Merge branch 'poldichopper'
This commit is contained in:
313
astriumnet.c
Normal file
313
astriumnet.c
Normal file
@ -0,0 +1,313 @@
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/**
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* astriumnet protocoll. This is the protocoll understood by the newest version
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* of Astrium choppers with the Beckhoff server backend. There are a number of
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* peculaties here:
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*
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* On connecting there is an authorisation exchange. This, the client, has to send a
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* challenge. The server responds with a randam hash code. Then a password is encrypted
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* with the hashcode and sent to the server. Who, hopefully, will respond with an AuthOK
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* message.
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*
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* Furtheron the message exchange happens in an XML like format. But implemented in a
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* slightly strange way in that everything is done through attributes.
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*
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* For more information, see the documentation by Astrium.
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, April 2014
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*/
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#include <errno.h>
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#include <math.h>
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#include <ascon.h>
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#include <ascon.i>
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#include <stptok.h>
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#include <dynstring.h>
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#include <mxml.h>
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extern char *trim(char *);
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typedef struct {
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char password[132];
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int authState;
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pDynString buffer;
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}Astriumnet, *pAstriumnet;
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#define AUTHSEND 4
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#define AUTHSTART 0
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#define WAITHASH 1
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#define WAITOK 2
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#define AUTHOK 3
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/*-----------------------------------------------------------------------*/
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const char *AstriumWS(mxml_node_t* node, int where)
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{
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/*
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* do not want whitespace in there anywhere
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*/
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return NULL;
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}
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/*-----------------------------------------------------------------------*/
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static void encodeXML(Ascon *a)
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{
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char *pPtr, *equal, *close;
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mxml_node_t *root, *msg, *sys, *param;
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char token[132];
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pPtr = GetCharArray(a->wrBuffer);
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root = mxmlNewXML("1.0");
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msg = mxmlNewElement(root,"Msg");
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/*
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* The first element must be the system name
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*/
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pPtr = stptok(pPtr,token,sizeof(token),":");
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sys = mxmlNewElement(msg,"SysName");
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mxmlNewText(sys,0,token);
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param = mxmlNewElement(msg,"Param");
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while((pPtr = stptok(pPtr,token,sizeof(token),":")) != NULL){
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equal = strchr(token,(int)'=');
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if(equal != NULL){
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*equal = '\0';
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equal++;
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mxmlElementSetAttr(param,token,equal);
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} else {
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mxmlElementSetAttr(param,token,NULL);
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}
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}
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mxmlSetWrapMargin(0);
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pPtr = mxmlSaveAllocString(root,AstriumWS);
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/*
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* Skip the <?XML=1.0 bla bla ?> string
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*/
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close = strchr(pPtr,(int)'>');
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DynStringCopy(a->wrBuffer,"#CRQ#");
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DynStringConcat(a->wrBuffer,trim(close+1));
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free(pPtr);
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mxmlDelete(root);
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}
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/*-----------------------------------------------------------------------*/
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static int decodeXML(Ascon *a)
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{
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pDynString xmlBuffer;
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mxml_node_t *root, *param;
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mxml_attr_t attr;
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int i;
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/*
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* prepend the XML prefix to make mxml a happy library
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*/
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xmlBuffer = CreateDynString(128,128);
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DynStringCopy(xmlBuffer,"<?xml version=\"1.0\" encoding=\"utf-8\"?>");
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DynStringConcat(xmlBuffer,GetCharArray(a->rdBuffer)+5);
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root = mxmlLoadString(NULL,GetCharArray(xmlBuffer),MXML_TEXT_CALLBACK);
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if(root == NULL){
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AsconError(a,"Astrium returned invalid XML",0);
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return 0;
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}
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DynStringClear(a->rdBuffer);
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param = mxmlFindElement(root,root,"Param",NULL,NULL,MXML_DESCEND);
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if(param == NULL){
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AsconError(a,"No Param node found",0);
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return 0;
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}
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for(i = 0; i < param->value.element.num_attrs; i++){
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attr = param->value.element.attrs[i];
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DynStringConcat(a->rdBuffer,attr.name);
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if(attr.value != NULL){
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DynStringConcat(a->rdBuffer,"=");
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DynStringConcat(a->rdBuffer,attr.value);
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}
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DynStringConcat(a->rdBuffer,":");
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}
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DeleteDynString(xmlBuffer);
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mxmlDelete(root);
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return 1;
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}
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/*-----------------------------------------------------------------------*/
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static long calculateToken(char *password, long hash)
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{
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long tmp;
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int i;
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tmp = hash ^ 0x80AA80AA;
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for(i = 0; i < strlen(password); i++){
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tmp += password[i] * (long)pow(2,i);
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tmp -= password[i] * (long)pow(2,31-i);
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}
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return tmp ^ hash;
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}
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/*------------------------------------------------------------------------*/
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static int doWaitHash(Ascon *a)
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{
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pAstriumnet priv = NULL;
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int ret;
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char chr;
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long hash;
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char token[50];
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priv = (pAstriumnet)a->private;
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ret = AsconReadChar(a->fd,&chr);
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if(ret < 0){
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AsconError(a, "ASC5", errno);
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return 0;
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}
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if(ret == 1) {
