ref Sys->FD)
{
buf := array[64] of byte;
cbuf: array of byte;
pid := sys->pctl(0, nil);
pchan <-= pid;
# read the next 10 bytes of beacon
p := 0;
intro := 1;
for (;;) {
i := read_n_to(fd, buf[p:], 1, TIMEOUT);
if (intro) {
if (buf[p] != bintro[p]) {
intro = 0;
buf[0] = buf[p];
p = 1;
}
else {
p++;
if (p >= len bintro) p = 0;
}
}
else p++;
if (p == 10) break;
}
for (k := 0; k < p; k++) print(sys->sprint("\tRead %d: %d\n",k, int buf[k]),5);
if (p != 10) {
print("Error reading beacon result\n",3);
exit;
}
else {
print("reading beacon result\n",3);
cbuf = buf[0:10];
data <- = cbuf;
}
}
beacon_comp(buf: array of byte, C: Camera_adt): int
{
speed: string;
case int buf[0] {
0 =>
C.baud = (int buf[2]<<24)|(int buf[3]<<16)|(int buf[4]<<8)|(int buf[5]);
C.dfs = (int buf[6]<<8)|(int buf[7]);
C.hfs = (int buf[8]<<8)|(int buf[9]);
# do baud rate change here
sys->sleep(1000);
case C.baud {
115200 =>
speed = "b115200";
57600 =>
speed = "b57600";
38400 =>
speed = "b38400";
19200 =>
speed = "b19200";
* =>
speed = "b9600";
}
print(sys->sprint("Connection Details:\n Baud rate:\t%dbps\n",C.baud),3);
print(sys->sprint(" Host frame size:\t%dbytes\n",C.hfs),3);
print(sys->sprint(" Device frame size:\t%dbytes\n",C.dfs),3);
if (sys->fprint(C.ctlfd,"%s", speed) < 0) {
print(sys->sprint("Error setting baud rate %s\n", speed),3);
return -1;
}
-1 =>
print("Incompatible Data Rate\n",1);
return -1;
-2 =>
print("Device does not support these modes\n",1);
return -2;
* =>
print(sys->sprint("I'm here!? buf[0] = %d\n",int buf[0]),1);
return -1;
}
return 0;
}
read_n(fd: ref Sys->FD, buf: array of byte, n: int, res: chan of int)
{
pid := sys->pctl(0, nil);
# print(sys->sprint("read_n: starting %d\n",pid);
res <-= pid;
print(sys->sprint( "read_n %d\n", n),7);
nread := 0;
while (nread < n) {
i := sys->read(fd, buf[nread:], n-nread);
sys->sleep(1);
if (i <= 0)
break;
nread += i;
}
res <-= nread;
# print(sys->sprint("read_n: ending %d\n",pid);
}
read_n2(fd: ref Sys->FD, buf: array of byte, n: int): int
{
print(sys->sprint( "read_n2 %d\n", n),7);
nread := 0;
while (nread < n) {
i := sys->read(fd, buf[nread:], n-nread);
sys->sleep(1);
if (i <= 0)
break;
nread += i;
}
return nread;
}
read_n_to(fd: ref Sys->FD, buf: array of byte, n,t : int): int
{
v:= 0;
rc := chan of int;
tc := chan of int;
spawn timer2(tc,t);
tpid := <- tc;
spawn read_n(fd, buf, n, rc);
rpid := <- rc;
try := 0;
alt {
<- tc =>
kill(rpid);
print(sys->sprint( "error: read_n timeout\n"),1);
recon = 1;
return -1;
v = <- rc =>
kill(tpid);
break;
}
return v;
}
write_n(fd: ref Sys->FD, buf: array of byte, n: int): int
{
print(sys->sprint("write_n %d\n", n),7);
nwrite := 0;
while (nwrite < n) {
i := sys->write(fd, buf[nwrite:], n-nwrite);
sys->sleep(1);
if (i <= 0) {
print(sys->sprint("Error returned by write: %r\n"),1);
readstat();
# recon = 1;
return nwrite;
}
nwrite += i;
}
print(sys->sprint("write_n returning %d\n", nwrite),7);
return nwrite;
}
readstat()
{
consume(C.fd);
print("Serial status: ",5);
statfd := sys->open("/dev/eia"+string C.port_num+statopt[C.stat], sys->OREAD);
buf := array[100] of byte;
if (statfd != nil) {
for (;;) {
k := sys->read(statfd,buf,len buf);
if (k > 0) print(string buf[:k],2);
else break;
}
print("\n",2);
}
else print("cannot read serial status\n",1);
}
beacon_ack(C: Camera_adt)
{
# set speed
i := C.baud;
bak[4] = byte ((i>>24)&16rff);
bak[5] = byte ((i>>16)&16rff);
bak[6] = byte ((i>>8)&16rff);
bak[7] = byte (i&16rff);
# set frame size to device
i = C.dfs;
bak[8] = byte ((i>>8)&16rff);
bak[9] = byte (i&16rff);