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DynStringConcatChar(a->rdBuffer,chr);
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}
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if(GetDynStringLength(a->rdBuffer) >= 23) {
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if(strstr(GetCharArray(a->rdBuffer), "<Hash>") == NULL){
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AsconError(a,"Invalid response when trying to get hash",0);
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return 0;
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}
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hash = atol(GetCharArray(a->rdBuffer)+6);
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hash = calculateToken(priv->password,hash);
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DynStringCopy(priv->buffer,"<AuthToken>");
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snprintf(token,sizeof(token),"%ld",hash);
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DynStringConcat(priv->buffer,token);
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ret = AsconWriteChars(a->fd, GetCharArray(priv->buffer),
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GetDynStringLength(priv->buffer));
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if (ret < 0) {
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AsconError(a, "ASC4", errno); /* sets state to AsconFailed */
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return 0;
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}
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DynStringClear(a->rdBuffer);
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priv->authState = WAITOK;
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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static int doWaitOK(Ascon *a)
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{
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pAstriumnet priv = NULL;
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int ret;
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char chr;
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priv = (pAstriumnet)a->private;
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ret = AsconReadChar(a->fd,&chr);
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if(ret < 0){
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AsconError(a, "ASC5", errno);
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return 0;
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}
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if(ret == 1) {
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DynStringConcatChar(a->rdBuffer,chr);
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}
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if(strchr(GetCharArray(a->rdBuffer),(int)'>') != NULL) {
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if(strstr(GetCharArray(a->rdBuffer),"AuthOK") == NULL){
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AsconError(a,"Token authorisation failed",0);
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return 0;
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}
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priv->authState = AUTHOK;
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a->state = AsconConnectDone;
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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static int AstriumnetHandler(Ascon *a)
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{
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pAstriumnet priv = NULL;
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int ret;
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char chr;
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priv = (pAstriumnet)a->private;
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switch(a->state){
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case AsconConnectStart:
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AsconBaseHandler(a);
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if(a->state == AsconConnecting){
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DynStringCopy(priv->buffer,"<AuthReq>");
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priv->authState = AUTHSEND;
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return 1;
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} else {
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return 0;
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}
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break;
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case AsconConnecting:
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if(priv->authState == AUTHSEND){
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ret = AsconWriteChars(a->fd, GetCharArray(priv->buffer),
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GetDynStringLength(priv->buffer));
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if (ret < 0) {
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if(errno == EINPROGRESS){
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return 1;
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}
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AsconError(a, "ASC4", errno); /* sets state to AsconFailed */
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return 0;
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}
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priv->authState = WAITHASH;
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DynStringClear(a->rdBuffer);
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return 1;
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} else if(priv->authState == WAITHASH){
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return doWaitHash(a);
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} else if(priv->authState == WAITOK){
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return doWaitOK(a);
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} else {
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AsconError(a,"Invalid authentication state",0);
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return 0;
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}
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break;
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case AsconWriteStart:
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encodeXML(a);
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a->state = AsconWriting;
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return 1;
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break;
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case AsconReading:
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ret = AsconReadChar(a->fd,&chr);
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if(ret < 0){
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AsconError(a, "ASC5", errno);
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return 0;
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}
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if(ret == 1) {
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DynStringConcatChar(a->rdBuffer,chr);
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}
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if(strstr(GetCharArray(a->rdBuffer),"</Msg>") != NULL) {
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decodeXML(a);
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a->state = AsconReadDone;
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}
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return 1;
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break;
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}
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return AsconBaseHandler(a);
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}
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/*------------------------------------------------------------------------*/
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static int AstriumnetInit(Ascon * a, SConnection * con, int argc, char *argv[])
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{
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pAstriumnet priv = NULL;
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if(argc < 3){
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SCPrintf(con,eError,"ERROR: missing password argument to Astriumnet");
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return 0;
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}
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priv = calloc(sizeof(Astriumnet), 1);
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a->fd = -1;
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a->state = AsconConnectStart;
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a->reconnectInterval = 10;
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a->hostport = strdup(argv[1]);
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a->private = priv;
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a->killPrivate = free;
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strncpy(priv->password,argv[2],sizeof(priv->password));
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priv->authState = AUTHSTART;
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priv->buffer = CreateDynString(128,128);
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if(priv->buffer == NULL){
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return 0;
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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void AddAstriumnetProtocoll()
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{
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("astriumnet");
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prot->init = AstriumnetInit;
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prot->handler = AstriumnetHandler;
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AsconInsertProtocol(prot);
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}
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2
make_gen
2
make_gen
@ -25,7 +25,7 @@ OBJ=psi.o buffer.o ruli.o sps.o pimotor.o charbychar.o\
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rebin.o sanslirebin.o lmd200.o slsvme.o julprot.o sinqhttpprot.o \
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pmacprot.o pfeifferprot.o termprot.o phytron.o autowin.o eigera2.o \
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tclClock.o tclDate.o tclUnixTime.o jvlprot.o \
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eigermono.o sputterprot.o zwickroll.o
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eigermono.o sputterprot.o zwickroll.o astriumnet.o poldifold.o
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.SECONDARY.: sanslirebin.c
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98
poldifold.c
Normal file
98
poldifold.c
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@ -0,0 +1,98 @@
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/**
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* With the new POLDI chopper there is only one chopper start signal but 4 equivalent
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* quadrants on the chopper. This leads to the fact that the same pattern is repeated
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* four times throughout the time intervall. This code now folds this onto one again.