# set frame size to host
i = C.hfs;
bak[10] = byte ((i>>8)&16rff);
bak[11] = byte (i&16rff);
bak[12] = check_sum(bak, 12);
if (write_n(C.fd, bak, len bak) != len bak) {
print("Error writing beacon acknowledgement\n",3);
exit;
}
print("beacon acknowledgement written\n",3);
}
# timer thread send tick <- = 0 to kill
timer2(tick: chan of int, delay: int)
{
pid := sys->pctl(0, nil);
tick <-= pid;
sys->sleep(delay);
tick <- = TOUT;
}
beacon_ok(buf: array of byte): int
{
for (i := 0; i < len bintro; i++) {
if (buf[i] != bintro[i]) {
print(sys->sprint("Beacon failed on byte %d: %d (wanted %d)\n",i,int buf[i],int bintro[i]),3);
return 0;
}
}
print("Beacon passed\n",3);
return 1;
}
check_sum(buf: array of byte, l: int): byte
{
sum := 0;
for (i := 0; i < l; i++)
sum += int buf[i];
return byte (sum&16rff);
}
set_int(b: array of byte, i, off: int): int
{
b[0] = byte (i>>24&16rff);
b[1] = byte (i>>16&16rff);
b[2] = byte (i>>8&16rff);
b[3] = byte (i&16rff);
return (off+4);
}
set_fstring(b: array of byte, s: array of byte, off: int): int
{
for (i := 0; i < 32; i++)
b[i] = byte 0;
for (i = 0; i < len s; i++)
b[i] = s[i];
return (off+32);
}
set_dosname(b: array of byte, s: array of byte, off: int): int
{
for (i := 0; i < 16; i++)
b[i] = byte 0;
for (i = 0; i < len s; i++)
b[i] = s[i];
return (off+16);
}
get_tag(b: array of byte, off: int): (int, Partialtag)
{
tag: Partialtag;
(off, tag.offset) = get_int(b, off);
(off, tag.length) = get_int(b, off);
(off, tag.filesize) = get_int(b, off);
return (off, tag);
}
get_int(b: array of byte, off: int): (int, int)
{
return (get_int2(b), off+4);
}
get_int2(b: array of byte): int
{
i := (int b[0]<<24)|(int b[1]<<16)|(int b[2]<<8)|(int b[3]);
return i;
}
get_pname(b: array of byte, off: int): (array of byte, int)
{
return get_string(b, off, 4);
}
get_dosname(b: array of byte, off: int): (array of byte, int)
{
return get_string(b, off, 16);
}
get_string(b: array of byte, off: int, l: int): (array of byte, int)
{
s := array[l] of byte;
s[0:] = b[0:l];
return (s, off+l);
}
get_fstring(b: array of byte, off: int): (array of byte, int)
{
return get_string(b, off, 32);
}
sconv(b: array of byte): string
{
s := string b;
i := len s-1;
while (i >= 0 && s[i] == 0)
i--;
return s[0:i+1];
}
name2dos(s: string): array of byte
{
return array of byte str->toupper(s);
}
getqid(i, ftype: int): int
{
qid := (i<<4) + ftype;
return qid;
}
gettype(qid: int): int
{
ftype := qid & 15;
return ftype;
}
cutdir(ab:array of byte): string
{
s := sconv(ab);
for (i := 0; i < len s-1; i++)
if (s[i] == '/')
return s[i+1:len s - 1];
return "";
}
convert_thumb(w,h: int, data: array of byte): array of byte
{
rgb := array[w * h * 3] of byte;
index := 0;
rgbi := 0;
for (i := 0; i < (w * h) / 2; i++) {
cb := real data[index];
y := real data[index+1];
cr := real data[index+2];
rb := conv(y + (1.77200 * (cb - 128.0)));
gb := conv(y - (0.34414 * (cb - 128.0)) - (0.71414 * (cr - 128.0)));
bb := conv(y + (1.4020 * (cr - 128.0)));
for (loop := 0; loop < 2; loop++) {
rgb[rgbi++] = rb;
rgb[rgbi++] = gb;
rgb[rgbi++] = bb;
}
index += 4;
}
return rgb;
}
conv(a: real): byte
{
r := int a;
if (r < 0) r = -r;
if (r > 255) r = 255;
return byte r;
}
thumb2bit(buf: array of byte, w,h: int): array of byte
{
convbuf := convert_thumb(w,h,buf);
# assume thumbs are small so we wont gain much by compressing them
bitarray := array [60+len convbuf] of byte;
# assume chans = RGB24
bitarray[:] = array of byte sys->sprint("%11s %11d %11d %11d %11d ", "r8g8b8", 0, 0, w, h);
bitarray[60:] = convbuf;
return bitarray;
}
jpg2bit(s: string): string
{
if (len s < 4) return s;
if (s[len s - 4:] != ".jpg") return s;
return s[:len s - 4]+".bit";
}
oldfiles : list of (string, int, int);
getoldfiledata()
{
oldfiles = nil;
for(i := 0; i < reslength; i++)
oldfiles = (str->tolower(sconv(filelist[i].cf.dosname)),
int filelist[i].qid.path,
filelist[i].cf.thumbqid) :: oldfiles;
}
updatetree(tree: ref Nametree->Tree)
{
for (i := 0; i < reslength; i++) {
name := str->tolower(sconv(filelist[i].cf.dosname));
found := 0;
tmp : list of (string, int, int) = nil;
for (; oldfiles != nil; oldfiles = tl oldfiles) {
(oldname, oldqid, oldthumbqid) := hd oldfiles;
# sys->print("'%s' == '%s'?\n",name,oldname);
if (name == oldname) {
found = 1;
filelist[i].qid = (big oldqid, 0, sys->QTFILE);
filelist[i].cf.thumbqid = oldthumbqid;
}
else
tmp = hd oldfiles :: tmp;
}
oldfiles = tmp;
# sys->print("len oldfiles: %d\n",len oldfiles);
if (found)
updateintree(tree, name, i);
else
addtotree(tree, name, i);
}
for (; oldfiles != nil; oldfiles = tl oldfiles) {
(oldname, oldqid, oldthumbqid) := hd oldfiles;
# sys->print("remove from tree: %s\n",oldname);
tree.remove(big oldqid);
tree.remove(big oldthumbqid);
}
}
updateintree(tree: ref Nametree->Tree, name: string, i: int)
{
# sys->print("update tree: %s\n",name);
tree.wstat(filelist[i].qid.path,
dir(name,
8r444,
filelist[i].cf.filelength,
int filelist[i].qid.path));
tree.wstat(big filelist[i].cf.thumbqid,
dir(jpg2bit(name),
8r444,
13020,
filelist[i].cf.thumbqid));
}
addtotree(tree: ref Nametree->Tree, name: string, i: int)
{
# sys->print("addtotree: %s\n",name);
nextjpgqid += 1<<4;
filelist[i].qid = (big nextjpgqid, 0, sys->QTFILE);
parentqid := Qjpgdir;
tree.create(big parentqid,
dir(name,
8r444,
filelist[i].cf.filelength,
nextjpgqid));
nexttmbqid += 1<<4;
filelist[i].cf.thumbqid = nexttmbqid;
tree.create(big Qthumbdir,
dir(jpg2bit(name),
8r444,
13020,
nexttmbqid));
}
keepalive(alivechan: chan of int)
{
alivechan <-= sys->pctl(0,nil);
for (;;) {
sys->sleep(300000);
now := daytime->now();
print(sys->sprint("Alive: %d idle seconds\n",now-wait),6);
if (now < wait)
wait = now - 300;
if (now - wait >= 300)
alivechan <-= 1;
}
}
reconnect(n: int): int
{
attempt := 0;
connected = 0;
delay := 100;
to5 := 0;
for (;;) {
print(sys->sprint( "Attempting to reconnect (attempt %d)\n",++attempt),2);
sys->sleep(100);
(C.fd, C.ctlfd, nil) = serialport(C.port_num);
if (C.fd == nil || C.ctlfd == nil)
print(sys->sprint("Could not open serial port\n"),3);
else if (connect() == 0) {
set_interface_timeout();
connected = 1;
print("Reconnected!\n",2);
break;
}
if (n != -1 && attempt >= n)
break;
if (++to5 >= 5) {
delay *= 2;
to5 = 0;
if (delay > 600000)
delay = 600000;
}
sys->sleep(delay);
}
recon = 0;
return connected;
}
# 1: errors
# 2: connection
# 3: main procs
print(s: string, v: int)
{
if (s != nil && s[len s - 1] == '\n')
s = s[:len s - 1];
if (v <= verbosity)
sys->fprint(sys->fildes(2), "%s (%s)\n",s,camname);
}
readinterface(qid : int, offset: big, size: int): (ref sys->Dir, array of byte)
{
i := qid >> 4;
buf := array[size] of byte;
fd := sys->open(interfacepaths[i], sys->OREAD);
if (fd == nil)
return (nil,nil);
(n, dir) := sys->fstat(fd);
if (offset >= dir.length)
return (nil,nil);
sys->seek(fd, offset, sys->SEEKSTART);
i = sys->read(fd,buf,size);
return (ref dir, buf[:i]);
}
readfile(f: string): string
{
fd := sys->open(f, sys->OREAD);
if(fd == nil)
return nil;
buf := array[8192] of byte;
n := sys->read(fd, buf, len buf);
if(n < 0)
return nil;
return string buf[0:n];
}