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* Yet another case where a shortcoming of the HW has to be resolved in software.
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*
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* copyright: see file COPYRIGHT
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*
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* Mark Koennecke, April 2014
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*/
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#include <sics.h>
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#include <sicshipadaba.h>
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#include <stptok.h>
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static int PoldiFold (pSConnection pCon, pSicsInterp pInter, void
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*pData, int argc, char *argv[])
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{
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pHdb source, target, dim;
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int *sourceData, *targetData, *sourceCurrent, *targetCurrent;
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unsigned int nDet, nTof, nSourceTof;
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int offset[4], i, j, k;
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char num[20], *pPtr;
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if(argc < 4) {
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SCWrite(pCon,"ERROR: not enough arguments to poldifold",eError);
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return 0;
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}
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/*
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reading and checking arguments
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*/
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source = FindHdbNode(NULL,argv[1],pCon);
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target = FindHdbNode(NULL,argv[2],pCon);
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if(source == NULL || target == NULL){
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SCPrintf(pCon,eError,"ERROR: source %s or target %s path invalid",
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argv[1], argv[2]);
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return 0;
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}
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pPtr = argv[3];
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for(i = 0; i < 4; i++){
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pPtr = stptok(pPtr,num,sizeof(num),",");
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if(pPtr == NULL){
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SCWrite(pCon,"ERROR: not enough values in the offset list",eError);
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return 0;
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}
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}
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pPtr = stptok(pPtr,num,sizeof(num),",");
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if(pPtr == NULL){
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SCWrite(pCon,"ERROR: not enough values in the offset list",eError);
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return 0;
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}
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nTof = atoi(num);
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dim = FindHdbNode(NULL,"../dim",pCon);
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if(dim == NULL){
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SCPrintf(pCon,eError,"ERROR: failed to find dimensions beneath %s, no HM?",
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argv[1]);
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return 0;
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}
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nDet = dim->value.v.intArray[0];
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nSourceTof = dim->value.v.intArray[1];
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/*
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ensure enough space to write
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*/
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if(target->value.arrayLength != nDet*nTof){
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free(target->value.v.intArray);
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target->value.v.intArray = malloc(nDet*nTof*sizeof(int));
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if(target->value.v.intArray == NULL){
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SCWrite(pCon,"ERROR: out of memory in poldifold",eError);
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return 0;
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}
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target->value.arrayLength = nDet*nTof;
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}
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sourceData = source->value.v.intArray;
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targetData = target->value.v.intArray;
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memset(targetData,0,nDet*nTof*sizeof(int));
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for(i = 0; i < nDet; i++){
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sourceCurrent = sourceData + i*nSourceTof;
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targetCurrent = targetData + i*nTof;
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for(j = 0; j < 4; j++){
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for(k = 0; k < nTof; k++){
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targetCurrent[k] += sourceCurrent[offset[j] + k];
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}
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}
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}
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SCSendOK(pCon);
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return 1;
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}
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/*-----------------------------------------------------------------*/
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int MakePoldiFold (pSConnection pCon, pSicsInterp pInter, void
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*pData, int argc, char *argv[])
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{
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AddCommand(pInter, "poldifold", PoldiFold, NULL, NULL);
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return 1;
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}
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2
psi.c
2
psi.c
@ -60,6 +60,7 @@ void SiteInit(void)
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/*
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* SICS specific Asynchronous I/O protocols
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*/
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INIT(AddAstriumnetProtocoll);
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INIT(AddJulChoProtocoll);
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INIT(AddHttpProtocoll);
|
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INIT(AddHttpOptProtocoll);
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@ -111,6 +112,7 @@ static void AddPsiCommands(SicsInterp * pInter)
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SCMD("MakeFocusAverager", MakeFA);
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SCMD("MakeLMD200", MakeLMD200);
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SCMD("MakePIMotor", PIMotorFactory);
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SCMD("MakePoldiFold", MakePoldiFold);
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SCMD("MakePSDFrame", MakeFrameFunc);
|
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SCMD("MakeRitaFix", MakeRitaFix);
|
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SCMD("MakeRitaWin", MakeRitaWin);
|
||||
|
||||
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